From 037d3b2fb59d6453df2ee85333334589217eafb3 Mon Sep 17 00:00:00 2001
From: Patrick Plenefisch <simonpatp@gmail.com>
Date: Tue, 7 Oct 2014 17:13:31 -0400
Subject: [PATCH] void* -> void by creating proxy fuction

Change-Id: I903c3d98f3210d1969b9aed6c84f5ccaa803a9ed
---
 wpilibc/wpilibC++/include/Notifier.h          |  2 +-
 wpilibc/wpilibC++/include/PIDController.h     |  2 +-
 .../wpilibC++Devices/src/PIDController.cpp    | 25 +++++++++++++++----
 .../src/NotifierTest.cpp                      |  3 +--
 wpilibc/wpilibC++Sim/src/PIDController.cpp    |  3 +--
 5 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/wpilibc/wpilibC++/include/Notifier.h b/wpilibc/wpilibC++/include/Notifier.h
index 13c3e091df..3cb2fda1c5 100644
--- a/wpilibc/wpilibC++/include/Notifier.h
+++ b/wpilibc/wpilibC++/include/Notifier.h
@@ -9,7 +9,7 @@
 #include "Task.h"
 #include "HAL/cpp/Synchronized.hpp"
 
-typedef void *(*TimerEventHandler)(void *param);
+typedef void (*TimerEventHandler)(void *param);
 
 class Notifier : public ErrorBase
 {
diff --git a/wpilibc/wpilibC++/include/PIDController.h b/wpilibc/wpilibC++/include/PIDController.h
index 0b591dcd36..2a5d0e3c88 100644
--- a/wpilibc/wpilibC++/include/PIDController.h
+++ b/wpilibc/wpilibC++/include/PIDController.h
@@ -98,7 +98,7 @@ private:
 
 	void Initialize(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
 			float period = 0.05);
-	static void *CallCalculate(void *controller);
+	static void CallCalculate(void *controller);
 
 	virtual ITable* GetTable();
 	virtual std::string GetSmartDashboardType();
diff --git a/wpilibc/wpilibC++Devices/src/PIDController.cpp b/wpilibc/wpilibC++Devices/src/PIDController.cpp
index 492adfe763..e0838afa8a 100644
--- a/wpilibc/wpilibC++Devices/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Devices/src/PIDController.cpp
@@ -5,7 +5,6 @@
 /*----------------------------------------------------------------------------*/
 
 #include "PIDController.h"
-//#include "NetworkCommunication/UsageReporting.h"
 #include "Notifier.h"
 #include "PIDSource.h"
 #include "PIDOutput.h"
@@ -56,6 +55,20 @@ PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
 	Initialize(Kp, Ki, Kd, Kf, source, output, period);
 }
 
+struct CallerInfo
+{
+	TimerEventHandler fn;
+	void* data;
+};
+
+static void* forwardCallCalculate(CallerInfo* rdata)
+{
+	CallerInfo data = *rdata;
+	delete rdata;
+	data.fn(data.data);
+	return nullptr;
+}
+
 void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 								PIDSource *source, PIDOutput *output,
 								float period)
@@ -92,7 +105,11 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
 	pthread_mutexattr_settype(&mutexattr, PTHREAD_MUTEX_RECURSIVE);
 	pthread_mutex_init(&m_mutex, &mutexattr);
 
-	pthread_create(&m_controlLoop, NULL, PIDController::CallCalculate, this);
+	CallerInfo *ci = new CallerInfo();
+	ci->fn = &CallCalculate;
+	ci->data = this;
+	pthread_create(&m_controlLoop, NULL, (void*(*)(void*))&forwardCallCalculate, ci);
+	//forwardCallCalculate will delete the obj, no need to delete it ourselves
 
 	static int32_t instances = 0;
 	instances++;
@@ -122,7 +139,7 @@ PIDController::~PIDController()
  * This method is static and called by pthreads.
  * @param controller the address of the PID controller object to use in the background loop
  */
-void *PIDController::CallCalculate(void *data)
+void PIDController::CallCalculate(void *data)
 {
 	PIDController *controller = (PIDController*) data;
 	int destruct = 0;
@@ -137,8 +154,6 @@ void *PIDController::CallCalculate(void *data)
 
 		Wait(controller->m_period);
 	}
-
-	return NULL;
 }
 
  /**
diff --git a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
index 072a8dc4f1..87cd2a9940 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
@@ -12,10 +12,9 @@
 
 unsigned notifierCounter;
 
-void *notifierHandler(void *)
+void notifierHandler(void *)
 {
 	notifierCounter++;
-	return nullptr;
 }
 
 /**
diff --git a/wpilibc/wpilibC++Sim/src/PIDController.cpp b/wpilibc/wpilibC++Sim/src/PIDController.cpp
index 6087ce6760..d55cfdbf0d 100644
--- a/wpilibc/wpilibC++Sim/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Sim/src/PIDController.cpp
@@ -115,11 +115,10 @@ PIDController::~PIDController()
  * This method is static and called by the Notifier class.
  * @param controller the address of the PID controller object to use in the background loop
  */
-void *PIDController::CallCalculate(void *controller)
+void PIDController::CallCalculate(void *controller)
 {
 	PIDController *control = (PIDController*) controller;
 	control->Calculate();
-	return nullptr;
 }
 
  /**