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Change C++ Notifier to allow std::function callback.

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Also provide templated varags constructor for backwards compatibility and
ease of use.

Update PIDController to use new constructor, eliminating static function
CallCalculate().

Change-Id: Iaeae95aa5953f294f5debc5fc569ef6d4684f223
This commit is contained in:
Peter Johnson
2015-12-29 10:58:11 -08:00
parent b0de0b7386
commit 91a451f87a
7 changed files with 33 additions and 53 deletions
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6
wpilibc/Athena/src/Notifier.cpp
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@@ -16,11 +16,10 @@
* @param handler The handler is called at the notification time which is set
* using StartSingle or StartPeriodic.
*/
Notifier::Notifier(TimerEventHandler handler, void *param) {
Notifier::Notifier(TimerEventHandler handler) {
if (handler == nullptr)
wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
m_handler = handler;
m_param = param;
int32_t status = 0;
m_notifier = initializeNotifier(&Notifier::Notify, this, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -62,12 +61,11 @@ void Notifier::Notify(uint32_t currentTimeInt, void *param) {
}
auto handler = notifier->m_handler;
auto hparam = notifier->m_param;
notifier->m_handlerMutex.lock();
notifier->m_processMutex.unlock();
if (handler) handler(hparam);
if (handler) handler();
notifier->m_handlerMutex.unlock();
}