class Server(object): def __init__(self, slam, MAP_SIZE_PIXELS, vehicle): self.map_server = MapServer(slam, MAP_SIZE_PIXELS) self.control_server = ControlServer(vehicle) def start(self): """ Start the server. """ self.map_server.start() self.control_server.start() def close(self): """ Close the server. """ self.map_server.close() self.map_server.join() print "MapServer closed." self.control_server.close() self.control_server.join() print "ControlServer closed."