# 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()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
t2 = ThreadGUI(myGUI)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
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)
sensor.setGetPathSignal(frame.getPathSig)
frame.setGrid(grid)
frame.setSensor(sensor)
algorithm = MyAlgorithm(grid, sensor, vel)
frame.setAlgorithm(algorithm)
frame.show()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
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)
frame.setAlgorithm(algorithm)
frame.show()
t1 = ThreadMotors(motors, vel)
t1.daemon = True
t1.start()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
