Is there anything like an interactive version of aplay or speaker-test?
I'd like to be able to send simple commands on the standard input of a running program that plays simple audio (even a sine wave), and have it alter its output in response (e.g. change pitch or volume). Is there anything standard for that, or would I have to program it myself? I'm not interested in a GUI synth program or anything like that, unless it can be controlled on the fly from a pipe to stdin. (My idea is to use mkfifo from a Bash script and periodically echo to the pipe.)
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Would something like Alda work for your purposes? It runs as a server, even when you want to do something like create an audio file, so whether through the REPL or by reverse-engineering it to figure out how to connect to the server, it sounds (no pun intended) like it should get somewhere in the neighborhood.
I don't know the current state of affairs (such as whether it works interactively), but CSound might also come close. If you think of Alda as analogous to a MIDI tracker, CSound looks more like a full synthesizer.

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