Add endCompetition to AutonomousModeSelector

- without this the sim will crash on exit in autonomous

Author: virtuald

magicbot/magicrobot.py

@@ -377,6 +377,7 @@ def startCompetition(self) -> None:
 
     def endCompetition(self) -> None:
         self.__done = True
+        self._automodes.endCompetition()
 
     def autonomous(self) -> None:
         """

robotpy_ext/autonomous/selector.py

@@ -80,6 +80,7 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
 
         self.modes = {}
         self.active_mode = None
+        self.robot_exit = False
 
         logger.info("Begin initializing autonomous mode switcher")
 
@@ -210,6 +211,10 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
 
         logger.info("Autonomous switcher initialized")
 
+    def endCompetition(self):
+        """Call this function when your robot's endCompetition function is called"""
+        self.robot_exit = True
+
     def run(
         self,
         control_loop_wait_time: float = 0.020,
@@ -276,7 +281,7 @@ def watchdog_check_expired():
         isAutonomousEnabled = wpilib.DriverStation.isAutonomousEnabled
 
         with NotifierDelay(control_loop_wait_time) as delay:
-            while True:
+            while not self.robot_exit:
                 refreshData()
                 if not isAutonomousEnabled():
                     break