Psi Swarm robot library version 0.9
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Diff: serial.cpp
- Revision:
- 20:2b6ebe60929d
- Parent:
- 16:50686c07ad07
--- a/serial.cpp Mon Jun 05 22:47:14 2017 +0000 +++ b/serial.cpp Mon Jul 08 10:50:40 2019 +0000 @@ -55,11 +55,11 @@ { if(ENABLE_PC_SERIAL) { pc.baud(PC_BAUD); - pc.attach(this,&SerialControl::IF_pc_rx_callback, Serial::RxIrq); + pc.attach(callback(this, &SerialControl::IF_pc_rx_callback), Serial::RxIrq); } if(ENABLE_BLUETOOTH) { bt.baud(BLUETOOTH_BAUD); - bt.attach(this,&SerialControl::IF_bt_rx_callback, Serial::RxIrq); + bt.attach(callback(this, &SerialControl::IF_bt_rx_callback), Serial::RxIrq); } } @@ -77,7 +77,7 @@ file_length = 0; user_code_restore_mode = user_code_running; user_code_running = 0; - ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,2.0); + ft_timeout.attach(callback(this, &SerialControl::IF_file_transfer_timeout), 2.0); } @@ -138,7 +138,7 @@ psi.debug("Target filename:%s\n",filename); //Send acknowledge ("FN") ft_timeout.detach(); - ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,2.0); + ft_timeout.attach(callback(this, &SerialControl::IF_file_transfer_timeout), 2.0); bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,2,"FN"); file_transfer_state = 1; } @@ -171,7 +171,7 @@ //file_data = (char *) malloc(target_size); psi.debug("File size %d bytes (%d blocks of %d bytes)\n",file_length,final_block,block_size); ft_timeout.detach(); - ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0); + ft_timeout.attach(callback(this, &SerialControl::IF_file_transfer_timeout), 1.0); //Send acknowledge (size of file) bt.printf("%c%c%c%c%c",RESPONSE_MESSAGE_BYTE,3,message[1],message[2],message[3]); } @@ -209,7 +209,7 @@ psi.debug("Message packet %d received and written\n",block_index); //Send acknowledge ("D") ft_timeout.detach(); - ft_timeout.attach(this,&SerialControl::IF_file_transfer_timeout,1.0); + ft_timeout.attach(callback(this, &SerialControl::IF_file_transfer_timeout), 1.0); bt.printf("%c%c%s",RESPONSE_MESSAGE_BYTE,1,"D"); } else { //Last data block written @@ -1168,7 +1168,7 @@ } else { if(count == 1) { if(tc == COMMAND_MESSAGE_BYTE) { - pc_command_timeout.attach(this,&SerialControl::IF_pc_rx_command_timeout,command_timeout_period); + pc_command_timeout.attach(callback(this, &SerialControl::IF_pc_rx_command_timeout), command_timeout_period); pc_command_message_started = 1; pc_command_message_byte = 0; @@ -1321,7 +1321,7 @@ count = 5; } } else { - bt_command_timeout.attach(this,&SerialControl::IF_bt_rx_command_timeout,command_timeout_period); + bt_command_timeout.attach(callback(this, &SerialControl::IF_bt_rx_command_timeout), command_timeout_period); bt_command_message[bt_command_message_byte] = tc; bt_command_message_byte ++; }