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APMrover2: 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 c894a1349e
commit 2f5314a1a6
6 changed files with 12 additions and 11 deletions
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2
APMrover2/APMrover2.cpp
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@ -40,7 +40,7 @@ Rover rover;
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpmf-conversions"
#define SCHED_TASK(func) AP_HAL_CLASSPROC_VOID(&rover, &Rover::func)
#define SCHED_TASK(func) FUNCTOR_BIND_VOID(&rover, &Rover::func, void)
/*
scheduler table - all regular tasks should be listed here, along

4
APMrover2/GCS_Mavlink.cpp
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@ -995,7 +995,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, AP_HAL_CLASSPROC(&rover, &Rover::mavlink_set_mode));
handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t));
break;
}
@ -1287,7 +1287,7 @@ void Rover::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(&Rover::run_cli):NULL);
gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *) : NULL);
#else
gcs[i].update(NULL);
#endif

6
APMrover2/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(&rover, &Rover::print_log_menu, bool));
bool Rover::print_log_menu(void)
{
@ -413,8 +413,8 @@ void Rover::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
cliSerial->println_P(PSTR(HAL_BOARD_NAME));
DataFlash.LogReadProcess(log_num, start_page, end_page,
AP_HAL_MEMBERPROC(&Rover::print_mode),
DataFlash.LogReadProcess(log_num, start_page, end_page,
FUNCTOR_BIND_MEMBER(&Rover::print_mode, void, AP_HAL::BetterStream *, uint8_t),
cliSerial);
}
#endif // CLI_ENABLED

8
APMrover2/Rover.cpp
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@ -38,10 +38,10 @@ Rover::Rover(void) :
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
AP_HAL_MEMBERPROC(&Rover::start_command),
AP_HAL_MEMBERPROC(&Rover::verify_command),
AP_HAL_MEMBERPROC(&Rover::exit_mission)),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED

2
APMrover2/Rover.h
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@ -533,7 +533,7 @@ public:
#endif
};
#define MENU_FUNC(func) AP_HAL_CLASSPROC(&rover, &Rover::func)
#define MENU_FUNC(func) FUNCTOR_BIND(&rover, &Rover::func, int8_t, uint8_t, const Menu::arg *)
extern const AP_HAL::HAL& hal;
extern Rover rover;

1
APMrover2/system.cpp
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@ -26,6 +26,7 @@ int8_t Rover::main_menu_help(uint8_t argc, const Menu::arg *argv)
}
// Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] PROGMEM = {
// command function called
// ======= ===============