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()