Revision ba6302b1 client/python/hlrc_client/RobotController.py

View differences:

client/python/hlrc_client/RobotController.py
26 26 
"""
27 27 

  		




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import logging


  		




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from MiddlewareRSB import *


  		




  
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try:


  		




  
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	import rsb


  		




  
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except ImportError:


  		




  
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	RSB_SUPPORT = False


  		




  
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else:


  		




  
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	from MiddlewareRSB import *


  		




  
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	RSB_SUPPORT = True


  		




  
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from MiddlewareROS import *


  		




  
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import sys


  		




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class RobotController:


  		




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	def __init__(self, mw_name, scope, loglevel=logging.WARNING):


  		




  ......




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		if (self.mw.upper() == "RSB"):


  		




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			self.logger.info("creating new middleware connection via RSB")


  		




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			self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  
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			if (not RSB_SUPPORT):


  		




  
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				self.logger.error("ERROR: no RSB support detected")


  		




  
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				sys.exit(errno.EINVAL)


  		




  
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			else:


  		




  
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				self.logger.info("creating new middleware connection via RSB")


  		




  
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				self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




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		elif (self.mw.upper() == "ROS"):


  		




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			self.logger.info("creating new middleware connection via ROS")


  		




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			self.middleware = MiddlewareROS(self.scope, self.loglevel)


  		












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