#!/usr/bin/env python3
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# Revision $Id$

"""
Request geographic information maps from Open Street Map server.

This is just a toy node, useful for testing.
"""


PKG_NAME = "osm_cartography"
import roslib

roslib.load_manifest(PKG_NAME)
import rospy

import sys

from geodesy import bounding_box

from geographic_msgs.srv import GetGeographicMap


def client_node(url):

    rospy.init_node("osm_client")
    rospy.wait_for_service("get_geographic_map")

    try:
        get_map = rospy.ServiceProxy("get_geographic_map", GetGeographicMap)
        resp = get_map(url, bounding_box.makeGlobal())
        if resp.success:
            print(resp.map)
        else:
            print("get_geographic_map failed, status: ", str(resp.status))

    except rospy.ServiceException, e:
        print("Service call failed: " + str(e))


if __name__ == "__main__":

    url = ""
    if len(sys.argv) == 2:
        url = sys.argv[1]
    else:
        print("usage: osm_client <map_URL>")
        sys.exit(-9)

    try:
        client_node(url)
    except rospy.ROSInterruptException:
        pass
