private void DriverStationStateChanged(object sender, DriverStationStateChangedArgs e)
{
byte[] data = new byte[6];
if (e.robot == false)
{
return;
}
switch (e.state.RobotMode)
{
case DriverStationState.Mode.Auto:
data[3] |= cAutonomous;
break;
case DriverStationState.Mode.Teleop:
data[3] |= cTeleoperated;
break;
case DriverStationState.Mode.Test:
data[3] |= cTest;
break;
}
if (e.state.Enabled)
{
data[3] |= cEnabled;
}
List <DSJoystick> joys = e.state.Joysticks;
if (joys != null)
{
foreach (DSJoystick ds in joys)
{
AddJoystickData(ref data, ds.Axis, ds.Buttons, ds.Povs);
}
}
try
{
m_sender.BeginSend(data, data.Length, new AsyncCallback(SendCallback), null);
}
catch
{
}
}
private void StateChanged(object sender, DriverStationStateChangedArgs e)
{
if (InvokeRequired)
{
try
{
this.Invoke(new StateChangedDelegate(StateChanged), new object[] { e.state });
}
catch
{
}
}
else
{
StateChanged(e.state);
}
}