#! /usr/bin/python
from sensors.webcam import Webcam, CupDetector, FaceDetector, TableDetector
from controllers.table_state import TableState
from controllers.nxt_controller import NxtController
from motors.pyrobot import Create
from event import EventLoop
import sys
if __name__ == "__main__":
e = EventLoop()
irobo = Create()
irobo.Control()
td = TableDetector(e)
ts = TableState(e, irobo)
n_c = NxtController(e)
e.register('webcam', Webcam(e, cam=1))
e.register('td', td, 'frame')
e.register('ts', ts, 'table_pos')
# Obstacle avoidance
e.register('ts', ts, 'obstacle') # Response (ts)
e.register('n_c', n_c, 'obstacle_distance') # Request
e.run()
