def sendMsg(self, snd, cmd, s, arg2="", vol=1.0, prior = 1, **kwargs):
"""
Internal method that publishes the sound request, either directly as a
SoundRequest to the soundplay_node or through the actionlib interface
(which blocks until the sound has finished playing).
The blocking behavior is nominally the class-wide setting unless it has
been explicitly specified in the play call.
"""
# Use the passed-in argument if it exists, otherwise fall back to the
# class-wide setting.
blocking = kwargs.get('blocking', self._blocking)
msg = SoundRequest()
msg.sound = snd
# Threshold volume between 0 and 1.
msg.volume = max(0, min(1, vol))
msg.command = cmd
msg.arg = s
msg.arg2 = arg2
msg.priority = prior
rospy.logdebug('Sending sound request with volume = {}'
' and blocking = {}'.format(msg.volume, blocking))
# Defensive check for the existence of the correct communicator.
if not blocking and not self.pub:
rospy.logerr('Publisher for SoundRequest must exist')
return
if blocking and not self.actionclient:
rospy.logerr('Action client for SoundRequest does not exist.')
return
if not blocking: # Publish message directly and return immediately
self.pub.publish(msg)
if self.pub.get_num_connections() < 1:
rospy.logwarn("Sound command issued, but no node is subscribed"
" to the topic. Perhaps you forgot to run"
" soundplay_node.py?")
else: # Block until result comes back.
assert self.actionclient, 'Actionclient must exist'
rospy.logdebug('Sending action client sound request [blocking]')
self.actionclient.wait_for_server()
goal = SoundRequestGoal()
goal.sound_request = msg
self.actionclient.send_goal(goal)
self.actionclient.wait_for_result()
rospy.logdebug('sound request response received')
return
