///<inheritdoc/>
public void AddTableListenerEx(string key, ITableListener listener, NotifyFlags flags)
{
lock (m_listenerMap)
{
if (!m_listenerMap.TryGetValue(listener, out List <int> adapters))
{
adapters = new List <int>();
m_listenerMap.Add(listener, adapters);
}
string fullKey = m_pathWithSeperator + key;
// ReSharper disable once InconsistentNaming
EntryListenerCallback func = (uid, funcKey, value, flags_) =>
{
if (!funcKey.Equals(fullKey))
{
return;
}
listener.ValueChanged(this, key, value, flags_);
};
int id = NtCore.AddEntryListener(fullKey, func, flags);
adapters.Add(id);
}
}
public void TestAddSubTableListenerListenerLocalNotifyDelegate()
{
ITable Source = null;
string Key = null;
object Value = null;
NotifyFlags Flags = 0;
Action <ITable, string, object, NotifyFlags> listener = (s, k, v, f) =>
{
Source = s;
Key = k;
Value = v;
Flags = f;
};
string subTableName = "SubTable";
ITable subTable = m_table.GetSubTable("SubTable");
m_table.AddSubTableListener(listener, true);
string key = "key";
string value = "Value";
subTable.PutString(key, value);
Thread.Sleep(20);
Assert.That(Source, Is.EqualTo(m_table));
Assert.That(Key, Is.EqualTo(subTableName));
Assert.That(Value.ToString(), Is.EqualTo(subTable.ToString()));
Assert.That(Flags, Is.EqualTo(NotifyFlags.NotifyLocal | NotifyFlags.NotifyNew));
m_table.RemoveTableListener(listener);
}
///<inheritdoc/>
public void AddSubTableListener(Action <ITable, string, Value, NotifyFlags> listenerDelegate, bool localNotify)
{
if (!m_actionListenerMap.TryGetValue(listenerDelegate, out List <int> adapters))
{
adapters = new List <int>();
m_actionListenerMap.Add(listenerDelegate, adapters);
}
HashSet <string> notifiedTables = new HashSet <string>();
// ReSharper disable once InconsistentNaming
EntryListenerCallback func = (uid, key, value, flags_) =>
{
string relativeKey = key.Substring(m_path.Length + 1);
int endSubTable = relativeKey.IndexOf(PathSeperatorChar);
if (endSubTable == -1)
{
return;
}
string subTableKey = relativeKey.Substring(0, endSubTable);
if (notifiedTables.Contains(subTableKey))
{
return;
}
notifiedTables.Add(subTableKey);
listenerDelegate(this, subTableKey, null, flags_);
};
NotifyFlags flags = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (localNotify)
{
flags |= NotifyFlags.NotifyLocal;
}
int id = m_ntCore.AddEntryListener(m_pathWithSeperator, func, flags);
adapters.Add(id);
}
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
Source = source;
Key = key;
Value = value;
Flags = flags;
}
///<inheritdoc/>
public void ValueChanged(ITable source, string key, Value value, NotifyFlags flags)
{
if (key == ("p") || key == ("i") || key == ("d") || key == ("f"))
{
if (P != Table.GetNumber("p", 0.0) || I != Table.GetNumber("i", 0.0) ||
D != Table.GetNumber("d", 0.0) || F != Table.GetNumber("f", 0.0))
{
SetPID(Table.GetNumber("p", 0.0), Table.GetNumber("i", 0.0), Table.GetNumber("d", 0.0), Table.GetNumber("f", 0.0));
}
}
else if (key == ("setpoint"))
{
double val = value.GetDouble();
if (Setpoint != val)
{
Setpoint = val;
}
}
else if (key == ("enabled"))
{
bool val = value.GetBoolean();
if (Enabled != val)
{
if (val)
{
Enable();
}
else
{
Disable();
}
}
}
}
public void TestAddTableListenerExListenerFlags()
{
MockTableListener listener = new MockTableListener();
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyLocal | NotifyFlags.NotifyImmediate;
string key = "key";
string value = "Value";
m_table.PutString(key, value);
m_table.AddTableListenerEx(listener, f);
Thread.Sleep(20);
Assert.That(listener.Source, Is.EqualTo(m_table));
Assert.That(listener.Key, Is.EqualTo(key));
Assert.That(listener.Value, Is.EqualTo(value));
Assert.That(listener.Flags, Is.EqualTo(NotifyFlags.NotifyImmediate));
string key2 = "key2";
string val2 = "value2";
m_table.PutString(key2, val2);
Thread.Sleep(20);
Assert.That(listener.Source, Is.EqualTo(m_table));
Assert.That(listener.Key, Is.EqualTo(key2));
Assert.That(listener.Value, Is.EqualTo(val2));
Assert.That(listener.Flags, Is.EqualTo(NotifyFlags.NotifyNew | NotifyFlags.NotifyLocal));
m_table.RemoveTableListener(listener);
}
public void TestAddTableListenerExKeyListenerFlagsDelegate()
{
ITable Source = null;
string Key = null;
object Value = null;
NotifyFlags Flags = 0;
Action <ITable, string, object, NotifyFlags> listener = (s, k, v, _f) =>
{
Source = s;
Key = k;
Value = v;
Flags = _f;
};
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyLocal | NotifyFlags.NotifyImmediate;
string key = "key";
string value = "Value";
m_table.PutString(key, value);
m_table.AddTableListenerEx(key, listener, f);
m_table.PutString("Key2", "Value2");
Thread.Sleep(20);
Assert.That(Source, Is.EqualTo(m_table));
Assert.That(Key, Is.EqualTo(key));
Assert.That(Value, Is.EqualTo(value));
Assert.That(Flags, Is.EqualTo(NotifyFlags.NotifyImmediate));
m_table.RemoveTableListener(listener);
}
///////////////////////////////////////////////////////////////////////
public override ReturnCode Terminate(
Interpreter interpreter,
IClientData clientData,
ref Result result
)
{
if (interpreter != null)
{
if (savedNotifyFlags != NotifyFlags.None)
{
//
// NOTE: Remove the notify flags that we added to the
// interpreter earlier.
//
interpreter.GlobalNotifyFlags &= ~savedNotifyFlags;
savedNotifyFlags = NotifyFlags.None;
}
///////////////////////////////////////////////////////////////
if (savedNotifyTypes != NotifyType.None)
{
//
// NOTE: Remove the notify types that we added to the
// interpreter earlier.
//
interpreter.GlobalNotifyTypes &= ~savedNotifyTypes;
savedNotifyTypes = NotifyType.None;
}
}
///////////////////////////////////////////////////////////////////
return(base.Terminate(interpreter, clientData, ref result));
}
public ScriptEventArgs(
long id,
NotifyType types,
NotifyFlags flags,
Interpreter interpreter,
IClientData clientData,
ArgumentList arguments,
Result result,
ScriptException exception,
InterruptType interruptType,
string resourceName,
ResourceManager resourceManager,
params object[] messageArgs
)
: base(null, id, resourceName, messageArgs)
{
this.notifyTypes = types;
this.notifyFlags = flags;
this.interpreter = interpreter;
this.clientData = clientData;
this.arguments = arguments;
this.result = result;
this.exception = exception;
this.interruptType = interruptType;
this.resourceManager = resourceManager;
}
///<inheritdoc/>
public void AddTableListenerEx(ITableListener listener, NotifyFlags flags)
{
List <int> adapters;
if (!m_listenerMap.TryGetValue(listener, out adapters))
{
adapters = new List <int>();
m_listenerMap.Add(listener, adapters);
}
// ReSharper disable once InconsistentNaming
EntryListenerCallback func = (uid, key, value, flags_) =>
{
string relativeKey = key.Substring(m_path.Length + 1);
if (relativeKey.IndexOf(PathSeperatorChar) != -1)
{
return;
}
listener.ValueChanged(this, relativeKey, value, flags_);
};
int id = m_ntCore.AddEntryListener(m_path + PathSeperatorChar, func, flags);
adapters.Add(id);
}
///////////////////////////////////////////////////////////////////////
#region INotify Members
public override ReturnCode Notify(
Interpreter interpreter,
IScriptEventArgs eventArgs,
IClientData clientData,
ArgumentList arguments,
ref Result result
)
{
if (eventArgs == null)
{
return(ReturnCode.Ok);
}
if (!Utility.HasFlags(
eventArgs.NotifyTypes, NotifyType.Command, false))
{
return(ReturnCode.Ok);
}
NotifyFlags notifyFlags = eventArgs.NotifyFlags;
if (!Utility.HasFlags(
notifyFlags, NotifyFlags.Executed, false))
{
return(ReturnCode.Ok);
}
Thread.Sleep(500); /* TODO: Fine tune? */
return(ReturnCode.Ok);
}
public EntryNotification(string name, Value value, NotifyFlags flags,
EntryListenerCallback only)
{
Name = name;
Value = value;
Flags = flags;
Only = only;
}
/// <summary>
/// Listens for changes in the SmartDashboard table and then calls the function listening.
/// </summary>
/// <param name="table"></param>
/// <param name="key"></param>
/// <param name="value"></param>
/// <param name="arg4"></param>
private void OnTableValuesChanged(ITable table, string key, Value value, NotifyFlags arg4)
{
key = string.Format("{0}/{1}", GetTableName(table), key);
if (!ListenerFunctions.ContainsKey(key))
{
return;
}
mainDispatcher.Invoke(() => NTValueChanged(key, value));
}
private static void OnNetworkTableChange(ITable table, string key, Value v, NotifyFlags flags)
{
try
{
//multiple objects could be bound to this key
foreach (INotifyPropertyChanged source in propertyLookup.Keys)
{
OneToOneConversionMap <string, string> conversionMap = propertyLookup[source];
ITable boundTable = customTables[source];
object bindingSource = (source is DependencyNotifyListener) ? (object)(source as DependencyNotifyListener).source : source;
if (table.ToString() != boundTable.ToString())
{
continue;
}
if (conversionMap.TryGetBySecond(key, out string property))
{
//the property that changed is bound to this object
//grab the converter and use it if needed
IValueConverter converter = conversionMap.GetConverterByFirst(property);
PropertyInfo inf = bindingSource.GetType().GetProperty(property);
//issue using v for some reason
object value = NetworkUtil.ReadValue(boundTable.GetValue(key, null));
if (converter != null)
{
//in an NTConverter (required in API) the null values are never used so we don't need to set them
object attemptedVal = converter.ConvertBack(value, null, null, null);
//in case the conversion was invalid
if (attemptedVal != DependencyProperty.UnsetValue)
{
value = attemptedVal;
}
}
//correct any type inconsistencies (eg if we want to display an integer from the network, which only stores doubles)
if (value != null && value.GetType() != inf.PropertyType)
{
Type targetType = inf.PropertyType;
if (targetType.IsGenericType && targetType.GetGenericTypeDefinition() == typeof(Nullable <>))
{
targetType = targetType.GetGenericArguments()[0];
}
//anything still here can make an invalid cast to let them know to use a converter
value = Convert.ChangeType(value, targetType);
}
//write to the object
assignmentDispatch.Invoke(() => inf.SetValue(bindingSource, value));
}
}
}
catch (InvalidOperationException e)
{
if (!e.Message.StartsWith("Collection was modified"))
{
throw e;
}
}
}
///<inheritdoc/>
public void AddTableListener(string key, Action <ITable, string, Value, NotifyFlags> listenerDelegate, bool immediateNotify = false)
{
NotifyFlags flags = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (immediateNotify)
{
flags |= NotifyFlags.NotifyImmediate;
}
AddTableListenerEx(key, listenerDelegate, flags);
}
///<inheritdoc/>
public void AddTableListener(string key, ITableListener listener, bool immediateNotify = false)
{
NotifyFlags flags = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (immediateNotify)
{
flags |= NotifyFlags.NotifyImmediate;
}
AddTableListenerEx(key, listener, flags);
}
/// <inheritdoc/>
public void ValueChanged(ITable source, string key, Value value, NotifyFlags flags)
{
if (value.GetBoolean())
{
Start();
}
else
{
Cancel();
}
}
public int AddEntryListener(string prefix, EntryListenerCallback callback, NotifyFlags flags)
{
lock (m_mutex)
{
if ((flags & NotifyFlags.NotifyLocal) != 0)
{
m_localNotifiers = true;
}
return(m_entryListeners.Add(prefix, callback, flags));
}
}
/// <inheritdoc cref="NtCore.AddEntryListener"/>
public int AddEntryListener(string prefix, EntryListenerCallback callback, NotifyFlags flags)
{
Notifier notifier = m_notifier;
int uid = notifier.AddEntryListener(prefix, callback, flags);
notifier.Start();
if ((flags & NotifyFlags.NotifyImmediate) != 0)
{
m_storage.NotifyEntries(prefix, callback);
}
return(uid);
}
public NtEntryListener AddEntryListener(TableEntryListener listener, NotifyFlags flags)
{
int prefixLen = Path.Length + 1;
return(Instance.AddEntryListener(m_pathWithSep, (in RefEntryNotification evnt) =>
{
ReadOnlySpan <char> relativeKey = evnt.Name.AsSpan().Slice(prefixLen);
if (relativeKey.IndexOf(PathSeparator) != -1)
{
return;
}
listener(this, relativeKey, evnt.Entry, evnt.Value, evnt.Flags);
}, flags));
///////////////////////////////////////////////////////////////////////
#if NOTIFY || NOTIFY_OBJECT
public static bool HasFlags(
NotifyFlags flags,
NotifyFlags hasFlags,
bool all
)
{
if (all)
{
return((flags & hasFlags) == hasFlags);
}
else
{
return((flags & hasFlags) != NotifyFlags.None);
}
}
public void TestAddEntryListener()
{
string key1 = "testKey";
string toWrite1 = "written";
NtCore.SetEntryValue(key1, Value.MakeString(toWrite1));
int count = 0;
string recievedKey = "";
Value recievedValue = null;
NotifyFlags receivedFlags = 0;
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (true)
{
f |= NotifyFlags.NotifyLocal;
}
int listener = NtCore.AddEntryListener(key1, (uid, key, value, flags) =>
{
count++;
recievedKey = key;
recievedValue = value;
receivedFlags = flags;
}, f);
string toWrite2 = "NewNumber";
NtCore.SetEntryValue(key1, Value.MakeString(toWrite2));
Thread.Sleep(20);
Assert.That(count, Is.GreaterThanOrEqualTo(1));
Assert.That(recievedKey, Is.EqualTo(key1));
Assert.That(recievedValue, Is.Not.Null);
Assert.That(recievedValue.IsString);
var retValue = recievedValue.GetString();
Assert.That(retValue, Is.Not.Null);
Assert.That(retValue, Is.EqualTo(toWrite2));
Assert.That(receivedFlags.HasFlag(NotifyFlags.NotifyLocal));
NtCore.RemoveEntryListener(listener);
}
public void TestEntryListenerBooleanArray()
{
string key1 = "testKey";
bool[] toWrite1 = { true, true, true };
CoreMethods.SetEntryBooleanArray(key1, toWrite1);
int count = 0;
string recievedKey = "";
Value receivedValue = null;
NotifyFlags receivedFlags = 0;
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (true)
{
f |= NotifyFlags.NotifyImmediate;
}
int listener = CoreMethods.AddEntryListener(key1, (uid, key, value, flags) =>
{
count++;
recievedKey = key;
receivedValue = value;
receivedFlags = flags;
}, f);
Thread.Sleep(300);
Assert.That(count, Is.EqualTo(1));
Assert.That(recievedKey, Is.EqualTo(key1));
Assert.That(receivedValue, Is.Not.Null);
Assert.That(receivedValue.IsBooleanArray());
bool[] retValue = receivedValue.GetBooleanArray();
Assert.That(retValue, Is.Not.Null);
for (int i = 0; i < retValue.Length; i++)
{
Assert.That(retValue[i], Is.EqualTo(toWrite1[i]));
}
//Assert.That(retValue, Is.EqualTo(toWrite1));
Assert.That(receivedFlags.HasFlag(NotifyFlags.NotifyImmediate));
CoreMethods.RemoveEntryListener(listener);
}
public int Add(string prefix, EntryListenerCallback callback, NotifyFlags flags)
{
int uid;
var listener = new EntryListener(prefix, callback, flags);
if (m_free.Count == 0)
{
uid = m_list.Count;
m_list.Add(listener);
}
else
{
uid = m_free.Dequeue();
m_list[uid] = listener;
}
return(uid + 1);
}
public void TestAddEntryListener()
{
string key1 = "testKey";
string toWrite1 = "written";
CoreMethods.SetEntryString(key1, toWrite1);
int count = 0;
string recievedKey = "";
object recievedValue = null;
NotifyFlags receivedFlags = 0;
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (true)
{
f |= NotifyFlags.NotifyLocal;
}
int listener = CoreMethods.AddEntryListener(key1, (uid, key, value, flags) =>
{
count++;
recievedKey = key;
recievedValue = value;
receivedFlags = flags;
}, f);
string toWrite2 = "NewNumber";
CoreMethods.SetEntryString(key1, toWrite2);
Thread.Sleep(20);
Assert.That(count, Is.EqualTo(1));
Assert.That(recievedKey, Is.EqualTo(key1));
Assert.That(recievedValue, Is.Not.Null);
string retValue = recievedValue as string;
Assert.That(retValue, Is.Not.Null);
Assert.That(retValue, Is.EqualTo(toWrite2));
Assert.That(receivedFlags.HasFlag(NotifyFlags.NotifyLocal));
CoreMethods.RemoveEntryListener(listener);
}
public void ValueChanged(ITable source, string key, Value value, NotifyFlags flags)
{
switch (key)
{
case @"AUTON_OPTIONS":
updateAutonOptions(value.GetStringArray());
break;
case @"POSITION_OPTIONS":
updatePositionOptions(value.GetStringArray());
break;
case @"AUTON_FOUND":
updateAutonFound(value.GetString());
break;
}
}
public void TestEntryListenerDoubleArray()
{
string key1 = "testKey";
double[] toWrite1 = { 3.58, 6.825, 454.54 };
NtCore.SetEntryValue(key1, Value.MakeDoubleArray(toWrite1));
int count = 0;
string recievedKey = "";
Value recievedValue = null;
NotifyFlags receivedFlags = 0;
NotifyFlags f = NotifyFlags.NotifyNew | NotifyFlags.NotifyUpdate;
if (true)
{
f |= NotifyFlags.NotifyImmediate;
}
int listener = NtCore.AddEntryListener(key1, (uid, key, value, flags) =>
{
count++;
recievedKey = key;
recievedValue = value;
receivedFlags = flags;
}, f);
Thread.Sleep(300);
Assert.That(count, Is.EqualTo(1));
Assert.That(recievedKey, Is.EqualTo(key1));
Assert.That(recievedValue, Is.Not.Null);
Assert.That(recievedValue.IsDoubleArray);
double[] retValue = recievedValue.GetDoubleArray();
for (int i = 0; i < retValue.Length; i++)
{
Assert.That(retValue[i], Is.EqualTo(toWrite1[i]));
}
Assert.That(receivedFlags.HasFlag(NotifyFlags.NotifyImmediate));
NtCore.RemoveEntryListener(listener);
}
public void NotifyEntry(string name, Value value, NotifyFlags flags, EntryListenerCallback only = null)
{
if (!m_active)
{
return;
}
// optimization: don't generate needless local queue entries if we have
// no local listeners (as this is a common case on the server side)
if ((flags & NotifyFlags.NotifyLocal) != 0 && !m_localNotifiers)
{
return;
}
lock (m_mutex)
{
m_entryNotifications.Enqueue(new EntryNotification(name, value, flags, only));
}
m_cond.Set();
}
public void ValueChanged(ITable source, string key, Value value, NotifyFlags flags)
{
if (key != @"AUTON_SELECT")
{
return;
}
foreach (
var auton in Assembly.GetExecutingAssembly().GetTypes().Where(t => string.Equals(t.Namespace,
@"Trephine.Autonomi", StringComparison.Ordinal)))
{
if (auton.Name != value.GetString())
{
continue;
}
parent.auton = (Autonomous)Activator.CreateInstance(auton);
FrameworkCommunication.Instance.SendData(@"MESSAGE", $"{auton.Name} auton selected.");
Report.General($"{auton.Name} auton selected.");
return;
}
}
///////////////////////////////////////////////////////////////////////
public override ReturnCode Initialize(
Interpreter interpreter,
IClientData clientData,
ref Result result
)
{
if (interpreter != null)
{
NotifyType notifyTypes = GetTypes(interpreter);
if (!FlagOps.HasFlags(
interpreter.NotifyTypes, notifyTypes, true))
{
//
// NOTE: Add the notify types that we need to the
// interpreter.
//
interpreter.GlobalNotifyTypes |= notifyTypes;
savedNotifyTypes = notifyTypes;
}
///////////////////////////////////////////////////////////////
NotifyFlags notifyFlags = GetFlags(interpreter);
if (!FlagOps.HasFlags(
interpreter.NotifyFlags, notifyFlags, true))
{
//
// NOTE: Add the notify flags that we need to the
// interpreter.
//
interpreter.GlobalNotifyFlags |= notifyFlags;
savedNotifyFlags = notifyFlags;
}
}
///////////////////////////////////////////////////////////////////
return(base.Initialize(interpreter, clientData, ref result));
}
/// <inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
m_table.SetPersistent(key);
}
/// <inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
if ((bool)value)
{
Start();
}
else
{
Cancel();
}
}
/// <summary>
/// Function create struct which used Shell_NotifyIcon API function
/// </summary>
/// <param name="flags"></param>
/// <returns></returns>
private NOTIFYICONDATA CreateNotifyStruct( NotifyFlags flags, bool bSkip )
{
NOTIFYICONDATA data = new NOTIFYICONDATA();
data.cbSize = (uint)Marshal.SizeOf( data );
data.hWnd = m_handle;
data.uID = m_id;
data.uCallbackMessage = 0x400;
data.uFlags |= flags;
if( m_icon != null )
{
data.hIcon = m_icon.Handle; // this should always be valid
}
else
{
if( m_imgList != null && m_imgList.Images.Count > 0 )
{
Bitmap bmp = new Bitmap( m_imgList.Images[ 0 ], 16, 16 );
data.hIcon = bmp.GetHicon();
}
}
data.szTip = m_text;
if( !bSkip )
{
if( !m_visible ) data.dwState = NotifyState.NIS_HIDDEN;
data.dwStateMask |= NotifyState.NIS_HIDDEN;
}
return data;
}
/// <summary>
/// Function create struct which used Shell_NotifyIcon API function
/// </summary>
/// <param name="flags"></param>
/// <returns></returns>
private NOTIFYICONDATA CreateNotifyStruct( NotifyFlags flags )
{
return CreateNotifyStruct( flags, false );
}
///<inheritdoc/>
public override void ValueChanged(ITable table, string key, object value, NotifyFlags flags)
{
Set((double)value);
}
/// <summary>
/// Adds a Table Listener for the entire table, using the extended entry flags.
/// </summary>
/// <param name="listener">The <see cref="ITableListener"/> to add.</param>
/// <param name="flags">The <see cref="EntryFlags"/> flags to use for the listener</param>
public void AddTableListenerEx(ITableListener listener, NotifyFlags flags)
{
List<int> adapters;
if (!m_listenerMap.TryGetValue(listener, out adapters))
{
adapters = new List<int>();
m_listenerMap.Add(listener, adapters);
}
// ReSharper disable once InconsistentNaming
EntryListenerFunction func = (uid, key, value, flags_) =>
{
string relativeKey = key.Substring(m_path.Length + 1);
if (relativeKey.IndexOf(PathSeperatorChar) != -1)
{
return;
}
listener.ValueChanged(this, relativeKey, value, flags_);
};
int id = CoreMethods.AddEntryListener(m_path + PathSeperatorChar, func, flags);
adapters.Add(id);
}
public void AddTableListenerEx(ITableListener listener, NotifyFlags flags)
{
}
public void AddTableListenerEx(string key, ITableListener listener, NotifyFlags flags)
{
}
public void AddTableListenerEx(string key, Action<ITable, string, object, NotifyFlags> listenerDelegate, NotifyFlags flags)
{
}
///<inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
if (key == ("p") || key == ("i") || key == ("d") || key == ("f"))
{
if (P != Table.GetNumber("p", 0.0) || I != Table.GetNumber("i", 0.0) ||
D != Table.GetNumber("d", 0.0) || F != Table.GetNumber("f", 0.0))
SetPID(Table.GetNumber("p", 0.0), Table.GetNumber("i", 0.0), Table.GetNumber("d", 0.0), Table.GetNumber("f", 0.0));
}
else if (key == ("setpoint"))
{
if (Setpoint != (double)value)
Setpoint = (double)value;
}
else if (key == ("enabled"))
{
if (Enabled != (bool)value)
{
if ((bool)value)
{
Enable();
}
else
{
Disable();
}
}
}
}
///<inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
string val = ((string)value);
if (val.Equals("Off"))
{
Set(Value.Off);
}
else if (val.Equals("On"))
{
Set(Value.On);
}
else if (val.Equals("Forward"))
{
Set(Value.Forward);
}
else if (val.Equals("Reverse"))
{
Set(Value.Reverse);
}
}
/// <inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
if (value.ToString().Equals("Reverse"))
Set(Value.Reverse);
else if (value.ToString().Equals("Forward"))
Set(Value.Forward);
else
Set(Value.Off);
}
/// <summary>
/// Adds a Table Listener for a specified key, using the extended entry flags.
/// </summary>
/// <param name="key">The key to listen for.</param>
/// <param name="listener">The <see cref="ITableListener"/> to add.</param>
/// <param name="flags">The <see cref="EntryFlags"/> flags to use for the listener</param>
public void AddTableListenerEx(string key, ITableListener listener, NotifyFlags flags)
{
List<int> adapters;
if (!m_listenerMap.TryGetValue(listener, out adapters))
{
adapters = new List<int>();
m_listenerMap.Add(listener, adapters);
}
string fullKey = m_path + PathSeperatorChar + key;
// ReSharper disable once InconsistentNaming
EntryListenerFunction func = (uid, funcKey, value, flags_) =>
{
if (!funcKey.Equals(fullKey))
return;
listener.ValueChanged(this, key, value, flags_);
};
int id = CoreMethods.AddEntryListener(fullKey, func, flags);
adapters.Add(id);
}
internal static int AddEntryListener(string prefix, EntryListenerFunction listener, NotifyFlags flags)
{
// ReSharper disable once InconsistentNaming
Interop.NT_EntryListenerCallback modCallback = (uid, data, name, len, value, flags_) =>
{
NtType type = Interop.NT_GetValueType(value);
object obj;
ulong lastChange = 0;
UIntPtr size = UIntPtr.Zero;
IntPtr ptr;
switch (type)
{
case NtType.Unassigned:
obj = null;
break;
case NtType.Boolean:
int boolean = 0;
Interop.NT_GetValueBoolean(value, ref lastChange, ref boolean);
obj = boolean != 0;
break;
case NtType.Double:
double val = 0;
Interop.NT_GetValueDouble(value, ref lastChange, ref val);
obj = val;
break;
case NtType.String:
ptr = Interop.NT_GetValueString(value, ref lastChange, ref size);
obj = ReadUTF8String(ptr, size);
break;
case NtType.Raw:
ptr = Interop.NT_GetValueRaw(value, ref lastChange, ref size);
obj = GetRawDataFromPtr(ptr, size);
break;
case NtType.BooleanArray:
ptr = Interop.NT_GetValueBooleanArray(value, ref lastChange, ref size);
obj = GetBooleanArrayFromPtr(ptr, size);
break;
case NtType.DoubleArray:
ptr = Interop.NT_GetValueDoubleArray(value, ref lastChange, ref size);
obj = GetDoubleArrayFromPtr(ptr, size);
break;
case NtType.StringArray:
ptr = Interop.NT_GetValueStringArray(value, ref lastChange, ref size);
obj = GetStringArrayFromPtr(ptr, size);
break;
case NtType.Rpc:
ptr = Interop.NT_GetValueRaw(value, ref lastChange, ref size);
obj = GetRawDataFromPtr(ptr, size);
break;
default:
obj = null;
break;
}
string key = ReadUTF8String(name, len);
listener((int)uid, key, obj, (NotifyFlags)flags_);
};
UIntPtr prefixSize;
byte[] prefixStr = CreateUTF8String(prefix, out prefixSize);
int retVal = (int)Interop.NT_AddEntryListener(prefixStr, prefixSize, IntPtr.Zero, modCallback, (uint)flags);
s_entryCallbacks.Add(retVal, modCallback);
return retVal;
}
///<inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
Set((bool)value);
}
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
Source = source;
Key = key;
Value = value;
Flags = flags;
}
///<inheritdoc/>
public virtual void ValueChanged(ITable table, string key, object value, NotifyFlags flags)
{
SetSpeed((double)value);
}
/// <inheritdoc/>
public void ValueChanged(ITable source, string key, object value, NotifyFlags flags)
{
switch (key)
{
case "Enabled":
if ((bool)value)
Enable();
else
Disable();
break;
case "Value":
Set((double)value);
break;
case "Mode":
MotorControlMode = (ControlMode)(int)((double)value);
break;
}
if (MotorControlMode.IsPID())
{
switch (key)
{
case "p":
P = (double)value;
break;
case "i":
I = (double)value;
break;
case "d":
D = (double)value;
break;
case "f":
F = (double)value;
break;
}
}
}
