def key_poller():
shutdown = False
key_map = {}
for c in range(97, 123):
key_map[chr(c)] = False
rate = rospy.Rate(10)
w = sf.RenderWindow(sf.VideoMode(640, 480), "tele-op",
sf.Style.TITLEBAR | sf.Style.RESIZE)
while not rospy.is_shutdown() and not shutdown:
for event in w.events:
# Handle shutdown
if type(event) is sf.KeyEvent and event.code is sf.Keyboard.ESCAPE:
w.close()
shutdown = True
if type(event
) is sf.KeyEvent and 0 <= event.code and event.code < 26:
key = chr(event.code + 97)
if (event.pressed):
key_map[key] = True
if (event.released):
key_map[key] = False
publish_cmd_vel(key_map)
sf.sleep(sf.seconds(0.05))
def main():
# check that the device can capture audio
if not sf.SoundRecorder.is_available():
print("Sorry, audio capture is not supported by your system")
return
# choose the sample rate
sample_rate = int(
input(
"Please choose the sample rate for sound capture (44100 is CD quality): "
))
# wait for user input...
input("Press enter to start recording audio")
# here we'll use an integrated custom recorder, which saves the captured data into a sf.SoundBuffer
recorder = sf.SoundBufferRecorder()
# audio capture is done in a separate thread, so we can block the main thread while it is capturing
recorder.start(sample_rate)
input("Recording... press enter to stop")
recorder.stop()
# get the buffer containing the captured data
buffer = recorder.buffer
# display captured sound informations
print("Sound information:")
print("{0} seconds".format(buffer.duration))
print("{0} samples / seconds".format(buffer.sample_rate))
print("{0} channels".format(buffer.channel_count))
# choose what to do with the recorded sound data
choice = input(
"What do you want to do with captured sound (p = play, s = save) ? ")
if choice == 's':
# choose the filename
filename = input("Choose the file to create: ")
# save the buffer
buffer.to_file(filename)
else:
# create a sound instance and play it
sound = sf.Sound(buffer)
sound.play()
# wait until finished
while sound.status == sf.Sound.PLAYING:
# leave some CPU time for other threads
sf.sleep(sf.milliseconds(100))
# finished !
print("Done !")
# wait until the user presses 'enter' key
input("Press enter to exit...")
def main():
# check that the device can capture audio
if not sf.SoundRecorder.is_available():
print("Sorry, audio capture is not supported by your system")
return
# choose the sample rate
sample_rate = int(input("Please choose the sample rate for sound capture (44100 is CD quality): "))
# wait for user input...
input("Press enter to start recording audio")
# here we'll use an integrated custom recorder, which saves the captured data into a sf.SoundBuffer
recorder = sf.SoundBufferRecorder()
# audio capture is done in a separate thread, so we can block the main thread while it is capturing
recorder.start(sample_rate)
input("Recording... press enter to stop")
recorder.stop()
# get the buffer containing the captured data
buffer = recorder.buffer
# display captured sound informations
print("Sound information:")
print("{0} seconds".format(buffer.duration))
print("{0} samples / seconds".format(buffer.sample_rate))
print("{0} channels".format(buffer.channel_count))
# choose what to do with the recorded sound data
choice = input("What do you want to do with captured sound (p = play, s = save) ? ")
if choice == 's':
# choose the filename
filename = input("Choose the file to create: ")
# save the buffer
buffer.to_file(filename);
else:
# create a sound instance and play it
sound = sf.Sound(buffer)
sound.play();
# wait until finished
while sound.status == sf.Sound.PLAYING:
# leave some CPU time for other threads
sf.sleep(sf.milliseconds(100))
# finished !
print("Done !")
# wait until the user presses 'enter' key
input("Press enter to exit...")
def play_music():
# load an ogg music file
music = sf.Music.from_file("data/orchestral.ogg")
# display music informations
print("orchestral.ogg:")
print("{0} seconds".format(music.duration))
print("{0} samples / sec".format(music.sample_rate))
print("{0} channels".format(music.channel_count))
# play it
music.play()
# loop while the music is playing
while music.status == sf.Music.PLAYING:
# leave some CPU time for other processes
sf.sleep(sf.milliseconds(100))
def play_music():
# load an ogg music file
music = sf.Music.from_file("data/orchestral.ogg")
# display music informations
print("orchestral.ogg:")
print("{0} seconds".format(music.duration))
print("{0} samples / sec".format(music.sample_rate))
print("{0} channels".format(music.channel_count))
# play it
music.play();
# loop while the music is playing
while music.status == sf.Music.PLAYING:
# leave some CPU time for other processes
sf.sleep(sf.milliseconds(100))
def play_sound():
# load a sound buffer from a wav file
buffer = sf.SoundBuffer.from_file("data/canary.wav")
# display sound informations
print("canary.wav:")
print("{0} seconds".format(buffer.duration))
print("{0} samples / sec".format(buffer.sample_rate))
print("{0} channels".format(buffer.channel_count))
# create a sound instance and play it
sound = sf.Sound(buffer)
sound.play()
# loop while the sound is playing
while sound.status == sf.Sound.PLAYING:
# leave some CPU time for other processes
sf.sleep(sf.milliseconds(100))
def soundMaker(self, tinfo=""):
"""
Create the background music.
"""
uargv = ""
if (self.debug1):
print("\n\tThe thread", tinfo, "is starting.")
uargv = tinfo.upper()
buffer = sf.SoundBuffer.from_file(self.soundFile)
if (not buffer):
print("\n\tUnable to load the sound", self.soundFile, ".")
sound = sf.Sound(buffer)
sound.loop = True
while (True):
sound.play()
sf.sleep(sf.seconds(300))
if (self.debug1):
print("\n\tThe thread", uargv, "is terminated.")
def play_sound():
# load a sound buffer from a wav file
buffer = sf.SoundBuffer.from_file("data/canary.wav")
# display sound informations
print("canary.wav:")
print("{0} seconds".format(buffer.duration))
print("{0} samples / sec".format(buffer.sample_rate))
print("{0} channels".format(buffer.channel_count))
# create a sound instance and play it
sound = sf.Sound(buffer)
sound.play();
# loop while the sound is playing
while sound.status == sf.Sound.PLAYING:
# leave some CPU time for other processes
sf.sleep(sf.milliseconds(100))
def do_server(port):
# build an audio stream to play sound data as it is received through the network
audio_stream = NetworkAudioStream()
audio_stream.start(port)
# loop until the sound playback is finished
while audio_stream.status != sf.SoundStream.STOPPED:
# leave some CPU time for other threads
sf.sleep(sf.milliseconds(100))
# wait until the user presses 'enter' key
input("Press enter to replay the sound...")
# replay the sound (just to make sure replaying the received data is OK)
audio_stream.play();
# loop until the sound playback is finished
while audio_stream.status != sf.SoundStream.STOPPED:
sf.sleep(sf.milliseconds(100))
def on_get_data(self, chunk):
# we have reached the end of the buffer and all audio data have been played : we can stop playback
if self.offset >= len(self.samples) and self.has_finished:
return False
# no new data has arrived since last update : wait until we get some
while self.offset >= len(self.samples) and not self.has_finished:
sf.sleep(sf.milliseconds(10))
# don't forget to lock as we run in two separate threads
lock = threading.Lock()
lock.acquire()
# fill audio data to pass to the stream
chunk.data = self.samples.data[self.offset*2:]
# update the playing offset
self.offset += len(chunk)
lock.release()
return True
def test_timer(timer):
timer.restart(sf.seconds(1))
timer.start()
sf.sleep(sf.seconds(0.2))
print(timer.remaining_time)
print(timer.is_running())
print(timer.is_expired())
sf.sleep(sf.seconds(0.5))
timer.reset(sf.seconds(0.2))
print(timer.is_running())
timer.start()
while timer.is_running():
sf.sleep(sf.seconds(0.025))
print(timer.remaining_time)
print(timer.is_expired())
from sfml import sf
from thor import th
# TEST #001 th.StopWatch
stopwatch = th.StopWatch()
stopwatch.start()
sf.sleep(sf.seconds(1))
print(stopwatch.elapsed_time)
print(stopwatch.is_running())
stopwatch.stop()
print(stopwatch.is_running())
stopwatch.reset()
stopwatch.restart()
def test_timer(timer):
timer.restart(sf.seconds(1))
timer.start()
sf.sleep(sf.seconds(0.2))
print(timer.remaining_time)
print(timer.is_running())
print(timer.is_expired())
sf.sleep(sf.seconds(0.5))
timer.reset(sf.seconds(0.2))
print(timer.is_running())
timer.start()
while timer.is_running():
sf.sleep(sf.seconds(0.025))
print(timer.remaining_time)
from sfml import sf
import pyximport; pyximport.install()
import extension
window = sf.RenderWindow(sf.VideoMode(640, 480), "sfml")
image = sf.Image.from_file("image.jpg")
extension.flip_image(image)
texture = sf.Texture.from_image(image)
window.clear()
window.draw(sf.Sprite(texture))
window.display()
sf.sleep(sf.seconds(5))