test_digital_output.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('kobuki_testsuite')
import rospy

from kobuki_msgs.msg import DigitalOutput

rospy.init_node("test_digital_output")
pub = rospy.Publisher('/mobile_base/commands/digital_output',DigitalOutput)
rate = rospy.Rate(1)
digital_output = DigitalOutput()
digital_output.values = [ False, False, False, False]
digital_output.mask = [ True, True, False, True ]
print ""
print "This program will start sending a variety of digital io signals to the robot."
print "It will set all output signals to false, then iteratively turn each one to True"
print "In doing so, it will cycle through a mask that will negate the setting for one"
print "of the outputs. The process then repeats itself masking the next output in the"
print "sequence instead."
print ""
while not rospy.is_shutdown():
    # incrementally convert a false, to true and then reset them all to false.
    try:
        index = digital_output.values.index(False)
        for i in range(0,4):
            if not digital_output.values[i]:
                digital_output.values[i] = True
                break
    except ValueError:
        digital_output.values = [ False, False, False, False]
        index = digital_output.mask.index(False)
        digital_output.mask[index] = True
        if index == 3:
            next_index = 0
        else:
            next_index = index + 1
        digital_output.mask[next_index] = False
    print digital_output
    pub.publish(digital_output)
    rate.sleep()