public ControllerModel(string tableName, ITable table) : base(tableName, table)
{
if (controlModes == null)
{
FillControlModeOptions();
}
table.AddTableListenerOnSynchronizationContext(SynchronizationContext.Current, (modifiedTable, key, value, _) =>
{
switch (key)
{
case nameof(Mode):
Mode = (ControlMode)(int)(double)value;
break;
case "Value":
ShowValue((double)value);
break;
default:
break;
}
}, NetworkTables.NotifyFlags.NotifyImmediate | NetworkTables.NotifyFlags.NotifyUpdate | NetworkTables.NotifyFlags.NotifyNew);
ZeroOutput = new Command(() => Numbers["Value"] = 0.0);
ClearGraph = new Command(() =>
{
lock (syncRoot)
{
OutputPoints.Clear();
SetpointLine.Clear();
}
});
}
private void ShowValue(double value)
{
// All missing modes do not require any special code. They can just directly bind to [Value]
switch (Mode)
{
case ControlMode.Position:
case ControlMode.Speed:
case ControlMode.Current:
lock (syncRoot)
{
OutputPoints.Add(new OxyPlot.DataPoint(OutputPoints.Count, value));
SetpointLine.Add(new OxyPlot.DataPoint(SetpointLine.Count, Setpoint));
}
break;
}
}
