MacroRat / MouseCode

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Dependencies:   ITG3200 QEI

mbed-dev/platform/CallChain.cpp@21:9a6cb07bdcb6, 2017-05-18 (annotated)

Committer:
christine222
Date:
Thu May 18 02:52:22 2017 +0000
Revision:
21:9a6cb07bdcb6
Parent:
18:6a4db94011d3 
better PID constants for forwardWallIR and added no wall encoder pid moveForwardEncoder() function that is used in forwardWallIR()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 #include "platform/CallChain.h"
sahilmgandhi 18:6a4db94011d3 2 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 3 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 4
sahilmgandhi 18:6a4db94011d3 5 namespace mbed {
sahilmgandhi 18:6a4db94011d3 6
sahilmgandhi 18:6a4db94011d3 7 class CallChainLink {
sahilmgandhi 18:6a4db94011d3 8 public:
sahilmgandhi 18:6a4db94011d3 9 CallChainLink(): cb(), next(NULL) {
sahilmgandhi 18:6a4db94011d3 10 // No work to do
sahilmgandhi 18:6a4db94011d3 11 }
sahilmgandhi 18:6a4db94011d3 12
sahilmgandhi 18:6a4db94011d3 13 CallChainLink(Callback<void()> &callback): cb(callback), next(NULL) {
sahilmgandhi 18:6a4db94011d3 14 // No work to do
sahilmgandhi 18:6a4db94011d3 15 }
sahilmgandhi 18:6a4db94011d3 16 Callback<void()> cb;
sahilmgandhi 18:6a4db94011d3 17 CallChainLink * next;
sahilmgandhi 18:6a4db94011d3 18 };
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 CallChain::CallChain(int size) : _chain(NULL) {
sahilmgandhi 18:6a4db94011d3 21 // No work to do
sahilmgandhi 18:6a4db94011d3 22 }
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 CallChain::~CallChain() {
sahilmgandhi 18:6a4db94011d3 25 clear();
sahilmgandhi 18:6a4db94011d3 26 }
sahilmgandhi 18:6a4db94011d3 27
sahilmgandhi 18:6a4db94011d3 28 pFunctionPointer_t CallChain::add(Callback<void()> func) {
sahilmgandhi 18:6a4db94011d3 29 CallChainLink *new_link = new CallChainLink(func);
sahilmgandhi 18:6a4db94011d3 30 if (NULL == _chain) {
sahilmgandhi 18:6a4db94011d3 31 _chain = new_link;
sahilmgandhi 18:6a4db94011d3 32 return &new_link->cb;
sahilmgandhi 18:6a4db94011d3 33 }
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 36 while (true) {
sahilmgandhi 18:6a4db94011d3 37 if (NULL == link->next) {
sahilmgandhi 18:6a4db94011d3 38 link->next = new_link;
sahilmgandhi 18:6a4db94011d3 39 return &new_link->cb;
sahilmgandhi 18:6a4db94011d3 40 }
sahilmgandhi 18:6a4db94011d3 41 link = link->next;
sahilmgandhi 18:6a4db94011d3 42 }
sahilmgandhi 18:6a4db94011d3 43 }
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 pFunctionPointer_t CallChain::add_front(Callback<void()> func) {
sahilmgandhi 18:6a4db94011d3 46 CallChainLink *link = new CallChainLink(func);
sahilmgandhi 18:6a4db94011d3 47 link->next = _chain;
sahilmgandhi 18:6a4db94011d3 48 _chain = link;
sahilmgandhi 18:6a4db94011d3 49 return &link->cb;
sahilmgandhi 18:6a4db94011d3 50 }
sahilmgandhi 18:6a4db94011d3 51
sahilmgandhi 18:6a4db94011d3 52 int CallChain::size() const {
sahilmgandhi 18:6a4db94011d3 53 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 54 int elements = 0;
sahilmgandhi 18:6a4db94011d3 55 while (link != NULL) {
sahilmgandhi 18:6a4db94011d3 56 elements++;
sahilmgandhi 18:6a4db94011d3 57 link = link->next;
sahilmgandhi 18:6a4db94011d3 58 }
sahilmgandhi 18:6a4db94011d3 59 return elements;
sahilmgandhi 18:6a4db94011d3 60 }
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 pFunctionPointer_t CallChain::get(int idx) const {
sahilmgandhi 18:6a4db94011d3 63 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 64 for (int i = 0; i < idx; i++) {
sahilmgandhi 18:6a4db94011d3 65 if (NULL == link) {
sahilmgandhi 18:6a4db94011d3 66 break;
sahilmgandhi 18:6a4db94011d3 67 }
sahilmgandhi 18:6a4db94011d3 68 link = link->next;
sahilmgandhi 18:6a4db94011d3 69 }
sahilmgandhi 18:6a4db94011d3 70 return &link->cb;
sahilmgandhi 18:6a4db94011d3 71 }
sahilmgandhi 18:6a4db94011d3 72
sahilmgandhi 18:6a4db94011d3 73 int CallChain::find(pFunctionPointer_t f) const {
sahilmgandhi 18:6a4db94011d3 74 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 75 int i = 0;
sahilmgandhi 18:6a4db94011d3 76 while (link != NULL) {
sahilmgandhi 18:6a4db94011d3 77 if (f == &link->cb) {
sahilmgandhi 18:6a4db94011d3 78 return i;
sahilmgandhi 18:6a4db94011d3 79 }
sahilmgandhi 18:6a4db94011d3 80 i++;
sahilmgandhi 18:6a4db94011d3 81 link = link->next;
sahilmgandhi 18:6a4db94011d3 82 }
sahilmgandhi 18:6a4db94011d3 83 return -1;
sahilmgandhi 18:6a4db94011d3 84 }
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 void CallChain::clear() {
sahilmgandhi 18:6a4db94011d3 87 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 88 _chain = NULL;
sahilmgandhi 18:6a4db94011d3 89 while (link != NULL) {
sahilmgandhi 18:6a4db94011d3 90 CallChainLink *temp = link->next;
sahilmgandhi 18:6a4db94011d3 91 delete link;
sahilmgandhi 18:6a4db94011d3 92 link = temp;
sahilmgandhi 18:6a4db94011d3 93 }
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 bool CallChain::remove(pFunctionPointer_t f) {
sahilmgandhi 18:6a4db94011d3 97 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 98 while (link != NULL) {
sahilmgandhi 18:6a4db94011d3 99 if (f == &link->cb) {
sahilmgandhi 18:6a4db94011d3 100 delete link;
sahilmgandhi 18:6a4db94011d3 101 return true;
sahilmgandhi 18:6a4db94011d3 102 }
sahilmgandhi 18:6a4db94011d3 103 link = link->next;
sahilmgandhi 18:6a4db94011d3 104 }
sahilmgandhi 18:6a4db94011d3 105 return false;
sahilmgandhi 18:6a4db94011d3 106 }
sahilmgandhi 18:6a4db94011d3 107
sahilmgandhi 18:6a4db94011d3 108 void CallChain::call() {
sahilmgandhi 18:6a4db94011d3 109 CallChainLink *link = _chain;
sahilmgandhi 18:6a4db94011d3 110 while (link != NULL) {
sahilmgandhi 18:6a4db94011d3 111 link->cb.call();
sahilmgandhi 18:6a4db94011d3 112 link = link->next;
sahilmgandhi 18:6a4db94011d3 113 }
sahilmgandhi 18:6a4db94011d3 114 }
sahilmgandhi 18:6a4db94011d3 115
sahilmgandhi 18:6a4db94011d3 116 } // namespace mbed