wge100_get_url.py

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#!/usr/bin/env python
#
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import roslib
roslib.load_manifest('qualification')

import rospy
import rospy.client
import subprocess
import traceback
from wg_invent_client import Invent
import sys

rospy.init_node("wge100_get_url")

def getparam(name):
    val = rospy.get_param(name, None)
    if val == None:
        print >> sys.stderr, "Parameter %s not set"%name
        exit(-1)
    return val

try:
    print >> sys.stderr, "This node converts the serial number in /qualification/serial into a camera url."

    # Get inventory password from qualification
    username = getparam('/invent/username')
    password = getparam('/invent/password')
    barcode = getparam('qual_item/serial')
     
    # Fail if invalid username/password
    i = Invent(username, password)
    if not i.login():
        print >> sys.stderr, "Could not connect to invent."
        exit(-1)
    
    # Get camera url
    try:
        print >> sys.stderr, "Searching for barcode ", barcode
        camera_url = i.get_item_references(barcode)["camera_url"]
        if camera_url == '':
            raise KeyError
    except KeyError:
        print >> sys.stderr, "Could not get camera url from invent in wge100_get_url.py"
        exit(-1)

    myargv = rospy.client.myargv()
    if len(myargv) == 2:
        camera_url = camera_url + myargv[1]
    sys.stdout.write(camera_url) # Use write to avoid trailing characters.
    print >> sys.stderr, "Url is:", camera_url
                                            
except:
    raise
    #print >> sys.stderr, "Exception caught in wge100_get_url.py"