class Sensor(threading.Thread):
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
self.grid.initPose(self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
# if client is stopped you can not start again, Threading.Thread raised error
def start(self):
self.kill_event.clear()
self.thread.start()
# if client is stopped you can not start again
def stop(self):
self.kill_event.set()
def update(self):
self.grid.updatePose(self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw)
def setGetPathSignal(self, signal):
self.getPathSig = signal
def getPose3D(self):
return self.pose3d.getPose3d()
def getRobotX(self):
return self.pose3d.getPose3d().x
def getRobotY(self):
return self.pose3d.getPose3d().y
def getRobotTheta(self):
return self.pose3d.getPose3d().yaw
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_())