io_interface.py 文件源码

def set_signal_value(self, signal_name, signal_value, signal_type=None, timeout=5.0):
        """
        set the value for the given signal
        return True if the signal value is set, False if the requested signal is invalid
        """
        if signal_name not in self.list_signal_names():
            rospy.logerr("Cannot find signal '{0}' in this IO Device.".format(signal_name))
            return
        if signal_type == None:
            s_type = self.get_signal_type(signal_name)
            if s_type == None:
                rospy.logerr("Failed to get 'type' for signal '{0}'.".format(signal_name))
                return
        else:
            s_type = signal_type
        set_command = SetCommand().set_signal(signal_name, s_type, signal_value)
        self.publish_command(set_command.op, set_command.args, timeout=timeout)
        # make sure both state and config are valid:
        self.revalidate(timeout, invalidate_state=False, invalidate_config=False)