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void* -> void by creating proxy fuction

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Change-Id: I903c3d98f3210d1969b9aed6c84f5ccaa803a9ed
This commit is contained in:
Patrick Plenefisch
2014-10-07 17:13:31 -04:00
parent a71f07ed67
commit 037d3b2fb5
5 changed files with 24 additions and 11 deletions
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25
wpilibc/wpilibC++Devices/src/PIDController.cpp
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@@ -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;
}
/**