io_interface.py 文件源码

def set_port_value(self, port_name, port_value, port_type=None, timeout=5.0):
        """
        set the value for the given port
        return True if the port value is set, False if the requested port is invalid
        """
        if port_name not in list_port_names():
            rospy.logerr("Cannot find port '{0}' in this IO Device.".format(port_name))
            return
        if port_type == None:
            p_type = self.get_port_type(port_name)
            if p_type == None:
                rospy.logerr("Failed to get 'type' for port '{0}'.".format(port_name))
                return
        else:
            p_type = port_type
        set_command = SetCommand().set_port(port_name, p_type, port_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)