client_connection_header.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00013 #  * Redistributions in binary form must reproduce the above
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00034 # Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $
00035 
00036 ## Extended version of add_two_int_client that shows how to use
00037 ## connection header to pass in metadata to service.
00038 
00039 import roslib; roslib.load_manifest('rospy_tutorials')
00040 
00041 import sys
00042 
00043 import rospy
00044 
00045 from rospy_tutorials.srv import AddTwoInts
00046 
00047 ## add two numbers using the add_two_ints service
00048 ## @param x int: first number to add
00049 ## @param y int: second number to add
00050 def add_two_ints_client(x, y):
00051     rospy.wait_for_service('add_two_ints')
00052     
00053     try:
00054         # initialize ServiceProxy with extra header information.
00055         # header is only exchanged on initial connection
00056         metadata = { 'cookies' : 'peanut butter' } 
00057         add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)
00058         
00059         print "Requesting %s+%s with cookies=%s"%(x, y, metadata['cookies'])
00060         
00061         # simplified style
00062         resp = add_two_ints(x, y)
00063         print "Server's connection headers were", resp._connection_header
00064 
00065         return resp.sum
00066     except rospy.ServiceException, e:
00067         print "Service call failed: %s"%e
00068 
00069 def usage():
00070     return "%s [x y]"%sys.argv[0]
00071 
00072 if __name__ == "__main__":
00073     
00074     if len(sys.argv) == 1:
00075         import random
00076         x = random.randint(-50000, 50000)
00077         y = random.randint(-50000, 50000)
00078     elif len(sys.argv) == 3:
00079         try:
00080             import string
00081             x = string.atoi(sys.argv[1])
00082             y = string.atoi(sys.argv[2])
00083         except:
00084             print usage()
00085             sys.exit(1)
00086     else:
00087         print usage()
00088         sys.exit(1)
00089     print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))


rospy_tutorials
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 06:54:54