Revision 20:2b6ebe60929d, committed 2019-07-08

Comitter:

richardredpath

Date:

Mon Jul 08 10:50:40 2019 +0000

Parent:

19:3e3b03d80ea3

Commit message:

Fixed deprecated warnings for callbacks throughout the library

Changed in this revision

--- a/animations.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/animations.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -74,7 +74,7 @@
     led.set_leds(green_state,red_state);
     animation_counter++;
     if(animation_counter < 21) {
-        animation_timeout.attach(this, &Animations::IF_led_run1, 0.05f);
+        animation_timeout.attach(callback(this, &Animations::IF_led_run1), 0.05f);
     } else {
         animation_counter = 0;
         led.restore_led_states();
@@ -110,7 +110,7 @@
         float wiggle_timeout_period = 0.06;
         //Move less on first 'wiggle' so that we stay in roughly the same place!
         if(animation_counter == 0) wiggle_timeout_period = 0.03;
-        animation_timeout.attach(this, &Animations::IF_vibrate, wiggle_timeout_period);
+        animation_timeout.attach(callback(this, &Animations::IF_vibrate), wiggle_timeout_period);
     } else {
         animation_counter = 0;
         motors.brake();

--- a/colour.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/colour.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -121,7 +121,7 @@
 {
     colour_ticker_on = 1;
     colour_ticker_period = period_ms;
-    colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, 100);
+    colour_ticker.attach_us(callback(this, &Colour::IF_colour_ticker_start), 100);
 }
 
 void Colour::stop_colour_ticker()
@@ -134,7 +134,7 @@
 {
     led.set_base_led(1);
     enable_base_colour_sensor();
-    colour_ticker.attach_us(this,&Colour::IF_colour_ticker_main, 25000);
+    colour_ticker.attach_us(callback(this, &Colour::IF_colour_ticker_main), 25000);
 }
 
 void Colour::IF_colour_ticker_main()
@@ -148,7 +148,7 @@
         get_calibrated_colour(rgb_readings,adjusted);
         last_detected_colour = identify_colour_from_calibrated_colour_scores(adjusted);
     }
-    if(colour_ticker_on == 1)colour_ticker.attach_us(this,&Colour::IF_colour_ticker_start, colour_ticker_period * 1000);
+    if(colour_ticker_on == 1)colour_ticker.attach_us(callback(this, &Colour::IF_colour_ticker_start), colour_ticker_period * 1000);
 }
 
 

--- a/demo.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/demo.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -126,7 +126,7 @@
     if(!handling_event) {
         handling_event = 1;
         last_switch_pressed = switch_pressed;
-        demo_event.attach_us(this,&Demo::demo_event_thread, 1000);
+        demo_event.attach_us(callback(this, &Demo::demo_event_thread), 1000);
     }
 }
 
@@ -866,7 +866,7 @@
     display.write_string(bottomline);
     // Periodically update when on sensors menu
     if(top_menu == 2  && level == 1) {
-        demo_event.attach(this,&Demo::demo_event_thread, 0.25);
+        demo_event.attach(callback(this, &Demo::demo_event_thread), 0.25);
     }
 }
 
@@ -1041,7 +1041,7 @@
         if(test_step == 4) test_step = 0;
     }
 
-    demo_timeout.attach_us(this,&Demo::quick_test_cycle, wait_period);
+    demo_timeout.attach_us(callback(this, &Demo::quick_test_cycle), wait_period);
 }
 
 void Demo::toggle_quick_test()
@@ -1060,12 +1060,12 @@
     } else {
         // Reset all LEDs, motors, display
         pc.printf("\n________________________________________\n");
-        pc.printf("Self test started at %f\n\n",psi.get_uptime(),test_warnings);
+        pc.printf("Self test started at %f\n\n", psi.get_uptime());//, test_warnings);
         display.clear_display();
         test_step = 0;
         test_substep = 0;
         demo_running = 1;
-        demo_timeout.attach_us(this,&Demo::quick_test_cycle,1000);
+        demo_timeout.attach_us(callback(this, &Demo::quick_test_cycle), 1000);
     }
 }
 
@@ -1078,7 +1078,7 @@
     speed = 0;
     led_step = 0;
     demo_running = 1;
-    demo_timeout.attach_us(this,&Demo::line_demo_cycle,1000);
+    demo_timeout.attach_us(callback(this, &Demo::line_demo_cycle), 1000);
 }
 
 void Demo::start_obstacle_demo()
@@ -1090,7 +1090,7 @@
     speed = 0;
     led_step = 0;
     demo_running = 1;
-    demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,1000);
+    demo_timeout.attach_us(callback(this, &Demo::obstacle_demo_cycle), 1000);
 }
 
 void Demo::start_colour_demo()
@@ -1103,7 +1103,7 @@
     led_step = 0;
     demo_running = 1;
     colour.start_colour_ticker(100);
-    demo_timeout.attach_us(this,&Demo::colour_demo_cycle,1000);
+    demo_timeout.attach_us(callback(this, &Demo::colour_demo_cycle), 1000);
 }
 
 void Demo::start_stress_demo()
@@ -1119,7 +1119,7 @@
     stress_step = 0;
     spin_step = 0;
     demo_running = 1;
-    demo_timeout.attach_us(this,&Demo::stress_demo_cycle,1000);
+    demo_timeout.attach_us(callback(this, &Demo::stress_demo_cycle), 1000);
 }
 
 void Demo::start_spinning_demo()
@@ -1132,7 +1132,7 @@
     led_step = 0;
     spin_step = 0;
     demo_running = 1;
-    demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,1000);
+    demo_timeout.attach_us(callback(this, &Demo::spinning_demo_cycle), 1000);
 }
 
 void Demo::line_demo_cycle()
@@ -1209,7 +1209,7 @@
 
         demo_timer.reset();
     }
-    if(demo_running == 1)demo_timeout.attach_us(this,&Demo::line_demo_cycle,500);
+    if(demo_running == 1)demo_timeout.attach_us(callback(this, &Demo::line_demo_cycle), 500);
     else {
         motors.stop();
         display.set_backlight_brightness(bl_brightness * 0.01f);
@@ -1256,7 +1256,7 @@
         }
         demo_timer.reset();
     }
-    if(demo_running == 1)demo_timeout.attach_us(this,&Demo::stress_demo_cycle,500);
+    if(demo_running == 1)demo_timeout.attach_us(callback(this, &Demo::stress_demo_cycle), 500);
     else {
         motors.stop();
         display.set_backlight_brightness(bl_brightness * 0.01f);
@@ -1494,7 +1494,7 @@
         }
         demo_timer.reset();
     }
-    if(demo_running == 1)demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,500);
+    if(demo_running == 1)demo_timeout.attach_us(callback(this, &Demo::spinning_demo_cycle), 500);
     else {
         motors.stop();
         display.set_backlight_brightness(bl_brightness * 0.01f);
@@ -1562,7 +1562,7 @@
         }
         demo_timer.reset();
     }
-    if(demo_running == 1)demo_timeout.attach_us(this,&Demo::colour_demo_cycle,200);
+    if(demo_running == 1)demo_timeout.attach_us(callback(this, &Demo::colour_demo_cycle), 200);
     else {
         motors.stop();
         display.set_backlight_brightness(bl_brightness * 0.01f);
@@ -1639,7 +1639,7 @@
         }
         demo_timer.reset();
     }
-    if(demo_running == 1)demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,200);
+    if(demo_running == 1)demo_timeout.attach_us(callback(this, &Demo::obstacle_demo_cycle), 200);
     else {
         motors.stop();
         display.set_backlight_brightness(bl_brightness * 0.01f);

--- a/display.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/display.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -102,7 +102,7 @@
         write_string("  YORK ROBOTICS");
         set_position(1,0);
         write_string("   LABORATORY");
-   init_timeout.attach(this,&Display::post_init,0.25);}
+   init_timeout.attach(callback(this, &Display::post_init),0.25);}
    else {      
    set_position(0,0);
    write_string("Hold button to");
@@ -144,7 +144,7 @@
     sprintf(line,"VERSION %1.2f", SOFTWARE_VERSION_CODE  );
     set_position(1,0);
     write_string(line);
-    init_timeout.attach(this,&Display::post_post_init,0.25);
+    init_timeout.attach(callback(this, &Display::post_post_init), 0.25);
 }
 
 void Display::post_post_init(){
@@ -235,7 +235,7 @@
             backlight_off_time = 10000 - backlight_on_time;
             backlight_step = 0;
             _backlight = 0;
-            backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
+            backlight_timeout.attach_us(callback(this, &Display::IF_backlight_toggle), backlight_off_time);
         }
     }
 }
@@ -244,11 +244,11 @@
     if(backlight_step == 0){
         _backlight = 1;
         backlight_step = 1;
-        backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_on_time);
+        backlight_timeout.attach_us(callback(this, &Display::IF_backlight_toggle), backlight_on_time);
     }   else {
         _backlight = 0;
         backlight_step = 0;
-        backlight_timeout.attach_us(this,&Display::IF_backlight_toggle,backlight_off_time);
+        backlight_timeout.attach_us(callback(this, &Display::IF_backlight_toggle), backlight_off_time);
     }
 }
 void Display::clear_display(){
@@ -295,8 +295,8 @@
     if(multipage_mode == 1){
         strncpy(multipage, message + 32, length - 32);
         multipage_length = length - 32;
-        debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
-    } else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
+        debug_timeout.attach(callback(this, &Display::IF_debug_multipage), PAGE_TIME);
+    } else debug_timeout.attach(callback(this,&Display::IF_restore_page), CLEAR_TIME);
 }
 
 void Display::IF_restore_page(){
@@ -344,8 +344,8 @@
         strncpy(temp, multipage + 32, multipage_length - 32);
         multipage_length -= 32;
         strncpy(multipage, temp, multipage_length);
-        debug_timeout.attach(this,&Display::IF_debug_multipage,PAGE_TIME);
-    }else debug_timeout.attach(this,&Display::IF_restore_page,CLEAR_TIME);
+        debug_timeout.attach(callback(this, &Display::IF_debug_multipage), PAGE_TIME);
+    }else debug_timeout.attach(callback(this,&Display::IF_restore_page), CLEAR_TIME);
 }
 
 void Display::_set_display(){

--- a/i2c_setup.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/i2c_setup.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -207,7 +207,7 @@
     testing_voltage_regulators_flag = 0;
     //Setup interrupt handler for GPIO interrupts
     gpio_interrupt.mode(PullUp);
-    gpio_interrupt.rise(this,&Setup::IF_handle_gpio_interrupt);
+    gpio_interrupt.rise(callback(this, &Setup::IF_handle_gpio_interrupt));
     //pc.printf("%c %c",gpio_byte0,gpio_byte1);
 
     //Secondary GPIO expansion IC is MCP23009
@@ -227,7 +227,7 @@
     primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
 
     //My interrupt is not so reliable: poll with a 50ms timeout in case interrupts aren't handled
-    update_timeout.attach_us(this,&Setup::IF_update_gpio_inputs,50000);
+    update_timeout.attach_us(callback(this, &Setup::IF_update_gpio_inputs),50000);
     //return ret_val;
 }
 
@@ -378,7 +378,7 @@
     if(data[1]!=gpio_byte1) {
         IF_parse_gpio_byte1(data[1]);
     }
-    update_timeout.attach_us(this,&Setup::IF_update_gpio_inputs,50000);
+    update_timeout.attach_us(callback(this, &Setup::IF_update_gpio_inputs),50000);
 }
 
 

--- a/led.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/led.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -72,7 +72,7 @@
 {
     save_led_states();
     set_leds(0xFF,0xFF);
-    blink_led_timeout.attach(this,&Led::restore_led_states, timeout);
+    blink_led_timeout.attach(callback(this, &Led::restore_led_states), timeout);
 }
 
 void Led::set_center_led(char state)

--- a/motors.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/motors.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -108,7 +108,7 @@
     //Start moving
     forward(speed);
     brake_when_done = brake;
-    time_based_action_timeout.attach_us(this,&Motors::IF_end_time_based_action,microseconds);
+    time_based_action_timeout.attach_us(callback(this, &Motors::IF_end_time_based_action), microseconds);
 }
 
 //Turn for a set period of time
@@ -120,7 +120,7 @@
     //Start turning
     turn(speed);
     brake_when_done = brake;
-    time_based_action_timeout.attach_us(this,&Motors::IF_end_time_based_action,microseconds);
+    time_based_action_timeout.attach_us(callback(this, &Motors::IF_end_time_based_action), microseconds);
 }
 
 //Returns the limit of degrees available to turn in given time
@@ -188,7 +188,7 @@
         turn(speed);
 
         brake_when_done = brake;
-        time_based_action_timeout.attach_us(this,&Motors::IF_end_time_based_action,turn_time);
+        time_based_action_timeout.attach_us(callback(this, &Motors::IF_end_time_based_action), turn_time);
         return turn_time;
     }
 }

--- a/psiswarm.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/psiswarm.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -169,7 +169,7 @@
 {
     firmware_version=0;
     timer_minute_count = 0;
-    timer_ticker.attach(this,&Psiswarm::IF_update_minutes, 300);
+    timer_ticker.attach(callback(this, &Psiswarm::IF_update_minutes), 300);
     uptime.start();
     primary_i2c.frequency(400000);
     serial.setup_serial_interfaces();
@@ -285,7 +285,7 @@
     char demo_on = 0;
     if(ENABLE_DEMO == 1 && switchstate > 0) demo_on=1;
     display.init_display_end(demo_on);
-    event_handler.attach_us(this,&Psiswarm::IF_handle_events, 1000);
+    event_handler.attach_us(callback(this, &Psiswarm::IF_handle_events), 1000);
     if(demo_on > 0) {
         debug("- Demo mode button is pressed\n");
         wait(0.6);
@@ -386,7 +386,7 @@
 {
     user_code_restore_mode = user_code_running;
     user_code_running = 0;
-    pause_usercode_timeout.attach(this,&Psiswarm::IF_end_pause_user_code, period);
+    pause_usercode_timeout.attach(callback(this, &Psiswarm::IF_end_pause_user_code), period);
 }
 
 void Psiswarm::IF_end_pause_user_code()

--- a/sensors.cpp	Mon Jun 05 22:47:14 2017 +0000
+++ b/sensors.cpp	Mon Jul 08 10:50:40 2019 +0000
@@ -33,7 +33,7 @@
 
 void Sensors::enable_ultrasonic_ticker()
 {
-    ultrasonic_ticker.attach_us(this,&Sensors::update_ultrasonic_measure,100000);
+    ultrasonic_ticker.attach_us(callback(this, &Sensors::update_ultrasonic_measure), 100000);
 }
 
 void Sensors::disable_ultrasonic_ticker()
@@ -51,7 +51,7 @@
             command[1] = 0x51;                          // Get result is centimeters
             primary_i2c.write(ULTRASONIC_ADDRESS, command, 2);              // Send the command to start a ranging burst
         }
-        ultrasonic_timeout.attach_us(this,&Sensors::IF_read_ultrasonic_measure,70000);
+        ultrasonic_timeout.attach_us(callback(this, &Sensors::IF_read_ultrasonic_measure), 70000);
     } else {
         psi.debug("WARNING:  Ultrasonic sensor called too frequently.\n");
     }

--- 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 ++;
             }