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Fixed minor issues in asynchronizedSwarm example #519

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Merged
ArisMorgens merged 1 commit into from
Feb 17, 2025
Merged

Fixed minor issues in asynchronizedSwarm example #519

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35 changes: 19 additions & 16 deletions examples/swarm/asynchronizedSwarm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,14 +73,14 @@ def arm(scf):
time.sleep(1.0)


def position_callback(uri, timestamp, data, logconf):
def position_callback(uri, data):
global pos1, pos2
if uri == 'radio://0/80/2M/E7E7E7E7E7':
if uri == URI1:
pos1[0] = data['stateEstimate.x']
pos1[1] = data['stateEstimate.y']
pos1[2] = data['stateEstimate.z']
print(f'Uri1 position: x={pos1[0]}, y-{pos1[1]}, z{pos1[2]}')
elif uri == 'radio://0/80/2M/E7E7E7E7E8':
elif uri == URI2:
pos2[0] = data['stateEstimate.x']
pos2[1] = data['stateEstimate.y']
pos2[2] = data['stateEstimate.z']
Expand All @@ -93,38 +93,41 @@ def start_position_printing(scf):
log_conf1.add_variable('stateEstimate.y', 'float')
log_conf1.add_variable('stateEstimate.z', 'float')
scf.cf.log.add_config(log_conf1)
log_conf1.data_received_cb.add_callback(
lambda timestamp, data, logconf: position_callback(scf.cf.link_uri, timestamp, data, logconf))
log_conf1.data_received_cb.add_callback(lambda _timestamp, data, _logconf: position_callback(scf.cf.link_uri, data))
log_conf1.start()


def async_flight(scf):
with MotionCommander(scf, default_height=DEFAULT_HEIGHT) as mc:
time.sleep(1)

start_time = time.time()
end_time = time.time() + 12

while time.time() < end_time:
if scf.__dict__['_link_uri'] == 'radio://0/80/2M/E7E7E7E7E7':
if time.time() < end_time - 7:

if scf.__dict__['_link_uri'] == URI1:
if time.time() - start_time < 5:
mc.start_up(DEFAULT_VELOCITY)
elif time.time() < end_time - 5:
elif time.time() - start_time < 7:
mc.stop()
elif time.time() < end_time:
elif time.time() - start_time < 12:
mc.start_down(DEFAULT_VELOCITY)
else:
mc.stop()

elif scf.__dict__['_link_uri'] == 'radio://0/80/2M/E7E7E7E7E8':
if time.time() < end_time-10:
elif scf.__dict__['_link_uri'] == URI2:
if time.time() - start_time < 2:
mc.start_left(DEFAULT_VELOCITY)
elif time.time() < end_time-8:
elif time.time() - start_time < 4:
mc.start_right(DEFAULT_VELOCITY)
elif time.time() < end_time-6:
elif time.time() - start_time < 6:
mc.start_left(DEFAULT_VELOCITY)
elif time.time() < end_time-4:
elif time.time() - start_time < 8:
mc.start_right(DEFAULT_VELOCITY)
elif time.time() < end_time-2:
elif time.time() - start_time < 10:
mc.start_left(DEFAULT_VELOCITY)
elif time.time() < end_time:
elif time.time() - start_time < 12:
mc.start_right(DEFAULT_VELOCITY)
else:
mc.stop()
Expand Down