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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