#! /usr/bin/python
#
# This code is based on dynamic_action.py of the actionlib package, written by
# <NAME>.
# Adapted to work for services by <NAME> at Synapticon GmbH.
#
# **********************************************************
#  Software License Agreement (BSD License)
#
#   Copyright (c) 2009, <NAME>, Inc.
#   Copyright (c) 2018, Synapticon GmbH
#   All rights reserved.
#
#   Redistribution and use in source and binary forms, with or without
#   modification, are permitted provided that the following conditions
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#      notice, this list of conditions and the following disclaimer.
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#      disclaimer in the documentation and/or other materials provided
#      with the distribution.
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"""Helper class to load service message types."""
import roslib
import rospy
import sys


class DynamicService(object):
    """Provides types of the given service message."""

    def __init__(self, name):
        """Initialize.

        Args:
            name (str): Name of the service type (e.g. "std_srvs/SetBool").

        """
        self.name = name
        self.base = self.load_submsg('')
        self.request = self.load_submsg('Request')
        self.response = self.load_submsg('Response')

    def load_submsg(self, subname):
        """Load submessage.

        Args:
            subname (str): Suffix that is added to the type.

        Returns:
            The sub-message type.

        """
        msgclass = roslib.message.get_service_class(self.name + subname)
        if msgclass is None:
            rospy.logfatal('Could not load message for: %s' % (self.name +
                                                               subname))
            sys.exit(1)
        return msgclass
