def __updateHandler(self, var, val):
'''
Handler called for incoming sensor-updates ...
@param var name of variable which was updated
@param val new value assigned to var
'''
logging.info("Received update: %s = %s" % (var, val))
if var == "autopilot":
if val == 1:
logging.debug("Starting autupilot thread")
self.pilot = RobotPilot(self.robot)
self.pilot.daemon = True
self.pilot.start()
self.bcastMsg('autopilot-started')
else:
if not self.pilot == None:
logging.debug(
"Autopilot is running, trying to stop it ...")
self.pilot.abort = True
self.pilot.join()
del self.pilot
self.bcastMsg('autopilot-stoped')
