def _rosservice_cmd_call(argv):
"""
Parse 'call' command arguments and run command. Will cause a system
exit if command-line argument parsing fails.
@param argv: command-line arguments
@type argv: [str]
@raise ROSServiceException: if call command cannot be executed
"""
try:
import yaml
except ImportError as e:
raise ROSServiceException(
"Cannot import yaml. Please make sure the pyyaml system dependency is installed"
)
args = argv[2:]
parser = OptionParser(usage="usage: %prog call /service [args...]",
prog=NAME)
parser.add_option("-v",
dest="verbose",
default=False,
action="store_true",
help="print verbose output")
parser.add_option("--wait",
dest="wait",
default=False,
action="store_true",
help="wait for service to be advertised")
(options, args) = parser.parse_args(args)
if len(args) == 0:
parser.error("service must be specified")
service_name = args[0]
if options.wait:
# have to make sure there is at least a master as the error
# behavior of all ros online tools is to fail if there is no
# master
master = _get_master()
try:
service_uri = master.getPid()
except socket.error:
raise ROSServiceIOException("Unable to communicate with master!")
rospy.wait_for_service(service_name)
# optimization: in order to prevent multiple probe calls against a service, lookup the service_class
service_name = rosgraph.names.script_resolve_name('rosservice', args[0])
service_class = get_service_class_by_name(service_name)
# type-case using YAML
service_args = []
for arg in args[1:]:
# convert empty args to YAML-empty strings
if arg == '':
arg = "''"
service_args.append(yaml.load(arg))
if not service_args and has_service_args(service_name,
service_class=service_class):
if sys.stdin.isatty():
parser.error("Please specify service arguments")
import rostopic
for service_args in rostopic.stdin_yaml_arg():
if service_args:
# #2080: argument to _rosservice_call must be a list
if type(service_args) != list:
service_args = [service_args]
try:
_rosservice_call(service_name,
service_args,
verbose=options.verbose,
service_class=service_class)
except ValueError as e:
print(str(e), file=sys.stderr)
break
else:
_rosservice_call(service_name,
service_args,
verbose=options.verbose,
service_class=service_class)
# optimization: in order to prevent multiple probe calls against a service, lookup the service_class
service_name = rosgraph.names.script_resolve_name('rosservice', args[0])
service_class = get_service_class_by_name(service_name)
# type-case using YAML
service_args = []
for arg in args[1:]:
# convert empty args to YAML-empty strings
if arg == '':
arg = "''"
service_args.append(yaml.load(arg))
if not service_args and has_service_args(service_name, service_class=service_class):
if sys.stdin.isatty():
parser.error("Please specify service arguments")
import rostopic
for service_args in rostopic.stdin_yaml_arg():
if service_args:
# #2080: argument to _rosservice_call must be a list
if type(service_args) != list:
service_args = [service_args]
try:
_rosservice_call(service_name, service_args, verbose=options.verbose, service_class=service_class)
except ValueError, e:
print(str(e), file=sys.stderr)
break
else:
_rosservice_call(service_name, service_args, verbose=options.verbose, service_class=service_class)
def _stdin_yaml_arg():
"""
@return: iterator for next set of service args on stdin. Iterator returns a list of args for each call.
def _rosservice_cmd_call(argv):
"""
Parse 'call' command arguments and run command. Will cause a system
exit if command-line argument parsing fails.
@param argv: command-line arguments
@type argv: [str]
@raise ROSServiceException: if call command cannot be executed
"""
try:
import yaml
except ImportError as e:
raise ROSServiceException("Cannot import yaml. Please make sure the pyyaml system dependency is installed")
args = argv[2:]
parser = OptionParser(usage="usage: %prog call /service [args...]", prog=NAME)
parser.add_option("-v", dest="verbose", default=False,
action="store_true",
help="print verbose output")
parser.add_option("--wait", dest="wait", default=False,
action="store_true",
help="wait for service to be advertised")
(options, args) = parser.parse_args(args)
if len(args) == 0:
parser.error("service must be specified")
service_name = args[0]
if options.wait:
# have to make sure there is at least a master as the error
# behavior of all ros online tools is to fail if there is no
# master
master = _get_master()
try:
service_uri = master.getPid()
except socket.error:
raise ROSServiceIOException("Unable to communicate with master!")
rospy.wait_for_service(service_name)
# optimization: in order to prevent multiple probe calls against a service, lookup the service_class
service_name = rosgraph.names.script_resolve_name('rosservice', args[0])
service_class = get_service_class_by_name(service_name)
# type-case using YAML
service_args = []
for arg in args[1:]:
# convert empty args to YAML-empty strings
if arg == '':
arg = "''"
service_args.append(yaml.load(arg))
if not service_args and has_service_args(service_name, service_class=service_class):
if sys.stdin.isatty():
parser.error("Please specify service arguments")
import rostopic
for service_args in rostopic.stdin_yaml_arg():
if service_args:
# #2080: argument to _rosservice_call must be a list
if type(service_args) != list:
service_args = [service_args]
try:
_rosservice_call(service_name, service_args, verbose=options.verbose, service_class=service_class)
except ValueError as e:
print(str(e), file=sys.stderr)
break
else:
_rosservice_call(service_name, service_args, verbose=options.verbose, service_class=service_class)
service_name = roslib.scriptutil.script_resolve_name('rosservice', args[0])
service_class = get_service_class_by_name(service_name)
# type-case using YAML
service_args = []
for arg in args[1:]:
# convert empty args to YAML-empty strings
if arg == '':
arg = "''"
service_args.append(yaml.load(arg))
if not service_args and has_service_args(service_name,
service_class=service_class):
if sys.stdin.isatty():
parser.error("Please specify service arguments")
import rostopic
for service_args in rostopic.stdin_yaml_arg():
if service_args:
# #2080: argument to _rosservice_call must be a list
if type(service_args) != list:
service_args = [service_args]
try:
_rosservice_call(service_name,
service_args,
verbose=options.verbose,
service_class=service_class)
except ValueError, e:
print >> sys.stderr, str(e)
break
else:
_rosservice_call(service_name,
service_args,
