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;; tags for using the snippet in wiki
;; %Tag(wikiTalker)%
(in-package :roslisp-tutorials-basics)

(defun add-two-ints-client (a b)
  "adds by calling ros service"
  (with-ros-node ("two_ints_client")
    (if (not (wait-for-service "add_two_ints" 10))
      (ros-warn nil "Timed out waiting for service add_two_ints")
      (format t "~a + ~a = ~a~&"
              a b (sum (call-service "add_two_ints" 'AddTwoInts :a a :b b))))))


(defun add-two-ints-client-main ()
  ;; parse command line args
  (let ((args (cdr sb-ext:*posix-argv*)))
    (if (not (= 2 (length args)))
      (ros-info (roslisp-tutorials) "Error ~a~%usage: add_two_ints_client X Y" args)
      ;; else
      (add-two-ints-client (parse-integer (first args))
           (parse-integer (second args))))))
;; %EndTag(wikiTalker)%