dynamic_service.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
00017 #*     with the distribution.
00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00025 #*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 #*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 #*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 #*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 #*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 #*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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00034 #* 
00035 #* Author: Eitan Marder-Eppstein
00036 #*
00037 #* Based on actionlib dynamic_action.py
00038 #* Modified by Christian Dornhege to dynamic_service.py
00039 #***********************************************************
00040 import roslib
00041 import rospy
00042 import sys
00043 
00044 class DynamicService(object):
00045     def __init__(self, name):
00046         self.name     = name
00047         self.service  = self.load_service()
00048         self.request  = self.service._request_class
00049         self.response = self.service._response_class
00050 
00051     def load_service(self):
00052         srvclass = roslib.message.get_service_class(self.name)
00053         if srvclass is None:
00054             rospy.logfatal('Could not load service for: %s'%(self.name))
00055             sys.exit(1)
00056         return srvclass
00057 
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fr_tools
Author(s): Armin Hornung, Daniel Maier
autogenerated on Wed Dec 26 2012 16:19:58