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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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5
wpilibc/simulation/src/Notifier.cpp
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@@ -20,12 +20,11 @@ std::atomic<bool> Notifier::m_stopped(false);
* @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;
m_periodic = false;
m_expirationTime = 0;
m_period = 0;
@@ -112,7 +111,7 @@ void Notifier::ProcessQueue(uint32_t mask, void *params)
current->m_handlerMutex.lock();
}
current->m_handler(current->m_param); // call the event handler
current->m_handler(); // call the event handler
current->m_handlerMutex.unlock();
}
// reschedule the first item in the queue

20
wpilibc/simulation/src/PIDController.cpp
View File

@@ -84,7 +84,7 @@ void PIDController::Initialize(float Kp, float Ki, float Kd, float Kf,
m_pidOutput = output;
m_period = period;
m_controlLoop = std::make_unique<Notifier>(PIDController::CallCalculate, this);
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
m_controlLoop->StartPeriodic(m_period);
static int32_t instances = 0;
@@ -98,23 +98,9 @@ PIDController::~PIDController() {
}
/**
* 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
* Read the input, calculate the output accordingly, and write to the output.
* This should only be called by the Notifier.
*/
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.
*/
void PIDController::Calculate()
{
bool enabled;