Programme d'utilisation servomotors MX12 V1

Fork of Utilisation_MX12 by CRAC Team

mbed/FunctionPointer.h

Committer:
R66Y
Date:
2017-05-19
Revision:
0:80df663dd15e

File content as of revision 0:80df663dd15e:

/* mbed Microcontroller Library - FunctionPointer
 * Copyright (c) 2007-2009 ARM Limited. All rights reserved.
 */ 
 
#ifndef MBED_FUNCTIONPOINTER_H
#define MBED_FUNCTIONPOINTER_H

#include <string.h>

namespace mbed { 

/* Class FunctionPointer
 *  A class for storing and calling a pointer to a static or member void function
 */
class FunctionPointer {

public:

	/* Constructor FunctionPointer
	 *  Create a FunctionPointer, attaching a static function
	 * 
	 * Variables
	 *  function - The void static function to attach (default is none)
	 */
	FunctionPointer(void (*function)(void) = 0);

	/* Constructor FunctionPointer
	 *  Create a FunctionPointer, attaching a member function
	 * 
	 * Variables
	 *  object - The object pointer to invoke the member function on (i.e. the this pointer)
	 *  function - The address of the void member function to attach 
	 */
	template<typename T>	
	FunctionPointer(T *object, void (T::*member)(void)) {
		attach(object, member);
	}

	/* Function attach
	 *  Attach a static function
	 * 
	 * Variables
	 *  function - The void static function to attach (default is none)
	 */
	void attach(void (*function)(void) = 0);
	
	/* Function attach
	 *  Attach a member function
	 * 
	 * Variables
	 *  object - The object pointer to invoke the member function on (i.e. the this pointer)
	 *  function - The address of the void member function to attach 
	 */
	template<typename T>
	void attach(T *object, void (T::*member)(void)) {
		_object = static_cast<void*>(object);
        memcpy(_member, (char*)&member, sizeof(member));
		_membercaller = &FunctionPointer::membercaller<T>;
		_function = 0;
	}

	/* Function call
	 *  Call the attached static or member function
	 */		
	void call();
		
private:

	template<typename T>
	static void membercaller(void *object, char *member) {	
		T* o = static_cast<T*>(object);
		void (T::*m)(void);
        memcpy((char*)&m, member, sizeof(m));
		(o->*m)();
	}
	
	void (*_function)(void);				// static function pointer - 0 if none attached
	void *_object;							// object this pointer - 0 if none attached
	char _member[16];						// raw member function pointer storage - converted back by registered _membercaller
	void (*_membercaller)(void*, char*);	// registered membercaller function to convert back and call _member on _object
	
};

} // namespace mbed

#endif