Source code for stop_base.service
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"""
.. module:: service
This Python module provides interfaces for StopBase service calls.
.. include:: weblinks.rst
"""
import rospy
from bwi_msgs.msg import StopBaseStatus
from bwi_msgs.srv import StopBase, StopBaseRequest, StopBaseResponse
[docs]def make_request(status, requester):
""" Make a stop base service request.
:param status: Requested status.
:type status: int
:param requester: Requester name.
:type requester: str
:returns: bwi_msgs/StopBaseRequest message.
"""
return StopBaseRequest(
status=StopBaseStatus(status=status),
requester=requester)
[docs]def make_response(status):
""" Make a stop base service response.
:param status: Requested status.
:type status: int
:returns: bwi_msgs/StopBaseResponse message.
"""
return StopBaseResponse(
status=StopBaseStatus(status=status))
[docs]class StopBaseClient(object):
""" Proxy class for making stop_base calls. """
def __init__(self, srv_name='stop_base'):
rospy.wait_for_service(srv_name)
self.proxy = rospy.ServiceProxy(srv_name, StopBase)
[docs] def stop_base(self, status, requester):
""" Stop base service proxy.
:param status: Requested status.
:type status: int
:param requester: Requester name.
:type requester: str
:returns: bwi_msgs/StopBaseResponse message.
"""
return self.proxy(make_request(status, requester))