private void Instance_RobotStatusChanged(object sender, RobotStatusChangedEventArgs e)
{
switch (e.CurrentRobotState)
{
case RobotState.Auton:
notifyRobotState(Constants.AUTON);
break;
case RobotState.Teleop:
notifyRobotState(Constants.TELEOP);
break;
default:
notifyRobotState(Constants.DISABLED);
break;
}
}
private void Instance_RobotStatusChanged(object sender, RobotStatusChangedEventArgs e)
{
if (e.CurrentRobotState == RobotState.Auton || e.CurrentRobotState == RobotState.Teleop)
{
finished = false;
cancel = false;
thread = new Thread(backgroundLoop);
thread.Start();
Started?.Invoke(this, new EventArgs());
}
else
{
if (thread != null && thread.IsAlive)
{
Abort(RobotStatus.Instance);
}
}
}
/// <summary>
/// Disposes of the instance if the robot state changes
/// </summary>
/// <param name="sender">The object invoking the method</param>
/// <param name="e">RobotStatusChanged Arguments passed</param>
private void Instance_RobotStatusChanged(object sender, RobotStatusChangedEventArgs e)
{
Report.Warning("WatchDog disposed due to robot state change.");
Dispose();
}