Adds capability for blocking calls to SoundClient's play.

sound_play/scripts/say.py

@@ -53,18 +53,18 @@
     import rospy
     from sound_play.msg import SoundRequest
     from sound_play.libsoundplay import SoundClient
-    
+
     if len(sys.argv) == 1:
         print 'Awaiting something to say on standard input.'
-        
+
     # Ordered this way to minimize wait time.
     rospy.init_node('say', anonymous = True)
     soundhandle = SoundClient()
     rospy.sleep(1)
 
     voice = 'voice_kal_diphone'
     volume = 1.0
-    
+
     if len(sys.argv) == 1:
         s = sys.stdin.read()
     else:
@@ -74,10 +74,10 @@
             voice = sys.argv[2]
         if len(sys.argv) > 3:
             volume = float(sys.argv[3])
-    
+
     print 'Saying: %s' % s
     print 'Voice: %s' % voice
     print 'Volume: %s' % volume
-    
+
     soundhandle.say(s, voice, volume)
     rospy.sleep(1)

sound_play/scripts/soundclient_example.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python
+
+"""
+Simple example showing how to use the SoundClient provided by libsoundplay,
+in blocking, non-blocking, and explicit usage.
+"""
+
+import rospy
+from sound_play.libsoundplay import SoundClient
+from sound_play.msg import SoundRequest
+
+
+def play_explicit():
+    rospy.loginfo('Example: SoundClient play methods can take in an explicit'
+                  ' blocking parameter')
+    soundhandle = SoundClient()  # blocking = False by default
+    rospy.sleep(0.5)  # Ensure publisher connection is successful.
+
+    sound_beep = soundhandle.waveSound("say-beep.wav", volume=0.5)
+    # Play the same sound twice, once blocking and once not. The first call is
+    # blocking (explicitly specified).
+    sound_beep.play(blocking=True)
+    # This call is not blocking (uses the SoundClient's setting).
+    sound_beep.play()
+    rospy.sleep(0.5)  # Let sound complete.
+
+    # Play a blocking sound.
+    soundhandle.play(SoundRequest.NEEDS_UNPLUGGING, blocking=True)
+
+    # Create a new SoundClient where the default behavior *is* to block.
+    soundhandle = SoundClient(blocking=True)
+    soundhandle.say('Say-ing stuff while block-ing')
+    soundhandle.say('Say-ing stuff without block-ing', blocking=False)
+    rospy.sleep(1)
+
+
+def play_blocking():
+    """
+    Play various sounds, blocking until each is completed before going to the
+    next.
+    """
+    rospy.loginfo('Example: Playing sounds in *blocking* mode.')
+    soundhandle = SoundClient(blocking=True)
+
+    rospy.loginfo('Playing say-beep at full volume.')
+    soundhandle.playWave('say-beep.wav')
+
+    rospy.loginfo('Playing say-beep at volume 0.3.')
+    soundhandle.playWave('say-beep.wav', volume=0.3)
+
+    rospy.loginfo('Playing sound for NEEDS_PLUGGING.')
+    soundhandle.play(SoundRequest.NEEDS_PLUGGING)
+
+    rospy.loginfo('Speaking some long string.')
+    soundhandle.say('It was the best of times, it was the worst of times.')
+
+
+def play_nonblocking():
+    """
+    Play the same sounds with manual pauses between them.
+    """
+    rospy.loginfo('Example: Playing sounds in *non-blocking* mode.')
+    # NOTE: you must sleep at the beginning to let the SoundClient publisher
+    # establish a connection to the soundplay_node.
+    soundhandle = SoundClient(blocking=False)
+    rospy.sleep(1)
+
+    # In the non-blocking version you need to sleep between calls.
+    rospy.loginfo('Playing say-beep at full volume.')
+    soundhandle.playWave('say-beep.wav')
+    rospy.sleep(1)
+
+    rospy.loginfo('Playing say-beep at volume 0.3.')
+    soundhandle.playWave('say-beep.wav', volume=0.3)
+    rospy.sleep(1)
+
+    rospy.loginfo('Playing sound for NEEDS_PLUGGING.')
+    soundhandle.play(SoundRequest.NEEDS_PLUGGING)
+    rospy.sleep(1)
+
+    rospy.loginfo('Speaking some long string.')
+    soundhandle.say('It was the best of times, it was the worst of times.')
+    # Note we will return before the string has finished playing.
+
+
+if __name__ == '__main__':
+    rospy.init_node('soundclient_example', anonymous=False)
+    play_explicit()
+    play_blocking()
+    play_nonblocking()
+    rospy.loginfo('Finished')