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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00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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 sys
00040 
00041 import rospy
00042 
00043 from rospy_tutorials.srv import AddTwoInts
00044 
00045 ## add two numbers using the add_two_ints service
00046 ## @param x int: first number to add
00047 ## @param y int: second number to add
00048 def add_two_ints_client(x, y):
00049     rospy.wait_for_service('add_two_ints')
00050     
00051     try:
00052         # initialize ServiceProxy with extra header information.
00053         # header is only exchanged on initial connection
00054         metadata = { 'cookies' : 'peanut butter' } 
00055         add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)
00056         
00057         print "Requesting %s+%s with cookies=%s"%(x, y, metadata['cookies'])
00058         
00059         # simplified style
00060         resp = add_two_ints(x, y)
00061         print "Server's connection headers were", resp._connection_header
00062 
00063         return resp.sum
00064     except rospy.ServiceException, e:
00065         print "Service call failed: %s"%e
00066 
00067 def usage():
00068     return "%s [x y]"%sys.argv[0]
00069 
00070 if __name__ == "__main__":
00071     
00072     if len(sys.argv) == 1:
00073         import random
00074         x = random.randint(-50000, 50000)
00075         y = random.randint(-50000, 50000)
00076     elif len(sys.argv) == 3:
00077         try:
00078             import string
00079             x = string.atoi(sys.argv[1])
00080             y = string.atoi(sys.argv[2])
00081         except:
00082             print usage()
00083             sys.exit(1)
00084     else:
00085         print usage()
00086         sys.exit(1)
00087     print "%s + %s = %s"%(x, y, add_two_ints_client(x, y))


rospy_tutorials
Author(s): Ken Conley
autogenerated on Sun Mar 20 2016 04:51:24