Replace eval usage by NiryoRobot.__str_to_bool

pyniryo/api/tcp_client.py

@@ -257,6 +257,14 @@ def __transform_to_type(self, value, type_):
         except ValueError:
             self.__raise_exception_expected_type(type_.__name__, value)
 
+    def __str_to_bool(self, data):
+        if data == "True":
+            return True
+        elif data == "False":
+            return False
+        else:
+            self.__raise_exception("Expected data to be either 'True' or 'False'")
+
     # Error Handlers
     def __raise_exception_expected_choice(self, expected_choice, given):
         raise TcpCommandException("Expected one of the following: {}.\nGiven: {}".format(expected_choice, given))
@@ -386,7 +394,7 @@ def get_learning_mode(self):
         :return: ``True`` if learning mode is on
         :rtype: bool
         """
-        return eval(self.__send_n_receive(Command.GET_LEARNING_MODE))
+        return self.__str_to_bool(self.__send_n_receive(Command.GET_LEARNING_MODE))
 
     @learning_mode.setter
     def learning_mode(self, value):
@@ -459,7 +467,7 @@ def collision_detected(self):
 
         :type: bool
         """
-        return eval(self.__send_n_receive(Command.GET_COLLISION_DETECTED))
+        return self.__str_to_bool(self.__send_n_receive(Command.GET_COLLISION_DETECTED))
 
     def clear_collision_detected(self):
         """
@@ -1517,10 +1525,10 @@ def get_hardware_status(self):
 
         rpi_temperature = float(data[0])
         hardware_version = data[1]
-        connection_up = eval(data[2])
+        connection_up = self.__str_to_bool(data[2])
         error_message = data[3]
-        calibration_needed = eval(data[4])
-        calibration_in_progress = eval(data[5])
+        calibration_needed = self.__str_to_bool(data[4])
+        calibration_in_progress = self.__str_to_bool(data[5])
 
         motor_names = data[6]
         motor_types = data[7]
@@ -1646,7 +1654,7 @@ def get_conveyors_feedback(self):
         for i in range(len(conveyors_feedback)):
             conveyors_feedback[i]['conveyor_id'] = ConveyorID[conveyors_feedback[i]['conveyor_id']]
             conveyors_feedback[i]['direction'] = ConveyorDirection(conveyors_feedback[i]['direction'])
-            conveyors_feedback[i]['connection_state'] = eval(conveyors_feedback[i]['connection_state'])
+            conveyors_feedback[i]['connection_state'] = self.__str_to_bool(conveyors_feedback[i]['connection_state'])
 
         return conveyors_feedback
 
@@ -1784,7 +1792,7 @@ def get_target_pose_from_cam(self, workspace_name, height_offset=0.0, shape=Obje
                                            height_offset,
                                            shape,
                                            color)
-        obj_found = eval(data_array[0])
+        obj_found = self.__str_to_bool(data_array[0])
         if obj_found:
             pose_object = PoseObject(*data_array[1])
             shape_ret = data_array[2]
@@ -1803,7 +1811,7 @@ def __move_with_vision(self, command, workspace_name, height_offset, shape, colo
 
         data_array = self.__send_n_receive(command, workspace_name, height_offset, shape, color, **kwargs)
 
-        obj_found = eval(data_array[0])
+        obj_found = self.__str_to_bool(data_array[0])
         if obj_found is True:
             shape_ret = data_array[1]
             color_ret = data_array[2]
@@ -1892,7 +1900,7 @@ def detect_object(self, workspace_name, shape=ObjectShape.ANY, color=ObjectColor
         self.__check_enum_belonging(color, ObjectColor)
 
         data_array = self.__send_n_receive(Command.DETECT_OBJECT, workspace_name, shape, color)
-        obj_found = eval(data_array[0])
+        obj_found = self.__str_to_bool(data_array[0])
         if not obj_found:
             rel_pose_array = 3 * [0.0]
             shape = "ANY"