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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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20
wpilibc/Athena/src/PIDController.cpp
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@@ -55,7 +55,7 @@ PIDController::PIDController(float Kp, float Ki, float Kd, float Kf,
void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
PIDSource *source, PIDOutput *output,
float period) {
m_controlLoop = std::make_unique<Notifier>(PIDController::CallCalculate, this);
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
m_P = Kp;
m_I = Ki;
@@ -77,25 +77,9 @@ PIDController::~PIDController() {
if (m_table != nullptr) m_table->RemoveTableListener(this);
}
/**
* Call the Calculate method as a non-static method. This avoids having to
* prepend
* all local variables in that method with the class pointer. This way the
* "this"
* pointer will be set up and class variables can be called more easily.
* 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) {
PIDController *control = (PIDController *)controller;
control->Calculate();
}
/**
* Read the input, calculate the output accordingly, and write to the output.
* This should only be called by the Notifier indirectly through CallCalculate
* and is created during initialization.
* This should only be called by the Notifier.
*/
void PIDController::Calculate() {
bool enabled;