Skip to content

make soundplay_node cancel #287

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
knorth55 merged 1 commit into from
Aug 5, 2026
+16 −5
Merged

make soundplay_node cancel #287

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 16 additions & 5 deletions sound_play/scripts/soundplay_node.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,9 @@

from ament_index_python.packages import get_package_share_directory
import rclpy.action
import rclpy.callback_groups
import rclpy.duration
import rclpy.executors
import rclpy.logging
import rclpy.node

Expand Down Expand Up @@ -253,7 +255,9 @@ def __init__(self):
self._as = rclpy.action.ActionServer(
self, SoundRequestAction, 'sound_play',
execute_callback=self.execute_cb,
handle_accepted_callback=self.handle_accepted_cb)
cancel_callback=self.cancel_cb,
handle_accepted_callback=self.handle_accepted_cb,
callback_group=rclpy.callback_groups.ReentrantCallbackGroup())

# For ros startup race condition
self.sleep(0.5)
Expand Down Expand Up @@ -522,6 +526,9 @@ def diagnostics(self, state):
self.get_logger().error(
'Exception in diagnostics: %s' % str(e))

def cancel_cb(self, goal_handle):
return rclpy.action.CancelResponse.ACCEPT

def execute_cb(self, goal_handle):
data = goal_handle.request.sound_request
if not self.initialized:
Expand Down Expand Up @@ -549,18 +556,20 @@ def execute_cb(self, goal_handle):
feedback.stamp = (
self.get_clock().now() - start_time).to_msg()
goal_handle.publish_feedback(feedback)
if not goal_handle.is_active:
if goal_handle.is_cancel_requested:
self.get_logger().info(
'sound_play action: Preempted')
sound.stop()
success = False
break
self.sleep(1.0 / self.loop_rate)
result.playing = feedback.playing
result.stamp = feedback.stamp
if success:
result.playing = feedback.playing
result.stamp = feedback.stamp
self.get_logger().info('sound_play action: Succeeded')
goal_handle.succeed()
else:
goal_handle.canceled()
except Exception as e:
goal_handle.abort()
self.get_logger().error(
Expand Down Expand Up @@ -608,7 +617,9 @@ def idle_loop(self):
if __name__ == '__main__':
rclpy.init()
soundplay_node = SoundPlayNode()
rclpy.spin(soundplay_node)
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(soundplay_node)
executor.spin()
soundplay_node.destroy_node()
del soundplay_node
rclpy.shutdown()
Loading