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) frame.setAlgorithm(algorithm) frame.show() t1 = ThreadMotors(motors, vel) t1.daemon = True t1.start()
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_())
import sys from PyQt5.QtWidgets import QApplication from gui.GUI import MainWindow from gui.threadGUI import ThreadGUI from parallelIce.cameraClient import CameraClient 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) cameraL = CameraClient(ic, "ObstacleAvoidance.CameraLeft", True) cameraR = CameraClient(ic, "ObstacleAvoidance.CameraRight", True) motors = Motors(ic, "ObstacleAvoidance.Motors") pose3d = Pose3DClient(ic, "ObstacleAvoidance.Pose3D", True) laser = LaserClient(ic, "ObstacleAvoidance.Laser", True) algorithm = MyAlgorithm(cameraL, cameraR, pose3d, laser, motors) app = QApplication(sys.argv) myGUI = MainWindow() myGUI.setCameraL(cameraL) myGUI.setCameraR(cameraR) myGUI.setMotors(motors) myGUI.setPose3D(pose3d) myGUI.setLaser(laser) myGUI.setAlgorithm(algorithm) myGUI.show() t2 = ThreadGUI(myGUI)
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) frame.setAlgorithm(algorithm) frame.show() t1 = ThreadMotors(motors, vel) t1.daemon = True t1.start()
from PyQt5.QtWidgets import QApplication if __name__ == "__main__": machine = Machine(3) machine.setStateName(0, 'Forward') machine.setStateName(1, 'Backward') machine.setStateName(2, 'Turn') machine.addTransition(0, 1, 'obstacle < th') machine.addTransition(1, 2, 'obstacle > th+x') machine.addTransition(2, 0, 'turn x rads') machine.addTransition(2, 1, '') ic = EasyIce.initialize(sys.argv) pose3d = Pose3DClient(ic, 'BumpGo.Pose3D') laser = LaserClient(ic, 'BumpGo.Laser') motors = Motors(ic, 'BumpGo.Motors') laser.start() pose3d.start() algorithm = MyAlgorithm(laser, motors, pose3d, machine) app = QApplication(sys.argv) myGUI = Window(machine, algorithm) myGUI.show() t2 = ThreadGUI(myGUI) t2.daemon = True t2.start() sys.exit(app.exec_())
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 from parallelIce.bumperClient import BumperClient import easyiceconfig as EasyIce from MyAlgorithm import MyAlgorithm if __name__ == "__main__": ic = EasyIce.initialize(sys.argv) motors = Motors(ic, "VacuumCleaner.Motors") pose3d = Pose3DClient(ic, "VacuumCleaner.Pose3D", True) laser = LaserClient(ic, "VacuumCleaner.Laser", True) bumper = BumperClient(ic, "VacuumCleaner.Bumper", True) 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()
# import sys from PyQt5.QtWidgets import QApplication from gui.GUI import MainWindow from gui.threadGUI import ThreadGUI from parallelIce.cameraClient import CameraClient 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, "Autopark.Motors") pose3d = Pose3DClient(ic, "Autopark.Pose3D", True) laser1 = LaserClient(ic, "Autopark.Laser1", True) laser2 = LaserClient(ic, "Autopark.Laser2", True) laser3 = LaserClient(ic, "Autopark.Laser3", True) 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()
import sys from parallelIce.cameraClient import CameraClient from parallelIce.motors import Motors from gui.threadGUI import ThreadGUI from gui.GUI import MainWindow from PyQt5.QtWidgets import QApplication import easyiceconfig as EasyIce import signal signal.signal(signal.SIGINT, signal.SIG_DFL) if __name__ == '__main__': ic = EasyIce.initialize(sys.argv) camera = CameraClient(ic,"basic_component.Camera",True) motors = Motors(ic,"basic_component.Motors") app = QApplication(sys.argv) frame = MainWindow() frame.setMotors(motors) frame.setCamera(camera) frame.show() t2 = ThreadGUI(frame) t2.daemon = True t2.start() sys.exit(app.exec_())
# 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.cameraClient import CameraClient from parallelIce.laserClient import LaserClient import easyiceconfig as EasyIce from MyAlgorithm import MyAlgorithm if __name__ == "__main__": ic = EasyIce.initialize(sys.argv) motors = Motors(ic, "Stop.Motors") pose3d = Pose3DClient(ic, "Stop.Pose3D", True) cameraC = CameraClient(ic, "Stop.CameraC", True) cameraL = CameraClient(ic, "Stop.CameraL", True) cameraR = CameraClient(ic, "Stop.CameraR", True) 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)
# import sys from gui.GUI import MainWindow from gui.threadGUI import ThreadGUI from parallelIce.cameraClient import CameraClient 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_())