Erik van de Coevering / quadV3

This is my quadcopter prototype software, still in development!

quadv3/mbed/FunctionPointer.h@1:ac68f0368a77, 2013-07-23 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 23 14:01:42 2013 +0000
Revision:
1:ac68f0368a77
Parent:
0:978110f7f027 
Other accelerometer added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:978110f7f027 1 /* mbed Microcontroller Library - FunctionPointer
Anaesthetix 0:978110f7f027 2 * Copyright (c) 2007-2009 ARM Limited. All rights reserved.
Anaesthetix 0:978110f7f027 3 */
Anaesthetix 0:978110f7f027 4
Anaesthetix 0:978110f7f027 5 #ifndef MBED_FUNCTIONPOINTER_H
Anaesthetix 0:978110f7f027 6 #define MBED_FUNCTIONPOINTER_H
Anaesthetix 0:978110f7f027 7
Anaesthetix 0:978110f7f027 8 #include <string.h>
Anaesthetix 0:978110f7f027 9
Anaesthetix 0:978110f7f027 10 namespace mbed {
Anaesthetix 0:978110f7f027 11
Anaesthetix 0:978110f7f027 12 /* Class FunctionPointer
Anaesthetix 0:978110f7f027 13 * A class for storing and calling a pointer to a static or member void function
Anaesthetix 0:978110f7f027 14 */
Anaesthetix 0:978110f7f027 15 class FunctionPointer {
Anaesthetix 0:978110f7f027 16
Anaesthetix 0:978110f7f027 17 public:
Anaesthetix 0:978110f7f027 18
Anaesthetix 0:978110f7f027 19 /* Constructor FunctionPointer
Anaesthetix 0:978110f7f027 20 * Create a FunctionPointer, attaching a static function
Anaesthetix 0:978110f7f027 21 *
Anaesthetix 0:978110f7f027 22 * Variables
Anaesthetix 0:978110f7f027 23 * function - The void static function to attach (default is none)
Anaesthetix 0:978110f7f027 24 */
Anaesthetix 0:978110f7f027 25 FunctionPointer(void (*function)(void) = 0);
Anaesthetix 0:978110f7f027 26
Anaesthetix 0:978110f7f027 27 /* Constructor FunctionPointer
Anaesthetix 0:978110f7f027 28 * Create a FunctionPointer, attaching a member function
Anaesthetix 0:978110f7f027 29 *
Anaesthetix 0:978110f7f027 30 * Variables
Anaesthetix 0:978110f7f027 31 * object - The object pointer to invoke the member function on (i.e. the this pointer)
Anaesthetix 0:978110f7f027 32 * function - The address of the void member function to attach
Anaesthetix 0:978110f7f027 33 */
Anaesthetix 0:978110f7f027 34 template<typename T>
Anaesthetix 0:978110f7f027 35 FunctionPointer(T *object, void (T::*member)(void)) {
Anaesthetix 0:978110f7f027 36 attach(object, member);
Anaesthetix 0:978110f7f027 37 }
Anaesthetix 0:978110f7f027 38
Anaesthetix 0:978110f7f027 39 /* Function attach
Anaesthetix 0:978110f7f027 40 * Attach a static function
Anaesthetix 0:978110f7f027 41 *
Anaesthetix 0:978110f7f027 42 * Variables
Anaesthetix 0:978110f7f027 43 * function - The void static function to attach (default is none)
Anaesthetix 0:978110f7f027 44 */
Anaesthetix 0:978110f7f027 45 void attach(void (*function)(void) = 0);
Anaesthetix 0:978110f7f027 46
Anaesthetix 0:978110f7f027 47 /* Function attach
Anaesthetix 0:978110f7f027 48 * Attach a member function
Anaesthetix 0:978110f7f027 49 *
Anaesthetix 0:978110f7f027 50 * Variables
Anaesthetix 0:978110f7f027 51 * object - The object pointer to invoke the member function on (i.e. the this pointer)
Anaesthetix 0:978110f7f027 52 * function - The address of the void member function to attach
Anaesthetix 0:978110f7f027 53 */
Anaesthetix 0:978110f7f027 54 template<typename T>
Anaesthetix 0:978110f7f027 55 void attach(T *object, void (T::*member)(void)) {
Anaesthetix 0:978110f7f027 56 _object = static_cast<void*>(object);
Anaesthetix 0:978110f7f027 57 memcpy(_member, (char*)&member, sizeof(member));
Anaesthetix 0:978110f7f027 58 _membercaller = &FunctionPointer::membercaller<T>;
Anaesthetix 0:978110f7f027 59 _function = 0;
Anaesthetix 0:978110f7f027 60 }
Anaesthetix 0:978110f7f027 61
Anaesthetix 0:978110f7f027 62 /* Function call
Anaesthetix 0:978110f7f027 63 * Call the attached static or member function
Anaesthetix 0:978110f7f027 64 */
Anaesthetix 0:978110f7f027 65 void call();
Anaesthetix 0:978110f7f027 66
Anaesthetix 0:978110f7f027 67 private:
Anaesthetix 0:978110f7f027 68
Anaesthetix 0:978110f7f027 69 template<typename T>
Anaesthetix 0:978110f7f027 70 static void membercaller(void *object, char *member) {
Anaesthetix 0:978110f7f027 71 T* o = static_cast<T*>(object);
Anaesthetix 0:978110f7f027 72 void (T::*m)(void);
Anaesthetix 0:978110f7f027 73 memcpy((char*)&m, member, sizeof(m));
Anaesthetix 0:978110f7f027 74 (o->*m)();
Anaesthetix 0:978110f7f027 75 }
Anaesthetix 0:978110f7f027 76
Anaesthetix 0:978110f7f027 77 void (*_function)(void); // static function pointer - 0 if none attached
Anaesthetix 0:978110f7f027 78 void *_object; // object this pointer - 0 if none attached
Anaesthetix 0:978110f7f027 79 char _member[16]; // raw member function pointer storage - converted back by registered _membercaller
Anaesthetix 0:978110f7f027 80 void (*_membercaller)(void*, char*); // registered membercaller function to convert back and call _member on _object
Anaesthetix 0:978110f7f027 81
Anaesthetix 0:978110f7f027 82 };
Anaesthetix 0:978110f7f027 83
Anaesthetix 0:978110f7f027 84 } // namespace mbed
Anaesthetix 0:978110f7f027 85
Anaesthetix 0:978110f7f027 86 #endif