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Dependencies: MPU6050 mbed PID
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FunctionPointerWithContext.h
00001 /* mbed Microcontroller Library 00002 * Copyright (c) 2006-2013 ARM Limited 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef MBED_FUNCTIONPOINTER_WITH_CONTEXT_H 00018 #define MBED_FUNCTIONPOINTER_WITH_CONTEXT_H 00019 00020 #include <string.h> 00021 00022 00023 /** A class for storing and calling a pointer to a static or member void function 00024 * which takes a context. 00025 */ 00026 template <typename ContextType> 00027 class FunctionPointerWithContext { 00028 public: 00029 typedef FunctionPointerWithContext<ContextType> *pFunctionPointerWithContext_t; 00030 typedef void (*pvoidfcontext_t)(ContextType context); 00031 00032 /** Create a FunctionPointerWithContext, attaching a static function 00033 * 00034 * @param function The void static function to attach (default is none) 00035 */ 00036 FunctionPointerWithContext(void (*function)(ContextType context) = NULL) : 00037 _function(NULL), _object(NULL), _member(), _membercaller(NULL), _next(NULL) { 00038 attach(function); 00039 } 00040 00041 /** Create a FunctionPointerWithContext, attaching a member function 00042 * 00043 * @param object The object pointer to invoke the member function on (i.e. the this pointer) 00044 * @param function The address of the void member function to attach 00045 */ 00046 template<typename T> 00047 FunctionPointerWithContext(T *object, void (T::*member)(ContextType context)) : 00048 _function(NULL), _object(NULL), _member(), _membercaller(NULL), _next(NULL) { 00049 attach(object, member); 00050 } 00051 00052 /** Attach a static function 00053 * 00054 * @param function The void static function to attach (default is none) 00055 */ 00056 void attach(void (*function)(ContextType context) = NULL) { 00057 _function = function; 00058 } 00059 00060 /** Attach a member function 00061 * 00062 * @param object The object pointer to invoke the member function on (i.e. the this pointer) 00063 * @param function The address of the void member function to attach 00064 */ 00065 template<typename T> 00066 void attach(T *object, void (T::*member)(ContextType context)) { 00067 _object = static_cast<void *>(object); 00068 memcpy(_member, (char *)&member, sizeof(member)); 00069 _membercaller = &FunctionPointerWithContext::membercaller<T>; 00070 } 00071 00072 /** Call the attached static or member function; and if there are chained 00073 * FunctionPointers their callbacks are invoked as well. 00074 * @Note: all chained callbacks stack up; so hopefully there won't be too 00075 * many FunctionPointers in a chain. */ 00076 void call(ContextType context) { 00077 if (_function) { 00078 _function(context); 00079 } else if (_object && _membercaller) { 00080 _membercaller(_object, _member, context); 00081 } 00082 00083 /* Propagate the call to next in the chain. */ 00084 if (_next) { 00085 _next->call(context); 00086 } 00087 } 00088 00089 /** 00090 * Setup an external FunctionPointer as a next in the chain of related 00091 * callbacks. Invoking call() on the head FunctionPointer will invoke all 00092 * chained callbacks. 00093 * 00094 * Refer to 'CallChain' as an alternative. 00095 */ 00096 void chainAsNext(pFunctionPointerWithContext_t next) { 00097 _next = next; 00098 } 00099 00100 pFunctionPointerWithContext_t getNext(void) const { 00101 return _next; 00102 } 00103 00104 pvoidfcontext_t get_function() const { 00105 return (pvoidfcontext_t)_function; 00106 } 00107 00108 private: 00109 template<typename T> 00110 static void membercaller(void *object, char *member, ContextType context) { 00111 T *o = static_cast<T *>(object); 00112 void (T::*m)(ContextType); 00113 memcpy((char *)&m, member, sizeof(m)); 00114 (o->*m)(context); 00115 } 00116 00117 void (*_function)(ContextType context); /**< static function pointer - NULL if none attached */ 00118 void *_object; /**< object this pointer - NULL if none attached */ 00119 char _member[16]; /**< raw member function pointer storage - converted back by 00120 * registered _membercaller */ 00121 void (*_membercaller)(void *, char *, ContextType); /**< registered membercaller function to convert back and call 00122 * _member on _object passing the context. */ 00123 pFunctionPointerWithContext_t _next; /**< Optional link to make a chain out of functionPointers; this 00124 * allows chaining function pointers without requiring 00125 * external memory to manage the chain. Also refer to 00126 * 'CallChain' as an alternative. */ 00127 }; 00128 00129 #endif // ifndef MBED_FUNCTIONPOINTER_WITH_CONTEXT_H
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