Virtual Drone Binding Example
import sys
sys.path.append('../python') # path to beecluster
import beecluster
import math
#
def visitOnePoint(bc, loc):
bc.act("flyto", loc)
bc.wait()
return
# test same drone but interruptible
def box(bc, n):
bc.act("flyto", (10,10,30))
for i in range(n):
bc.act("flyto", (80,10,30))
bc.act("flyto", (80,80,30))
bc.act("flyto", (10,80,30))
bc.act("flyto", (10,10,30))
bc.wait()
print("box #%d",i)
return h.val
# test non-same drone but non-interruptible
def circle(bc, r):
for i in range(32):
alpha = 2*3.1415926/32.0*i
bc.act("flyto", (r * math.cos(alpha), r * math.sin(alpha),30)).wait()
print("circle point #%d"%i)
bc.wait()
return
if __name__ == "__main__":
### require at least 2 drones in this test
bc = beecluster.Session(appID = "TEST-2")
h = bc.newTask(visitOnePoint, bc, (-20,-20,30))
h.wait()
h1 = bc.newTask(box, bc, 5, TaskName="box", NonInterruptible = False, SameDrone = True)
h2 = bc.newTask(circle,bc, 50, TaskName="circle1", NonInterruptible = True, SameDrone = False)
h3 = bc.newTask(circle,bc, 80, TaskName="circle2", NonInterruptible = True, SameDrone = False)
h1.wait()
h2.wait()
h3.wait()
bc.close()