def __init__(self, bee_name):
self.__bee = bee.Bee(name=bee_name)
self.name = bee_name
self.__thread = threading.Thread(target=self.climb)
self.__thread.daemon = True
self.__thread.start()
self.max_turn = 2.0
self.max_grad = 0.5
def __init__(self,
bee_name,
logfile,
pub_addr,
sub_addr,
conf_file=None,
verb=False):
# process the input arguments and config file.
self.bee_name = bee_name
if conf_file is not None and conf_file != 'null' and conf_file != 'None':
with open(conf_file, 'r') as f:
conf = yaml.safe_load(f)
else:
conf = {}
self.override_fwd_clr = conf.get('override_fwd_clr', False)
self._fwd_clr = conf.get('fwd_clr', (0.3, 0.3, 0.3))
self.max_turn = 2.0 # TODO: from cfg file?
self.max_grad = 0.5 # TODO: from cfg file?
self.verb = verb
if self.verb:
print "attempting to connect to bee with name %s" % bee_name
print "\tpub_addr:{}".format(pub_addr)
print "\tsub_addr:{}".format(sub_addr)
'''
instantiates a assisipy.bee object but not derived from bee (At present)
default settings are 2nd argument, if not set by config file
'''
self.__bee = bee.Bee(name=self.bee_name,
pub_addr=pub_addr,
sub_addr=sub_addr)
# easiest way to show something about the bee state is through colour
self.CLR_FWD = (0.93, 0.79, 0)
self.CLR_COLL_OBJ = (0, 0, 1)
self.CLR_COLL_BEE = (0, 1, 0)
self.CLR_WAIT = (0.93, 0.0, 0)
if self.override_fwd_clr:
# special color for this bee from config file
c = [float(n) for n in self._fwd_clr.strip('()').split(',')]
self.CLR_FWD = c
self.__bee.set_color(*self.CLR_FWD)
self.last_turn_time = time.time()
self.last_report = time.time()
def go_straight(bee):
vel = 0.5
bee.set_vel(vel, vel)
def turn_random(bee):
vel = 0.2
direction = random.choice([-1, 1])
bee.set_vel(direction * vel, -direction * vel)
sleep(random.uniform(1, 5))
if __name__ == '__main__':
mybee = bee.Bee(name=sys.argv[1])
random.seed()
count = 0
# Naive wander control loop
while True:
while mybee.get_range(bee.OBJECT_FRONT) < 2:
turn_random(mybee)
go_straight(mybee)
count += 1
if count % 10 == 0:
print("I'm feeling {0} degrees.".format(mybee.get_temp()))
sleep(0.1)
def __init__(self, bee_name):
self.__bee = bee.Bee(name=bee_name)
self.__thread = threading.Thread(target=self.wander)
self.__thread.daemon = True
self._rotate_sz = 1.25
self.__thread.start()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# A simple demo of bee-casu interaction
# Taken from assisi-python/casu_proxy_led example.
from assisipy import bee
if __name__ == '__main__':
# Connect to the bee
walker = bee.Bee(name='Bee-001')
# Let the bee run in circles
walker.set_vel(0.975, 1.2)