Paul Hancock - 2021-08-25

import sys
from guizero import App, Text, PushButton
from example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node
row = 1
state = 3

class MinimalClientAsync(Node):

def __init__(self):
    super().__init__('minimal_client_async')
    self.cli = self.create_client(AddTwoInts, 'add_two_ints')
    while not self.cli.wait_for_service(timeout_sec=1.0):
        self.get_logger().info('service not available, waiting again...')
    self.req = AddTwoInts.Request()

def send_request(self):
    self.req.a = row #int(sys.argv[1])
    self.req.b = state #int(sys.argv[2])
    self.future = self.cli.call_async(self.req)

def main(r=0, s = 0):

row = r
state = s
app = App(title="lights", layout= "grid", height=400, width=800)

#message = Text(app, text="Welcome to the Hello world app!",grid=)
button = PushButton(app, text="on", command=main_def,args=(1,1), grid=[0,1])
button = PushButton(app, text="off", command=main_def,args=(1,0), grid=[1,1])

app.display()

def row_one_on():
row=1
global state
state=1
main_def()
def row_one_off():
row=1
global state
state=0
main_def()

def main_def(r=0,s=0):
rclpy.init()
#print(args)
global row , state
row=r
state=s
minimal_client = MinimalClientAsync()
minimal_client.send_request()

while rclpy.ok():
    rclpy.spin_once(minimal_client)
    if minimal_client.future.done():
        try:
            response = minimal_client.future.result()
        except Exception as e:
            minimal_client.get_logger().info(
                'Service call failed %r' % (e,))
        else:
            minimal_client.get_logger().info(
                'Result of add_two_ints: for %d + %d = %d' %
                (minimal_client.req.a, minimal_client.req.b, response.sum))
        break

minimal_client.destroy_node()
rclpy.shutdown()

if name == 'main':
main()