client_connection_header.py

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#!/usr/bin/env python
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# Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $

## Extended version of add_two_int_client that shows how to use
## connection header to pass in metadata to service.

import sys

import rospy

from rospy_tutorials.srv import AddTwoInts

## add two numbers using the add_two_ints service
## @param x int: first number to add
## @param y int: second number to add
def add_two_ints_client(x, y):
    rospy.wait_for_service('add_two_ints')
    
    try:
        # initialize ServiceProxy with extra header information.
        # header is only exchanged on initial connection
        metadata = { 'cookies' : 'peanut butter' } 
        add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)
        
        print "Requesting %s+%s with cookies=%s"%(x, y, metadata['cookies'])
        
        # simplified style
        resp = add_two_ints(x, y)
        print "Server's connection headers were", resp._connection_header

        return resp.sum
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e

def usage():
    return "%s [x y]"%sys.argv[0]

if __name__ == "__main__":
    
    if len(sys.argv) == 1:
        import random
        x = random.randint(-50000, 50000)
        y = random.randint(-50000, 50000)
    elif len(sys.argv) == 3:
        try:
            import string
            x = string.atoi(sys.argv[1])
            y = string.atoi(sys.argv[2])
        except:
            print usage()
            sys.exit(1)
    else:
        print usage()
        sys.exit(1)
    print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))