public override void OnExit()
{
if (mCurrentState != null)
{
mCurrentState.OnExit();
}
if (mMotorControllerArduino != null)
{
if (mMotorControllerArduino.TelemetryActive)
{
mMotorControllerArduino.TelemetryToggle(0);
}
mMotorControllerArduino.Disconnected -= OnArduinoPrematureDisconnect;
mMotorControllerArduino.StopArduinoComms(true);
mMotorControllerArduino.TelemetryUpdate -= UpdateMotorTelemetry;
mMotorControllerArduino = null;
}
if (mSensorNodeArduino != null)
{
if (mSensorNodeArduino.TelemetryActive)
{
mSensorNodeArduino.TelemetryToggle(0);
}
mSensorNodeArduino.Disconnected -= OnArduinoPrematureDisconnect;
mSensorNodeArduino.StopArduinoComms(true);
mSensorNodeArduino.TelemetryUpdate -= UpdateSensorTelemetry;
mSensorNodeArduino = null;
}
}
public void Terminate(string reason)
{
mLogger.LogMessage(Logger.LoggerChannels.StateMachine, string.Format("State machine terminated because: {0}", reason));
mSocketConnection.Stop();
mMachineActiveWait.Set();
if (mCurrentState != null)
{
mCurrentState.OnExit();
}
mRunning = false;
}