Continuous Operation Example

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#

# Test continous operation (drone hand-off)

# Requires at least two drones in the simulator.

#

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import sys

sys.path.append('../python') # path to beecluster

import beecluster

from time import time, sleep

import math

import numpy as np

beecluster.ResetRemoteServer()

sleep(0.1)

# test non-same drone but non-interruptible

def circle(bc, r):

interval = []

for i in range(32*4):

alpha = 2*3.1415926/32.0*i

bc.act("flyto", (r * math.cos(alpha), r * math.sin(alpha),30))

h = bc.act("gp:sense", None)

h.val

if i > 3:

interval.append(time()-t0)

t0 = time()

print("circle point #%d"%i)

bc.wait()

print("max interval: ", np.amax(interval))

print("average interval: ",np.mean(interval))

print("interval std: ", np.std(interval))

return (np.amax(interval), np.mean(interval), np.std(interval))

if __name__ == "__main__":

bc = beecluster.Session(appID = "TEST-3")

bc.newTask(circle, bc, 80, TaskName="circle2", NonInterruptible = True, SameDrone = False).wait()

bc.close()

assert result[0] < result[1]*3.0, "######## TEST-3 FAILED ######## Hand-off too slow!"

print("######## TEST-3 PASSED ########")