sound_play: test.cpp Source File

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00034 
00035 
00036 #include <sound_play/sound_play.h>
00037 #include <unistd.h>
00038 
00039 void sleepok(int t, ros::NodeHandle &nh)
00040 {
00041   if (nh.ok())
00042                 sleep(t);
00043 }
00044 
00045 int main(int argc, char **argv)
00046 {
00047   ros::init(argc, argv, "sound_play_test");
00048 
00049   ros::NodeHandle nh;
00050   sound_play::SoundClient sc;
00051 
00052   sleepok(1, nh);
00053   
00054   while(nh.ok())
00055   {
00056     sc.say("Hello world!");
00057     sleepok(2, nh);
00058 
00059     const char *str1 = "I am annoying.";
00060     sc.repeat(str1);
00061     sleepok(4, nh);
00062     sc.stopSaying(str1);
00063 
00064     sc.playWave("/usr/share/xemacs21/xemacs-packages/etc/sounds/boing.wav");
00065     sleepok(2, nh);
00066 
00067     const char *str2 = "/usr/share/xemacs21/xemacs-packages/etc/sounds/piano-beep.wav";
00068     sc.startWave(str2);
00069     sleepok(4, nh);
00070     sc.stopWave(str2);
00071 
00072     sc.play(sound_play::SoundRequest::NEEDS_UNPLUGGING);
00073     sleepok(2, nh);
00074 
00075     sc.start(sound_play::SoundRequest::BACKINGUP);
00076     sleepok(4, nh);
00077     sc.stop(sound_play::SoundRequest::BACKINGUP);
00078 
00079                 sleepok(2, nh);
00080                 sound_play::Sound s1 = sc.waveSound("/usr/share/xemacs21/xemacs-packages/etc/sounds/boing.wav");
00081                 s1.repeat();
00082                 sleepok(1, nh);
00083                 s1.stop();
00084                 
00085                 sleepok(2, nh);
00086                 sound_play::Sound s2 = sc.voiceSound("This is a really long sentence that will get cut off.");
00087                 s2.play();
00088                 sleepok(1, nh);
00089                 s2.stop();
00090 
00091                 sleepok(2, nh);
00092                 sound_play::Sound s3 = sc.builtinSound(sound_play::SoundRequest::NEEDS_UNPLUGGING_BADLY);
00093                 s3.play();
00094                 sleepok(1, nh);
00095                 s3.stop();
00096   }
00097 }