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AP_Menu: support member functions for rover

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This commit is contained in:
Andrew Tridgell 2015-05-12 16:58:48 +10:00
parent e1e85ecc3d
commit db13f657a8
2 changed files with 15 additions and 2 deletions
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2
libraries/AP_Menu/AP_Menu.cpp
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@ -241,7 +241,7 @@ Menu::_call(uint8_t n, uint8_t argc)
{ {
func fn; func fn;
fn = (func)pgm_read_pointer(&_commands[n].func); pgm_read_block(&_commands[n].func, &fn, sizeof(fn));
return(fn(argc, &_argv[0])); return(fn(argc, &_argv[0]));
} }

15
libraries/AP_Menu/AP_Menu.h
View File

@ -18,6 +18,7 @@
#include <inttypes.h> #include <inttypes.h>
#include <AP_HAL.h> #include <AP_HAL.h>
#include <AP_Vehicle.h>
#define MENU_COMMANDLINE_MAX 32 ///< maximum input line length #define MENU_COMMANDLINE_MAX 32 ///< maximum input line length
#define MENU_ARGS_MAX 3 ///< maximum number of arguments #define MENU_ARGS_MAX 3 ///< maximum number of arguments
@ -55,7 +56,11 @@ public:
/// command, so that the same function can be used /// command, so that the same function can be used
/// to handle more than one command. /// to handle more than one command.
/// ///
#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
typedef DELEGATE_FUNCTION2(int8_t, uint8_t, const struct arg *) func;
#else
typedef int8_t (*func)(uint8_t argc, const struct arg *argv); typedef int8_t (*func)(uint8_t argc, const struct arg *argv);
#endif
static void set_port(AP_HAL::BetterStream *port) { static void set_port(AP_HAL::BetterStream *port) {
_port = port; _port = port;
@ -68,7 +73,11 @@ public:
/// ///
/// If this function returns false, the menu exits. /// If this function returns false, the menu exits.
/// ///
#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
typedef DELEGATE_FUNCTION0(bool) preprompt;
#else
typedef bool (*preprompt)(void); typedef bool (*preprompt)(void);
#endif
/// menu command description /// menu command description
/// ///
@ -89,7 +98,11 @@ public:
/// The "?", "help" and "exit" commands are always defined, but /// The "?", "help" and "exit" commands are always defined, but
/// can be overridden by explicit entries in the command array. /// can be overridden by explicit entries in the command array.
/// ///
int8_t (*func)(uint8_t argc, const struct arg *argv); ///< callback function #if APM_BUILD_TYPE(APM_BUILD_APMrover2)
DELEGATE_FUNCTION2(int8_t, uint8_t, const struct arg *) func;
#else
int8_t (*func)(uint8_t argc, const struct arg *argv);
#endif
}; };
/// constructor /// constructor