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)
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_())
