One parameter world constructor for parallel scripts

client/python/example_user_scripts/hello_drone_secondary.py

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+"""
+Copyright (C) Microsoft Corporation.
+Copyright (C) 2025 IAMAI Consulting Corp.
+MIT License. All rights reserved.
+
+Secondary controller: flies the drone using only service calls (no topic subscriptions).
+"""
+
+import asyncio
+
+from projectairsim import ProjectAirSimClient, Drone, World
+from projectairsim.utils import projectairsim_log
+
+
+async def main():
+    client = ProjectAirSimClient()
+
+    try:
+        # 1) Connect to the running simulation (primary already loaded the scene)
+        client.connect()
+
+        # 2) Attach to current world without loading a new scene
+        world = World(client)
+
+        # 3) Attach to the existing drone
+        drone = Drone(client, world, "Drone1")
+
+        # ----------------- FLIGHT SEQUENCE (control) -----------------
+        drone.enable_api_control()
+        drone.arm()
+
+        projectairsim_log().info("takeoff_async: starting")
+        takeoff_task = await drone.takeoff_async()
+        await takeoff_task
+        projectairsim_log().info("takeoff_async: completed")
+
+        # Move up 1 m/s for 4 s
+        move_up_task = await drone.move_by_velocity_async(
+            v_north=0.0, v_east=0.0, v_down=-1.0, duration=4.0
+        )
+        projectairsim_log().info("Move-Up invoked")
+        await move_up_task
+        projectairsim_log().info("Move-Up completed")
+
+        # Move down 1 m/s for 4 s
+        move_down_task = await drone.move_by_velocity_async(
+            v_north=0.0, v_east=0.0, v_down=1.0, duration=4.0
+        )
+        projectairsim_log().info("Move-Down invoked")
+        await move_down_task
+        projectairsim_log().info("Move-Down completed")
+
+        projectairsim_log().info("land_async: starting")
+        land_task = await drone.land_async()
+        await land_task
+        projectairsim_log().info("land_async: completed")
+
+        # Disarm/disable at the end
+        drone.disarm()
+        drone.disable_api_control()
+
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
+    finally:
+        client.disconnect()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

client/python/example_user_scripts/two_drones_split_drone1.py

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+"""
+Copyright (C) Microsoft Corporation.
+Copyright (C) 2025 IAMAI CONSULTING CORP
+MIT License.
+
+Control script for Drone1.
+This script loads the two-drone scene and controls only Drone1.
+"""
+
+import asyncio
+
+from projectairsim import Drone, ProjectAirSimClient, World
+from projectairsim.image_utils import ImageDisplay
+from projectairsim.utils import projectairsim_log
+
+
+def imu_callback_drone1(_, imu_msg):
+    print(f"[Drone1][IMU] {imu_msg}")
+
+
+async def fly_box_pattern(drone: Drone, label: str):
+    """Fly a simple box-like path for one drone."""
+    cmd_duration_sim_sec = 3
+    velocity_mps = 1
+
+    projectairsim_log().info(f"[{label}] Move Up")
+    task = await drone.move_by_velocity_async(0, 0, -velocity_mps, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move North")
+    task = await drone.move_by_velocity_async(velocity_mps, 0, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move West")
+    task = await drone.move_by_velocity_async(0, -velocity_mps, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move South")
+    task = await drone.move_by_velocity_async(-velocity_mps, 0, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move East")
+    task = await drone.move_by_velocity_async(0, velocity_mps, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move Down")
+    task = await drone.move_by_velocity_async(0, 0, velocity_mps, cmd_duration_sim_sec)
+    await task
+
+
+async def main():
+    client = ProjectAirSimClient()
+    image_display = ImageDisplay()
+
+    try:
+        client.connect()
+
+        # Drone1 script is the one that loads the scene.
+        world = World(client, "scene_two_drones.jsonc", delay_after_load_sec=2)
+        drone1 = Drone(client, world, "Drone1")
+
+        chase_cam_window = "Drone1-ChaseCam"
+        image_display.add_chase_cam(chase_cam_window)
+        client.subscribe(
+            drone1.sensors["Chase"]["scene_camera"],
+            lambda _, chase: image_display.receive(chase, chase_cam_window),
+        )
+        client.subscribe(drone1.sensors["IMU1"]["imu_kinematics"], imu_callback_drone1)
+        image_display.start()
+
+        drone1.enable_api_control()
+        drone1.arm()
+
+        await fly_box_pattern(drone1, "Drone1")
+
+        drone1.disarm()
+        drone1.disable_api_control()
+
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
+
+    finally:
+        client.disconnect()
+        image_display.stop()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

client/python/example_user_scripts/two_drones_split_drone2.py

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+"""
+Copyright (C) Microsoft Corporation.
+Copyright (C) 2025 IAMAI CONSULTING CORP
+MIT License.
+
+Control script for Drone2.
+This script does NOT reload the scene; it attaches to the current world with World(client).
+Run this after the Drone1 script has already loaded the scene.
+"""
+
+import asyncio
+
+from projectairsim import Drone, ProjectAirSimClient, World
+from projectairsim.utils import projectairsim_log
+
+
+def imu_callback_drone2(_, imu_msg):
+    print(f"[Drone2][IMU] {imu_msg}")
+
+
+async def fly_box_pattern(drone: Drone, label: str):
+    """Fly a simple box-like path for one drone."""
+    cmd_duration_sim_sec = 3
+    velocity_mps = 1
+
+    projectairsim_log().info(f"[{label}] Move Up")
+    task = await drone.move_by_velocity_async(0, 0, -velocity_mps, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move North")
+    task = await drone.move_by_velocity_async(velocity_mps, 0, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move West")
+    task = await drone.move_by_velocity_async(0, -velocity_mps, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move South")
+    task = await drone.move_by_velocity_async(-velocity_mps, 0, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move East")
+    task = await drone.move_by_velocity_async(0, velocity_mps, 0, cmd_duration_sim_sec)
+    await task
+
+    projectairsim_log().info(f"[{label}] Move Down")
+    task = await drone.move_by_velocity_async(0, 0, velocity_mps, cmd_duration_sim_sec)
+    await task
+
+
+async def main():
+    client = ProjectAirSimClient()
+
+    try:
+        client.connect()
+
+        # Drone2 script attaches to the already-loaded scene.
+        world = World(client)
+        drone2 = Drone(client, world, "Drone2")
+
+        if not client.is_service_only_mode():
+            imu_topic = drone2.sensors.get("IMU1", {}).get("imu_kinematics")
+            if imu_topic:
+                client.subscribe(imu_topic, imu_callback_drone2)
+            else:
+                projectairsim_log().warning(
+                    "[Drone2] IMU topic was not found; continuing without topic subscription."
+                )
+        else:
+            projectairsim_log().warning(
+                "[Drone2] Client is running in service-only mode; skipping topic subscription."
+            )
+
+        drone2.enable_api_control()
+        drone2.arm()
+
+        await fly_box_pattern(drone2, "Drone2")
+
+        drone2.disarm()
+        drone2.disable_api_control()
+
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
+
+    finally:
+        client.disconnect()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())