changed main function

class test_client(object):

    def __init__(self, host=socket.gethostname(), port=9876,version="LabComm2014.v1"):

    def __init__(self, host, port, version="LabComm2014.v1"):

        self.host=host

        self.port=port

        self.version=version

        while run:

            run = self.run_one()

if __name__ == "__main__":

    port = sys.argv[1] if len(sys.argv) >= 2 else 9876

    version = sys.argv[2] if len(sys.argv) == 3 else "LabComm2014.v1"

    server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    server.connect((socket.gethostname(), port))

    client = test_client(server)

    t = threading.Thread(target=receiver, args=(client,))

    t.start()

    try:

        client.CMD_UNLCK_TL()

        client.CMD_LCK_TL()

        coord = dict(x=0,y=1,z=2)

        rot = dict(c=0,b=0,a=0)

        client.CMD_MOVE_LIN(coord, rot, 1, 0.1)

        client.CMD_MOVE_PTP(range(6), 1, 0.1)

        client.CMD_READ_PTP()

        coord = dict(x=0,y=1,z=2)

        rot = dict(c=0,b=0,a=0)

        client.CMD_MOVE_MEASURE(1, coord, rot, 1, 0.1)

        start = dict(pos=dict(x=0,y=1,z=2),

                     rot=dict(c=0,b=0,a=0))

        finish = dict(pos=dict(x=0,y=1,z=2),

                      rot=dict(c=0,b=0,a=0))

        client.CMD_NAIL_LIN(1, False, start, finish, 1, 0.1)

        posI = dict(pos=dict(x=0,y=1,z=2),

                     rot=dict(c=0,b=0,a=0))

        posF = dict(pos=dict(x=0,y=1,z=2),

                      rot=dict(c=0,b=0,a=0))

        client.CMD_MOVE_ARC(posI, posF, 1, 0.1)

        #linear

        move1 = dict(pos=dict(pos=dict(x=0,y=1,z=2),

                              rot=dict(c=0,b=0,a=0)),

                     S_Ac=dict(speed=1,

                               acc=2))

        move2 = dict(pos=dict(pos=dict(x=5,y=1,z=0),

                              rot=dict(c=0,b=0,a=0)),

                     S_Ac=dict(speed=1,

                               acc=2))

        #ptp

        move3 = dict(j=[0, 0, 0, 0, 0, 0],

                     S_Ac = dict (speed=0.1, acc=0.5))

        #arc

        move4 = dict(posI=dict(pos=dict(x=2,y=4,z=5),

                               rot=dict(c=0,b=0,a=1)),

                     posF=dict(pos=dict(x=0,y=1,z=0.5),

                               rot=dict(c=0,b=1,a=0)),

                     S_Ac = dict(speed=0.4, acc=1))

        #example of how to use variable length lists to make a "union"

        moves = [dict(move_lin=[move1],move_ptp=[],move_arc=[]),

                 dict(move_lin=[move2],move_ptp=[],move_arc=[]),

                 dict(move_lin=[],move_ptp=[move3],move_arc=[]),

                 dict(move_lin=[],move_ptp=[],move_arc=[move4]),]

        client.CMD_MOVE(moves)

        client.shutdown()

    except EOFError:

        print "got EOF"

    except Exception, e:

        print "got Exception"

        print e

        traceback.print_exc()

class ROS_client(test_client):

#GBSPose p

            ans.err1 = GBS_ERROR

            ans.err2 = GBS_ERROR

        return ans

    def add_services(self):

        rospy.init_node('synch_gbs_server')

        rospy.Service('gbs_circmove', GBSCircMove, self.handle_gbs_circmove)

        rospy.Service('gbs_combmove', GBSCombMove, self.handle_gbs_combmove)

        rospy.Service('gbs_linmove', GBSLinMove, self.handle_gbs_linmove)

        rospy.Service('gbs_lockspindle', GBSLockSpindle, self.handle_gbs_lockspindle)

        rospy.Service('gbs_locktool', GBSLockTool, self.handle_gbs_locktool)

        rospy.Service('gbs_measuremove', GBSMeasureMove, self.handle_gbs_measuremove)

        rospy.Service('gbs_naillinmove', GBSNailLinMove, self.handle_gbs_naillinmove)

        rospy.Service('gbs_ptpmove', GBSPTPMove, self.handle_gbs_ptpmove)

        rospy.Service('gbs_jointpose', GBSReadCurJointPose, self.handle_gbs_readcurjointpose)

        rospy.Service('gbs_releasepanel', GBSReleasePanel, self.handle_gbs_releasepanel)

        rospy.Service('gbs_runspindle', GBSRunSpindle, self.handle_gbs_runspindle)

        rospy.Service('gbs_readsensor', GBSReadSensor, self.handle_gbs_readsensor)

        rospy.Service('gbs_shakevacuum', GBSShakeVacuum, self.handle_gbs_shakevacuum)

        rospy.Service('gbs_stopspindle', GBSStopSpindle, self.handle_gbs_stopspindle)

        rospy.Service('gbs_switchvacuum', GBSSwitchVacuum, self.handle_gbs_switchvacuum)

        rospy.Service('gbs_takepanel', GBSTakePanel, self.handle_gbs_takepanel)

        rospy.Service('gbs_unlockspindle', GBSUnlockSpindle, self.handle_gbs_unlockspindle)

        rospy.Service('gbs_unlocktool', GBSUnlockTool, self.handle_gbs_unlocktool)

        print "Ready to receive GBS commands"

        rospy.spin()

if __name__ == "__main__":

    host = sys.argv[1] if len(sys.argv) >= 2 else socket.gethostname()

    port = sys.argv[2] if len(sys.argv) >= 3 else 9876

    version = sys.argv[3] if len(sys.argv) == 4 else "LabComm2014.v1"

    client = ROS_client(host, port, version)

    try:

        client.connect()

        client.add_services()

        # client.shutdown()

    except EOFError:

        print "got EOF"

    except Exception, e:

        print "got Exception"

        print e

        traceback.print_exc()