Diff: Updater.cpp

Revision:

25:b8176ebb96c6

Parent:

15:35c40765f7c3

Child:

26:2dc31a801cc8

--- a/Updater.cpp	Fri Dec 21 20:04:09 2018 +0000
+++ b/Updater.cpp	Fri Dec 21 20:38:55 2018 +0000
@@ -2,6 +2,14 @@
 #include "pinouts.h"
 #include "IncrementalEncoder.h"
 
+Updater::Updater() {
+    thisTime = 0;
+    lastTime = 0; 
+    t = new Timer;
+    t->start();
+    _callback = 0;
+}
+
 Updater *Updater::instance() 
 {
     static Updater instance;
@@ -10,34 +18,15 @@
 }
 
 
-void Updater::setInterval(int interval_ms)
-{
-    _interval = interval_ms;
-    return;
-}
-
+void Updater::attach(Callback<void()> cb) {
+    _callback = cb;
 
-void Updater::start()
-{
-    Timer timer;
-    
-    thisTime = 0;
-    lastTime = 0; 
-    t = &timer;
-    t->start();
-       
-    EventQueue *queue = mbed_highprio_event_queue();
-    Event<void()> event(queue, callback(this, &Updater::update));
-    event.period(_interval);
-    event.post();
-    queue->dispatch_forever();
     return;
 }
 
 
 void Updater::update()
 {
-    static DigitalOut led2(LED2);
     static L3G4200D gyro(I2CSDA, I2CSCL); // TODO parameterize
     static IncrementalEncoder enc(ALEFT);
 
@@ -64,7 +53,9 @@
     //history[now].y = history[prev].y + history[now].dist * cos(r);
 
     // Convert this into some kind of status message/event thingy
-    led2 = !led2;
+
+    if (_callback)
+        _callback();
 
     return;
 }