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_())
