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ArduPlane: use functor macros

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Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
This commit is contained in:
Lucas De Marchi 2015-05-24 20:24:11 -03:00 committed by Andrew Tridgell
parent 2f5314a1a6
commit 7c4cf41ebc
5 changed files with 11 additions and 11 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -26,7 +26,7 @@
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpmf-conversions"
#define SCHED_TASK(func) AP_HAL_CLASSPROC_VOID(&plane, &Plane::func)
#define SCHED_TASK(func) FUNCTOR_BIND_VOID(&plane, &Plane::func, void)
/*
scheduler table - all regular tasks are listed here, along with how

4
ArduPlane/GCS_Mavlink.cpp
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@ -1288,7 +1288,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, AP_HAL_CLASSPROC(&plane, &Plane::mavlink_set_mode));
handle_set_mode(msg, FUNCTOR_BIND(&plane, &Plane::mavlink_set_mode, bool, uint8_t));
break;
}
@ -1704,7 +1704,7 @@ void Plane::gcs_update(void)
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs[i].update(g.cli_enabled==1?AP_HAL_MEMBERPROC(&Plane::run_cli):NULL);
gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):NULL);
#else
gcs[i].update(NULL);
#endif

6
ArduPlane/Log.cpp
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@ -20,7 +20,7 @@ static const struct Menu::command log_menu_commands[] PROGMEM = {
};
// A Macro to create the Menu
MENU2(log_menu, "Log", log_menu_commands, MENU_FUNC(print_log_menu));
MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&plane, &Plane::print_log_menu, bool));
bool Plane::print_log_menu(void)
{
@ -493,8 +493,8 @@ void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page)
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
DataFlash.LogReadProcess(log_num, start_page, end_page,
AP_HAL_MEMBERPROC(&Plane::print_flight_mode),
DataFlash.LogReadProcess(log_num, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Plane::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
cliSerial);
}
#endif // CLI_ENABLED

8
ArduPlane/Plane.cpp
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@ -58,9 +58,9 @@ Plane::Plane(void) :
flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL),
aerodynamic_load_factor(1.0f),
mission(ahrs,
AP_HAL_MEMBERPROC(&Plane::start_command_callback),
AP_HAL_MEMBERPROC(&Plane::verify_command_callback),
AP_HAL_MEMBERPROC(&Plane::exit_mission_callback)),
FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)),
#if AP_TERRAIN_AVAILABLE
terrain(ahrs, mission, rally),
#endif
@ -72,7 +72,7 @@ Plane::Plane(void) :
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
arming(ahrs, barometer, compass, home_is_set, AP_HAL_MEMBERPROC(&Plane::gcs_send_text_P)),
arming(ahrs, barometer, compass, home_is_set, FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)),
param_loader(var_info)
{
elevon.trim1 = 1500;

2
ArduPlane/Plane.h
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@ -918,7 +918,7 @@ public:
int8_t test_shell(uint8_t argc, const Menu::arg *argv);
};
#define MENU_FUNC(func) AP_HAL_CLASSPROC(&plane, &Plane::func)
#define MENU_FUNC(func) FUNCTOR_BIND(&plane, &Plane::func, int8_t, uint8_t, const Menu::arg *)
extern const AP_HAL::HAL& hal;
extern Plane plane;