#! /usr/bin/python
#***********************************************************
#* Software License Agreement (BSD License)
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#*  Copyright (c) 2009, Willow Garage, Inc.
#*  All rights reserved.
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#* Author: Eitan Marder-Eppstein
#***********************************************************
import roslib
import rospy
import sys

class DynamicAction(object):
    def __init__(self, name):
        self.name     = name
        self.action   = self.load_submsg('Action')
        self.goal     = self.load_submsg('Goal')
        self.feedback = self.load_submsg('Feedback')
        self.result   = self.load_submsg('Result')

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