Programme d'utilisation servomotors MX12 V1

Fork of Utilisation_MX12 by CRAC Team

Revision:
0:80df663dd15e
diff -r 000000000000 -r 80df663dd15e mbed/FunctionPointer.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed/FunctionPointer.h	Fri May 19 14:32:14 2017 +0000
@@ -0,0 +1,86 @@
+/* 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