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


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)


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))


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)

    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))