/// <summary>
/// Function that listens for the given key to change and then calls
/// the given function when it changes within the smart dashboard table.
/// </summary>
/// <param name="key">The key location to monitor. The format should be [sub table key]/[value key]</param>
/// <param name="functionToExecute">The function to fire when the value changes.</param>
private void AddKeyListenerInternal <T>(string key, Action <string, T> functionToExecute)
{
// TODO Don't allow the same key to have two listeners TODO allow this functionality later on?
if (ListenerFunctions.ContainsKey(key))
{
return;
}
string subtablePath = GetSubTablePath(key);
// Add it to the listener array
ListenerFunctions.Add(key, functionToExecute);
// If we're not connected, we'll add the key but keep the table null. It will be filled in when we connect.
if (!IsConnected)
{
if (!Tables.ContainsKey(subtablePath))
{
Tables.Add(subtablePath, null);
}
return;
}
ITable table = GetTable(subtablePath);
// If the table is not on our list, add it and subscribe to its change event.
if (!Tables.ContainsKey(subtablePath))
{
Tables.Add(subtablePath, table);
table.AddTableListener(OnTableValuesChanged);
}
}
/// <inheritdoc/>
public virtual void InitTable(ITable subtable)
{
Table?.RemoveTableListener(this);
Table = subtable;
if (Table != null)
{
Table.PutString("name", Name);
Table.PutBoolean("running", IsRunning());
Table.PutBoolean("isParented", m_parent != null);
Table.AddTableListener("running", this, false);
}
}
private static Tuple <ITable, string> NormalizeKey(string key)
{
ITable t = NetworkUtil.SmartDashboard;
char[] sep = new char[] { '/' };
string[] parts = key.Split(sep, 2);
while (parts.Length > 1)
{
key = parts[1];
t = t.GetSubTable(parts[0]);
parts = key.Split(sep, 2);
}
t.AddTableListener(key, OnNetworkTableChange);
return(new Tuple <ITable, string>(t, key));
}
///<inheritdoc/>
public void InitTable(ITable subtable)
{
Table?.RemoveTableListener(this);
Table = subtable;
if (Table != null)
{
Table.PutNumber("p", P);
Table.PutNumber("i", I);
Table.PutNumber("d", D);
Table.PutNumber("f", F);
Table.PutNumber("setpoint", Setpoint);
Table.PutBoolean("enabled", Enabled);
Table.AddTableListener(this, false);
}
}
public static void AddTableListenerOnSynchronizationContext(this ITable table, SynchronizationContext context, Action <ITable, string, object, NotifyFlags> callback, bool immediateNotify = false)
{
if (callback == null)
{
throw new ArgumentNullException(nameof(callback));
}
table.AddTableListener((tbl, name, value, flags) =>
{
if (context != null)
{
context.Post(state => callback(tbl, name, value, flags), null);
}
else
{
ThreadPool.QueueUserWorkItem(state => callback(tbl, name, value, flags), null);
}
}, immediateNotify);
}
/// <summary>
/// Populates tables in the Tables dictionary asynchronously so that they're not null
/// </summary>
private async Task PopulateTablesAsync()
{
List <string> keys = new List <string>(Tables.Keys);
// Add the connection listeners to the tables in the Tables dictionary and add the table to the Tables Dictionary
foreach (string key in keys)
{
if (Tables[key] != null)
{
continue;
}
ITable table = GetTable(key);
table.AddTableListener(OnTableValuesChanged);
Tables[key] = table;
}
await Task.Delay(0);
}
/// <inheritdoc/>
public virtual void InitTable(ITable subtable)
{
Table?.RemoveTableListener(this);
Table = subtable;
if (Table != null)
{
Table.PutString("name", Name);
Table.PutBoolean("running", IsRunning());
Table.PutBoolean("isParented", m_parent != null);
Table.AddTableListener("running", this, false);
}
}
public RootTableContext(string tableName, ITable table) : base(tableName, table)
{
statusTable = table.GetSubTable("~STATUS~");
statusTable.AddTableListener("LW Enabled", (changedTable, _, value, flags) =>
Enabled = value.GetBoolean(), true);
}
///<inheritdoc/>
public void InitTable(ITable subtable)
{
Table?.RemoveTableListener(this);
Table = subtable;
if (Table != null)
{
Table.PutNumber("p", P);
Table.PutNumber("i", I);
Table.PutNumber("d", D);
Table.PutNumber("f", F);
Table.PutNumber("setpoint", Setpoint);
Table.PutBoolean("enabled", Enabled);
Table.AddTableListener(this, false);
}
}
///<inheritdoc />
public void StartLiveWindowMode()
{
Table.AddTableListener("Value", this, true);
}
