[Personalrobots-commit] SF.net SVN: personalrobots:[4441] pkg/trunk

[<hsu...@us...>]

Revision: 4441
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4441&view=rev
Author:   hsujohnhsu
Date:     2008-09-18 22:27:30 +0000 (Thu, 18 Sep 2008)

Log Message:
-----------
added wait_for_service for controller and mechanism control python scripts.

Modified Paths:
--------------
    pkg/trunk/controllers/generic_controllers/src/generic_controllers/controllers.py
    pkg/trunk/mechanism/mechanism_control/src/mechanism_control/mechanism.py

Modified: pkg/trunk/controllers/generic_controllers/src/generic_controllers/controllers.py
===================================================================
--- pkg/trunk/controllers/generic_controllers/src/generic_controllers/controllers.py	2008-09-18 22:21:16 UTC (rev 4440)
+++ pkg/trunk/controllers/generic_controllers/src/generic_controllers/controllers.py	2008-09-18 22:27:30 UTC (rev 4441)
@@ -8,36 +8,43 @@
 from generic_controllers.srv import *
 
 def list_controllers():
+    rospy.wait_for_service('list_controllers')
     s = rospy.ServiceProxy('list_controllers', ListControllers)
     resp = s.call(ListControllersRequest())
     for t in resp.controllers:
         print t
 
 def set_controller(controller, command):
+    rospy.wait_for_service(controller + '/set_command')
     s = rospy.ServiceProxy(controller + '/set_command', SetCommand)
     resp = s.call(SetCommandRequest(command))
     print resp.command
 
 def set_controller_vector(controller, command):
+    rospy.wait_for_service(controller + '/set_command')
     s = rospy.ServiceProxy(controller + '/set_command', SetVectorCommand)
     resp = s(*command)
 
 def get_controller(controller):
+    rospy.wait_for_service(controller + '/get_actual')
     s = rospy.ServiceProxy(controller + '/get_actual', GetActual)
     resp = s.call(GetActualRequest())
     print str(resp.time) + ": " + str(resp.command)
 
 def set_position(controller, command):
+    rospy.wait_for_service(controller + '/set_position')
     s = rospy.ServiceProxy(controller + '/set_position', SetPosition)
     resp = s.call(SetPositionRequest(command))
     print resp.command
 
 def get_position(controller):
+    rospy.wait_for_service(controller + '/get_position')
     s = rospy.ServiceProxy(controller + '/get_position', GetPosition)
     resp = s.call(GetPositionRequest())
     print str(resp.time) + ": " + str(resp.command)
 
 def set_profile(controller, upper_turnaround, lower_turnaround, upper_decel_buffer, lower_decel_buffer):
+    rospy.wait_for_service(controller + '/set_profile')
     s = rospy.ServiceProxy(controller + '/set_profile', SetProfile)
     resp = s.call(SetProfileRequest(upper_turnaround, lower_turnaround, upper_decel_buffer, lower_decel_buffer))
     print str(resp.time)

Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control/mechanism.py
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control/mechanism.py	2008-09-18 22:21:16 UTC (rev 4440)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control/mechanism.py	2008-09-18 22:27:30 UTC (rev 4441)
@@ -16,6 +16,7 @@
         print t
 
 def list_controllers():
+    rospy.wait_for_service('list_controllers')
     s = rospy.ServiceProxy('list_controllers', ListControllers)
     resp = s.call(ListControllersRequest())
     for c in resp.controllers:
@@ -31,6 +32,7 @@
         print "Error when spawning", resp.ok
 
 def kill_controller(name):
+    rospy.wait_for_service('kill_controller')
     s = rospy.ServiceProxy('kill_controller', KillController)
     resp = s.call(KillControllerRequest(name))
     if resp.ok == 1:


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