#NEWLINE# def sendDataMessage( self , iTag , clsName , msgID , msg ) : #NEWLINE# #INDENT# " Callback for Connection object to send a data message to the robot\n            using this WebSocket connection.\n\n            @param iTag:        Tag which is used to identify the interface\n                                from the message is sent.\n            @type  iTag:        str\n\n            @param clsName:     Message type/Service type consisting of the\n                                package and the name of the message/service,\n                                i.e. 'std_msgs/Int32'.\n            @type  clsName:     str\n\n            @param msgID:       Message ID which can be used to get a\n                                correspondence between request and response\n                                message for a service call.\n            @type  msgID:       str\n\n            @param msg:         Message which should be sent. It has to be a\n                                JSON compatible dictionary where part or the\n                                complete message can be replaced by a StringIO\n                                instance which is interpreted as binary data.\n            @type  msg:         {str : {} / base_types / StringIO} / StringIO\n        " #NEWLINE# self . sendMessage ( { #NEWLINE# #INDENT# 'type' : types . DATA_MESSAGE , #NEWLINE# 'data' : { #NEWLINE# #INDENT# 'iTag' : iTag , #NEWLINE# 'type' : clsName , #NEWLINE# 'msgID' : msgID , #NEWLINE# 'msg' : msg , #NEWLINE# #UNINDENT# } , #NEWLINE# #UNINDENT# } )