def __init__(self):
print 'main controller class'
print 'making websocket server'
self.hand=MyRobotHand(self.showmsg)
self.he=MyHwEngine()
self.regjoints()
self.root=tk.Tk()
self.queue = Queue.Queue()
self.gui = gui.MyUI(self.root, self.queue, self.onexit, self.onuibutton)
self.showmsg('My WebSocket Secure Server')
self.showmsg('Python Software and Web Browser Bridge')
self.running = True
self.thread1 = threading.Thread(target=self.workerThread1)
self.thread1.start()
self.periodicCall()
self.root.mainloop()
