Revision d81c4f8b client/python/hlrc_client/RobotController.py

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client/python/hlrc_client/RobotController.py
32 32 
class RobotController:
33 33 
    def __init__(self, mw_name, scope, loglevel=logging.WARNING, timeout=None):
34 34 
        """initialise
35 
        :param mw_name: which mw to use, currentyl ROS and RSB are supported
35 
        :param mw_name: which mw to use, currentyl ROS is supported
36 36 
        :param scope: base scope we want to listen on
37 37 
        :param  loglevel: optional log level
38 38 
        """
......
48 48 

  		




  49
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        self.middleware = None


  		




  50
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  51
  
  
    
        if (self.mw.upper() == "RSB"):


  		




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


  		




  53
  
  
    
            try:


  		




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                from .MiddlewareRSB import MiddlewareRSB


  		




  55
  
  
    
            except ImportError as e:


  		




  56
  
  
    
                self.logger.error("failed to import RSB or the necessary data types: {}".format(e))


  		




  57
  
  
    
                sys.exit(errno.EINVAL)


  		




  58
  
  
    

  		




  59
  
  
    
            # import worked, safe to intantiate RSB mw now


  		




  60
  
  
    
            self.middleware = MiddlewareRSB(self.scope, self.loglevel)


  		




  61
  
  
    

  		




  62
  
  
    
        elif (self.mw.upper() == "ROS"):


  		




  
  51
  
    
        if (self.mw.upper() == "ROS"):


  		




  63
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            self.logger.info("creating new middleware connection via ROS")


  		




  64
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            try:


  		




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                from .MiddlewareROS import MiddlewareROS


  		




  ......




  67
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                self.logger.error("failed to import ROS or the necessary data types: {}".format(e))


  		




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                sys.exit(errno.EINVAL)


  		




  69
  58
  
    

  		




  70
  
  
    
            # import worked, safe to instantiate RSB mw now


  		




  
  59
  
    
            # import worked, safe to instantiate ROS mw now


  		




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


  		




  72
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        else:


  		




  73
  
  
    
            self.logger.error("invalid middleware requested (%s). supported: {ROS, RSB}\n\n" % (self.mw))


  		




  
  62
  
    
            self.logger.error("invalid middleware requested (%s). supported: {ROS}\n\n" % (self.mw))


  		




  74
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            sys.exit(errno.EINVAL)


  		




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    def __del__(self):


  		












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