import signal
signal.signal(signal.SIGINT, signal.SIG_DFL)
if __name__ == '__main__':
cfg = config.load(sys.argv[1])
#starting comm
jdrc= comm.init(cfg, 'mbotSuite_py')
camera = jdrc.getCameraClient("mbotSuite_py.PiCamera")
irl = jdrc.getCameraClient("mbotSuite_py.IRLeft")
irr = jdrc.getCameraClient("mbotSuite_py.IRRight")
sonar = jdrc.getSonarClient("mbotSuite_py.Sonar")
motors = jdrc.getMotorsClient("mbotSuite_py.Motors")
app = QApplication(sys.argv)
frame = MainWindow()
frame.setMotors(motors)
frame.setCamera(camera, irl, irr)
frame.setSonar(sonar)
frame.show()
t2 = ThreadGUI(frame)
t2.daemon = True
t2.start()
sys.exit(app.exec_())
