Example #1
0

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc= comm.init(cfg, 'Introrob')

    cameraCli = jdrc.getCameraClient("Introrob.cameraA")
    camera = CameraFilter(cameraCli) 

    algorithm=MyAlgorithm(camera)


    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setCamera(camera)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)  
    t2.daemon=True
    t2.start()
    
    sys.exit(app.exec_()) 
Example #2
0
    cfg = config.load(sys.argv[1])

    # starting comm
    jdrc = comm.init(cfg, 'Introrob')

    cameraCli = jdrc.getCameraClient("Introrob.Camera")
    camera = CameraFilter(cameraCli)
    navdata = jdrc.getNavdataClient("Introrob.Navdata")
    pose = jdrc.getPose3dClient("Introrob.Pose3D")
    cmdvel = jdrc.getCMDVelClient("Introrob.CMDVel")
    extra = jdrc.getArDroneExtraClient("Introrob.Extra")

    algorithm = MyAlgorithm(camera, navdata, pose, cmdvel, extra)

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setCamera(camera)
    frame.setNavData(navdata)
    frame.setPose3D(pose)
    frame.setCMDVel(cmdvel)
    frame.setExtra(extra)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #3
0
import sys
from PyQt5.QtWidgets import QApplication
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from parallelIce.motors import Motors
from parallelIce.pose3dClient import Pose3DClient
from parallelIce.laserClient import LaserClient
import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm

if __name__ == "__main__":
    ic = EasyIce.initialize(sys.argv)
    motors = Motors(ic, "Vacuum.Motors")
    pose3d = Pose3DClient(ic, "Vacuum.Pose3D", True)
    laser = LaserClient(ic, "Vacuum.Laser", True)
    algorithm = MyAlgorithm(pose3d, motors, laser)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d)
    myGUI.setLaser(laser)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
if __name__ == "__main__":

    cfg = config.load(sys.argv[1])

    jdrc = comm.init(cfg, 'Autopark')
    motors = jdrc.getMotorsClient("Autopark.Motors")
    pose3d = jdrc.getPose3dClient("Autopark.Pose3D")
    laser1 = jdrc.getLaserClient("Autopark.Laser1")
    laser2 = jdrc.getLaserClient("Autopark.Laser2")
    laser3 = jdrc.getLaserClient("Autopark.Laser3")

    algorithm = MyAlgorithm(pose3d, laser1, laser2, laser3, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d)
    myGUI.setLaser1(laser1)
    myGUI.setLaser2(laser2)
    myGUI.setLaser3(laser3)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    id = app.exec_()
    os._exit(id)
Example #5
0
import sys
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.motors import PublisherMotors

if __name__ == "__main__":

    camera = ListenerCamera("/F1ROS/cameraL/image_raw")
    motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
    pose3d = ListenerPose3d("/F1ROS/odom")
    pose3dphantom = ListenerPose3d("/F1ROS_phantom/odom")
    algorithm = MyAlgorithm(camera, motors, pose3d)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(camera)
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d, pose3dphantom)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
    print("Receiving " + "VacuumCleaner.Pose3D" + " from ROS messages")
    topicP = cfg.getProperty("VacuumCleaner.Pose3D"+".Topic")
    pose3d = ListenerPose3d(topicP)
    # -------- L A S E R --------------------------------------------------
    print("Receiving " + "VacuumCleaner.Laser" + "  LaserData from ROS messages")
    topicL  = cfg.getProperty("VacuumCleaner.Laser"+".Topic")
    laser = ListenerLaser(topicL)
    # -------- B U M P E R --------------------------------------------------
    print("Receiving " + "VacuumCleaner.Bumper" + " from ROS messages")
    topicB = cfg.getProperty("VacuumCleaner.Bumper"+".Topic")
    bumper = ListenerBumper(topicB)

    algorithm=MyAlgorithm(pose3d, motors,laser, bumper)

    app = QApplication(sys.argv)
    myGUI = MainWindow(pose3d)
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d)
    myGUI.setLaser(laser)
    myGUI.setBumper(bumper)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
import sys
import configparser
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from read_rosbag import Read_Rosbag
from pose import Pose

if __name__ == "__main__":
    config = configparser.ConfigParser()
    config.read('visual_odometry.cfg')
    bag_file = config['FILE']['rosbag_file_dir']

    pose_obj = Pose()

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    bag = Read_Rosbag(pose_obj, bag_file, myGUI)
    algorithm = MyAlgorithm(bag, pose_obj)
    myGUI.set_bag(bag)
    myGUI.set_pose(pose_obj)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #8
0
from sensors.camera import Camera
from actuators.motors import Motors
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    camera = Camera()
    motors = Motors()

    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setMotors(motors)
    frame.setCamera(camera)
    frame.show()

    t1 = ThreadSensor(camera)
    t1.daemon = True
    t1.start()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #9
0
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.pose3d import ListenerPose3d
from interfaces.motors import PublisherMotors

if __name__ == "__main__":

    camera = ListenerCamera("/F1ROS/cameraL/image_raw")
    motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3)
    pose3d = ListenerPose3d("/F1ROS/odom")
    pose3dphantom = ListenerPose3d("/F1ROS_phantom/odom")
    algorithm=MyAlgorithm(camera, motors, pose3d)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(camera)
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d, pose3dphantom)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
    cfg = config.load(sys.argv[1])
    #jdrc= comm.init(cfg, 'FollowLineTurtlebot')

    robot = cfg.getProperty("FollowLineTurtlebot.Robot")

    if (robot == "simkobuki"):
        cam_path = cfg.getProperty("FollowLineTurtlebot.SimCameraPath")
        mot_path = cfg.getProperty("FollowLineTurtlebot.SimMotorsPath")

    else: # realkobuki
        cam_path = cfg.getProperty("FollowLineTurtlebot.RealCameraPath")
        mot_path = cfg.getProperty("FollowLineTurtlebot.RealMotorsPath")

    camera = ListenerCamera(cam_path)
    motors = PublisherMotors(mot_path, 4, 0.3)

    algorithm=MyAlgorithm(camera, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(camera)
    myGUI.setMotors(motors)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()

    sys.exit(app.exec_())
Example #11
0
    jdrc = comm.init(cfg, 'Color_Filter')
    proxy = jdrc.getCameraClient('Color_Filter')
    from Camera.cameraSegment import CameraSegment
    cam = CameraSegment(proxy)
    return cam


if __name__ == '__main__':

    cfg = config.load(sys.argv[1])
    #print(cfg)
    jdrc = comm.init(cfg, 'Color_Filter')

    cameraCli = jdrc.getCameraClient("Color_Filter.Camera")
    camera = CameraSegment(cameraCli)

    # Threading the camera...
    algorithm = MyAlgorithm(camera)

    app = QApplication(sys.argv)
    frame = MainWindow(camera)
    # frame.setCamera(camera)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #12
0
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication
from read_rosbag import Read_Rosbag
from pose import Pose

if __name__ == "__main__":
    config = configparser.ConfigParser()
    config.read('visual_odometry.cfg')
    bag_file = config['FILE']['rosbag_file_dir']
    
    pose_obj = Pose()
    
    app = QApplication(sys.argv)
    myGUI = MainWindow()
    bag = Read_Rosbag(pose_obj ,bag_file , myGUI)
    algorithm = MyAlgorithm(bag , pose_obj)
    myGUI.set_bag(bag)
    myGUI.set_pose(pose_obj)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
Example #13
0
    cfg = readConfig()
    configurator = NetworkConfigurator(cfg)
    network = configurator.create_network()

    camera = ListenerCamera("/F1ROS/cameraL/image_raw")
    motors = PublisherMotors("/F1ROS/cmd_vel", 4, 0.3, 0, 0)

    network.setCamera(camera)
    t_network = ThreadNetwork(network)
    t_network.start()

    algorithm = MyAlgorithm(camera, motors, network)
    autopilot = AutoPilot(camera, motors)
    # algorithm = MyAlgorithm(None, None, None)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(camera)
    myGUI.setMotors(motors)
    myGUI.setAlgorithm(algorithm)
    myGUI.setAutopilot(autopilot)
    myGUI.setThreadConnector(t_network)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #14
0
import easyiceconfig as EasyIce
from gui.threadGUI import ThreadGUI
import jderobotComm as comm
from sensors.cameraFilter import CameraFilter
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    ic = EasyIce.initialize(sys.argv)

    #starting comm
    ic, node = comm.init(ic)

    cameraCli = comm.getCameraClient(ic, "ColorTuner.Camera", True)
    camera = CameraFilter(cameraCli)

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setCamera(camera)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
from PyQt5.QtWidgets import QApplication
from interfaces.camera import ListenerCamera
from interfaces.motors import PublisherMotors
from interfaces.point import ListenerPoint, PublisherPoint

if __name__ == "__main__":

    cameraL = ListenerCamera("/TurtlebotROS/cameraL/image_raw")
    cameraR = ListenerCamera("/TurtlebotROS/cameraR/image_raw")
    #motors = PublisherMotors("/TurtlebotROS/cmd_vel", 4, 0.3)

    pointTopic = "/TurtlebotROS/point"
    publishPoint = PublisherPoint(pointTopic)
    listenPoint = ListenerPoint(pointTopic)

    algorithm = MyAlgorithm(cameraL, cameraR, publishPoint)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(cameraL, 'left')
    myGUI.setCamera(cameraR, 'right')
    myGUI.setPlot(listenPoint)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #16
0
def removeMapFromArgs():
    for arg in sys.argv:
        if (arg.split(".")[1] == "conf"):
            sys.argv.remove(arg)


if __name__ == '__main__':

    if len(sys.argv) < 2:
        print(
            'ERROR: python2 globalNavigation.py [MAP CONFIG file] [YAML CONFIG file]'
        )
        sys.exit(-1)

    app = QApplication(sys.argv)
    frame = MainWindow()
    grid = Grid(frame)

    removeMapFromArgs()

    cfg = config.load(sys.argv[1])
    #starting comm
    jdrc = comm.init(cfg, 'TeleTaxi')

    motors = jdrc.getMotorsClient("TeleTaxi.Motors")
    pose = jdrc.getPose3dClient("TeleTaxi.Pose3D")

    vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())

    frame.setVelocity(vel)
    sensor = Sensor(grid, pose, True)
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    if len(sys.argv) < 2:
        print >> sys.stderr, 'ERROR: python main.py --mapConfig=[map config file] --Ice.Config=[ice file]'
        sys.exit(-1)

    sensor = Sensor();
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    sensor.setGetPathSignal(frame.getPathSig)
    frame.show()

    grid = Grid(frame)
    sensor.setGrid(grid)
    frame.setGrid(grid)
    
    algorithm=MyAlgorithm(sensor, grid)
    t1 = ThreadSensor(sensor,algorithm)  
    t1.daemon=True
    t1.start()

    t2 = ThreadGUI(frame)  
    t2.daemon=True
Example #18
0
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication

from drone import Drone

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    drone = Drone("mavros/cmd/arming", "mavros/cmd/land","mavros/set_mode",  "/mavros/setpoint_velocity/cmd_vel","/IntrorobROS/Pose3D",  "/IntrorobROS/image_raw")


    algorithm=MyAlgorithm(drone)


    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setDrone(drone)
    frame.setAlgorithm(algorithm)
    frame.show()



    t2 = ThreadGUI(frame)
    t2.daemon=True
    t2.start()

    sys.exit(app.exec_())
from MyAlgorithm import MyAlgorithm
from sensors.sensor import Sensor
from sensors.grid import Grid
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    sensor = Sensor();
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    sensor.setGetPathSignal(frame.getPathSig)
    frame.show()

    grid = Grid(frame.width(), frame.height(), sensor.WORLDWIDTH, sensor.WORLDHEIGHT)
    sensor.setGrid(grid)
    frame.setGrid(grid)
    
    algorithm=MyAlgorithm(sensor, grid)
    t1 = ThreadSensor(sensor,algorithm)  
    t1.daemon=True
    t1.start()

    t2 = ThreadGUI(frame)  
    t2.daemon=True
    algorithm = MyAlgorithm(pose3d, motors, laser, map_img)
    #////////////////////////////////////////////////////////

    #THREAD 2 - SENSORS
    #////////////////////////////////////////////////////////
    mySensors = Sensors(motors, pose3d, laser)

    t2 = ThreadSensors(mySensors)
    t2.daemon = True
    t2.start()
    #////////////////////////////////////////////////////////

    #THREAD 1 - GUI
    #////////////////////////////////////////////////////////
    app = QApplication(sys.argv)

    myGUI = MainWindow(map_img)
    myGUI.setMapImg(map_img)
    myGUI.setSensors(mySensors)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t1 = ThreadGUI(myGUI)
    t1.daemon = True
    t1.start()
    #////////////////////////////////////////////////////////
    sys.exit(app.exec_())

# Ctrl+C not working
#http://wiki.ros.org/rospy/Overview/Initialization%20and%20Shutdown
Example #21
0
import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication

if __name__ == "__main__":

    cfg = config.load(sys.argv[1])
    #starting comm
    jdrc = comm.init(cfg, 'FollowLineF1')

    cameraL = jdrc.getCameraClient("FollowLineF1.CameraLeft")
    cameraR = jdrc.getCameraClient("FollowLineF1.CameraRight")
    motors = jdrc.getMotorsClient("FollowLineF1.Motors")
    pose_client = jdrc.getPose3dClient("FollowLineF1.Pose")
    algorithm = MyAlgorithm(cameraL, cameraR, motors, pose_client)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCameraL(cameraL)
    myGUI.setPose(pose_client)
    myGUI.setCameraR(cameraR)
    myGUI.setMotors(motors)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #22
0
from MyAlgorithm import MyAlgorithm
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication

from drone import Drone

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    drone = Drone("mavros/cmd/arming", "mavros/cmd/land", "mavros/set_mode",
                  "/mavros/setpoint_velocity/cmd_vel", "/IntrorobROS/Pose3D",
                  "/IntrorobROS/image_raw")

    algorithm = MyAlgorithm(drone)

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setDrone(drone)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
    robot = cfg.getProperty("FollowLineTurtlebot.Robot")

    maxv = cfg.getPropertyWithDefault("FollowLineTurtlebot.MaxV", 2)
    maxw = cfg.getPropertyWithDefault("FollowLineTurtlebot.MaxV", 0.3)

    if (robot == "simkobuki"):
        cam_path = cfg.getProperty("FollowLineTurtlebot.SimCameraPath")
        mot_path = cfg.getProperty("FollowLineTurtlebot.SimMotorsPath")

    else: # realkobuki
        cam_path = cfg.getProperty("FollowLineTurtlebot.RealCameraPath")
        mot_path = cfg.getProperty("FollowLineTurtlebot.RealMotorsPath")

    camera = ListenerCamera(cam_path)
    motors = PublisherMotors(mot_path, maxv, maxw)

    algorithm=MyAlgorithm(camera, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCamera(camera)
    myGUI.setMotors(motors)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()

    sys.exit(app.exec_())
import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc = comm.init(cfg, 'Follow_face')

    cameraCli = jdrc.getCameraClient("Follow_face.Camera")
    camera = CameraSegment(cameraCli)
    motors = jdrc.getPTMotorsClient("Follow_face.PTMotors")

    algorithm = MyAlgorithm(camera, motors)

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setMotors(motors)
    frame.setCamera(camera)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

sys.exit(app.exec_())
Example #25
0
def run():
    app = QApplication(sys.argv)
    main = MainWindow()
    main.show()
    sys.exit(app.exec_())
Example #26
0
import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    ic = EasyIce.initialize(sys.argv)
    camera = CameraClient(ic, "UAVViewer.Camera", True)
    navdata = NavDataClient(ic, "UAVViewer.Navdata", True)
    pose = Pose3DClient(ic, "UAVViewer.Pose3D", True)
    cmdvel = CMDVel(ic, "UAVViewer.CMDVel")
    extra = Extra(ic, "UAVViewer.Extra")


    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setCamera(camera)
    frame.setNavData(navdata)
    frame.setPose3D(pose)
    frame.setCMDVel(cmdvel)
    frame.setExtra(extra)
    frame.show()
    
    

    t2 = ThreadGUI(frame)  
    t2.daemon=True
    t2.start()
    
    sys.exit(app.exec_()) 
Example #27
0
    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc= comm.init(cfg, 'Autopark')

    motors = jdrc.getMotorsClient ("Autopark.Motors")
    pose3d = jdrc.getPose3dClient("Autopark.Pose3D")
    laser1 = jdrc.getLaserClient("Autopark.Laser1").hasproxy()
    laser2 = jdrc.getLaserClient("Autopark.Laser2").hasproxy()
    laser3 = jdrc.getLaserClient("Autopark.Laser3").hasproxy()

    algorithm=MyAlgorithm(pose3d, laser1, laser2, laser3, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setMotors(motors)
    myGUI.setPose3D(pose3d)
    myGUI.setLaser1(laser1)
    myGUI.setLaser2(laser2)
    myGUI.setLaser3(laser3)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
Example #28
0
import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc= comm.init(cfg, 'Follow_face')

    cameraCli = jdrc.getCameraClient("Follow_face.Camera")
    camera = CameraSegment(cameraCli)
    motors = jdrc.getPTMotorsClient("Follow_face.PTMotors")

    algorithm=MyAlgorithm(camera, motors)

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setMotors(motors)
    frame.setCamera(camera)
    frame.setAlgorithm(algorithm)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

sys.exit(app.exec_())
Example #29
0
from gui.GUI import MainWindow
from gui.threadgui import ThreadGui

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    cfg = config.load(sys.argv[1])
    if len(sys.argv)>2:
        file_world = sys.argv[2]
    else:
        file_world = None


    # starting comm
    jdrc = comm.init(cfg, "compare3d")
    x = jdrc.getConfig()

    pose_real = jdrc.getPose3dClient("compare3d.Pose3DReal")
    pose_sim = jdrc.getPose3dClient("compare3d.Pose3DEstimated")

    app = QApplication(sys.argv)
    frame = MainWindow(file_world=file_world)
    frame.setPose3Dsim(pose_sim)
    frame.setPose3dreal(pose_real)
    frame.show()

    t2 = ThreadGui(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #30
0
#

import sys
from MyAlgorithm import MyAlgorithm
from sensors.sensor import Sensor
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    sensor = Sensor()
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    frame.show()
    algorithm = MyAlgorithm(sensor)
    t1 = ThreadSensor(sensor, algorithm)
    t1.daemon = True
    t1.start()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())

def removeMapFromArgs():
    for arg in sys.argv:
        if (arg.split("=")[0] == "--mapConfig"):
            sys.argv.remove(arg)


if __name__ == '__main__':

    if len(sys.argv) < 2:
        print('ERROR: python main.py --mapConfig=[map config file] --Ice.Config=[ice file]')
        sys.exit(-1)

    app = QApplication(sys.argv)
    frame = MainWindow()
    grid = Grid(frame)

    removeMapFromArgs()
    ic = EasyIce.initialize(sys.argv)
    pose = Pose3D (ic, "TeleTaxi.Pose3D")
    motors = Motors (ic, "TeleTaxi.Motors")

    vel = Velocity(0, 0, motors.getMaxV(), motors.getMaxW())

    frame.setVelocity(vel)
    sensor = Sensor(grid, pose, True)
    sensor.setGetPathSignal(frame.getPathSig)
    frame.setGrid(grid)
    frame.setSensor(sensor)
    algorithm = MyAlgorithm(grid, sensor, vel)
    with open(sys.argv[2]) as f:
        # using safe_load instead load
        cfg = yaml.safe_load(f)
        jdrc = connector.Connector(cfg, 'Amazon')
        motors = jdrc.getMotorPubObject()
        pose3d = jdrc.getPoseListnerObject()
        laser = jdrc.getLaserListnerObject()
        # pathListener = ListenerPath("/amazon_warehouse_robot/move_base/NavfnROS/plan")

        # This is to be updated
        navigation_client = NavigateToPoseActionClient()
        print("Subscribed To Move Base Client, Starting Application")

        app = QApplication(sys.argv)
        myGUI = MainWindow()

        grid = Grid(myGUI)

        vel = Velocity(0.0, 0.0, motors.getMaxV(), motors.getMaxW())
        sensor = Sensor(grid, pose3d, True)
        sensor.setGetPathSignal(myGUI.getPathSig)

        myGUI.setVelocity(vel)
        myGUI.setGrid(grid)
        myGUI.setSensor(sensor)
        algorithm = MyAlgorithm(grid, sensor, vel, navigation_client)
        myGUI.setAlgorithm(algorithm)
        myGUI.show()

        removeMapFromArgs()
Example #33
0
from parallelIce.motors import Motors
import easyiceconfig as EasyIce
from MyAlgorithm import MyAlgorithm
from PyQt5.QtWidgets import QApplication




if __name__ == "__main__":
    ic = EasyIce.initialize(sys.argv)
    cameraL = CameraClient(ic, "FollowLine.CameraLeft", True)
    cameraR = CameraClient(ic, "FollowLine.CameraRight", True)
    motors = Motors (ic, "FollowLine.Motors")
    algorithm=MyAlgorithm(cameraL, cameraR, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setCameraL(cameraL)
    myGUI.setCameraR(cameraR)
    myGUI.setMotors(motors)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
Example #34
0
#

import sys
from MyAlgorithm import MyAlgorithm
from sensors.sensor import Sensor
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    sensor = Sensor();
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    frame.show()
    algorithm=MyAlgorithm(sensor)
    t1 = ThreadSensor(sensor,algorithm)  
    t1.daemon=True
    t1.start()

    t2 = ThreadGUI(frame)  
    t2.daemon=True
    t2.start()
    
    sys.exit(app.exec_()) 
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':

    if len(sys.argv) < 2:
        print >> sys.stderr, 'ERROR: python main.py --mapConfig=[map config file] --Ice.Config=[ice file]'
        sys.exit(-1)

    sensor = Sensor()
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    sensor.setGetPathSignal(frame.getPathSig)
    frame.show()

    grid = Grid(frame)
    sensor.setGrid(grid)
    frame.setGrid(grid)

    algorithm = MyAlgorithm(sensor, grid)
    t1 = ThreadSensor(sensor, algorithm)
    t1.daemon = True
    t1.start()

    t2 = ThreadGUI(frame)
    t2.daemon = True
Example #36
0
    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc= comm.init(cfg, 'Stop')

    cameraC = jdrc.getCameraClient("Stop.CameraC")
    cameraL = jdrc.getCameraClient("Stop.CameraL")
    cameraR = jdrc.getCameraClient("Stop.CameraR")
    motors = jdrc.getMotorsClient ("Stop.Motors")
    pose3d = jdrc.getPose3dClient("Stop.Pose3D")
    
    algorithm=MyAlgorithm(pose3d, cameraC, cameraL, cameraR, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setMotors(motors)
    myGUI.setCameraC(cameraC)
    myGUI.setCameraL(cameraL)
    myGUI.setCameraR(cameraR)
    myGUI.setPose3D(pose3d)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()


    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
Example #37
0
from MyAlgorithm import MyAlgorithm
from sensors.sensor import Sensor
from sensors.grid import Grid
from sensors.threadSensor import ThreadSensor
from gui.threadGUI import ThreadGUI
from gui.GUI import MainWindow
from PyQt4 import QtGui

import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    sensor = Sensor()
    app = QtGui.QApplication(sys.argv)
    frame = MainWindow()
    frame.setSensor(sensor)
    sensor.setGetPathSignal(frame.getPathSig)
    frame.show()

    grid = Grid(frame.width(), frame.height(), sensor.WORLDWIDTH,
                sensor.WORLDHEIGHT)
    sensor.setGrid(grid)
    frame.setGrid(grid)

    algorithm = MyAlgorithm(sensor, grid)
    t1 = ThreadSensor(sensor, algorithm)
    t1.daemon = True
    t1.start()

    t2 = ThreadGUI(frame)
Example #38
0
from PyQt4 import QtCore, QtGui
from gui.GUI import MainWindow
from gui.threadGUI import ThreadGUI
from sensors.sensor import Sensor
from sensors.threadSensor import ThreadSensor
from MyAlgorithm import MyAlgorithm




if __name__ == "__main__":
    sensor = Sensor()
    algorithm=MyAlgorithm(sensor)

    app = QtGui.QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setSensor(sensor)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t1 = ThreadSensor(sensor,algorithm)
    t1.daemon=True
    t1.start()

    t2 = ThreadGUI(myGUI)
    t2.daemon=True
    t2.start()


    sys.exit(app.exec_())
Example #39
0
from gui.threadGUI import ThreadGUI
import jderobotComm as comm
from sensors.cameraFilter import CameraFilter
from gui.GUI import MainWindow
from PyQt5.QtWidgets import QApplication


import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    ic = EasyIce.initialize(sys.argv)

    #starting comm
    ic, node = comm.init(ic)

    cameraCli = comm.getCameraClient(ic, "ColorTuner.Camera", True)
    camera = CameraFilter(cameraCli)
    
    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setCamera(camera)
    frame.show()

    t2 = ThreadGUI(frame)  
    t2.daemon=True
    t2.start()
    
    sys.exit(app.exec_()) 
Example #40
0
if __name__ == "__main__":

    cfg = config.load(sys.argv[1])

    # starting comm
    jdrc = comm.init(cfg, 'Stop')

    cameraC = jdrc.getCameraClient("Stop.CameraC")
    cameraL = jdrc.getCameraClient("Stop.CameraL")
    cameraR = jdrc.getCameraClient("Stop.CameraR")
    motors = jdrc.getMotorsClient("Stop.Motors")
    pose3d = jdrc.getPose3dClient("Stop.Pose3D")

    algorithm = MyAlgorithm(pose3d, cameraC, cameraL, cameraR, motors)

    app = QApplication(sys.argv)
    myGUI = MainWindow()
    myGUI.setMotors(motors)
    myGUI.setCameraC(cameraC)
    myGUI.setCameraL(cameraL)
    myGUI.setCameraR(cameraR)
    myGUI.setPose3D(pose3d)
    myGUI.setAlgorithm(algorithm)
    myGUI.show()

    t2 = ThreadGUI(myGUI)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())
Example #41
0
import signal

signal.signal(signal.SIGINT, signal.SIG_DFL)

if __name__ == '__main__':
    cfg = config.load(sys.argv[1])

    #starting comm
    jdrc= comm.init(cfg, 'mbotSuite_py')


    camera = jdrc.getCameraClient("mbotSuite_py.PiCamera")
    irl = jdrc.getCameraClient("mbotSuite_py.IRLeft")
    irr = jdrc.getCameraClient("mbotSuite_py.IRRight")
    sonar = jdrc.getSonarClient("mbotSuite_py.Sonar")
    motors = jdrc.getMotorsClient("mbotSuite_py.Motors")

    app = QApplication(sys.argv)
    frame = MainWindow()
    frame.setMotors(motors)
    frame.setCamera(camera, irl, irr)
    frame.setSonar(sonar)
    frame.show()

    t2 = ThreadGUI(frame)
    t2.daemon = True
    t2.start()

    sys.exit(app.exec_())