Rover.WatchDog.KeepAlive C# (CSharp) Method

        private void KeepAlive()
        {
            while (true)
            {
                keepAliveCommand.Execute();

                if (!allowCommand())
                {
                    //Console.WriteLine("***Emergency stop enabled***");
                    if (emergencyLeftStopCommand == null)
                    {
                        emergencyLeftStopCommand = new MovementCommand(EMERGENCY_LEFT_STOP);
                    }

                    if (emergencyRightStopCommand == null)
                    {
                        emergencyRightStopCommand = new MovementCommand(EMERGENCY_RIGHT_STOP);
                    }

                    emergencyLeftStopCommand.Execute();
                    emergencyRightStopCommand.Execute();
                }

                Thread.Sleep(_sleepPeriod);
            }
        }