fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-19 00:10:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Using std::function<> for callbacks with C++11

Browse Source
This commit is contained in:
Pavel Kirienko
2014-03-28 02:17:00 +04:00
parent c769626eef
commit 062170c995
4 changed files with 59 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/node/service_client.hpp
+16 -1
View File
@@ -4,9 +4,18 @@
#pragma once
#include <uavcan/impl_constants.hpp>
#include <uavcan/node/generic_publisher.hpp>
#include <uavcan/node/generic_subscriber.hpp>
#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
# include <functional>
#endif
namespace uavcan
{
@@ -60,7 +69,13 @@ static Stream& operator<<(Stream& s, const ServiceCallResult<DataType>& scr)
}
template <typename DataType_, typename Callback = void (*)(const ServiceCallResult<DataType_>&)>
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback = std::function<void (const ServiceCallResult<DataType_>&)>
#else
typename Callback = void (*)(const ServiceCallResult<DataType_>&)
#endif
>
class ServiceClient
: public GenericSubscriber<DataType_, typename DataType_::Response,
typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type >
libuavcan/include/uavcan/node/service_server.hpp
+14
View File
@@ -4,15 +4,29 @@
#pragma once
#include <uavcan/impl_constants.hpp>
#include <uavcan/node/generic_publisher.hpp>
#include <uavcan/node/generic_subscriber.hpp>
#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
# include <functional>
#endif
namespace uavcan
{
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&,
typename DataType_::Response&)>,
#else
typename Callback = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
typename DataType_::Response&),
#endif
unsigned int NumStaticReceivers = 2,
unsigned int NumStaticBufs = 1>
class ServiceServer : public GenericSubscriber<DataType_, typename DataType_::Request,
libuavcan/include/uavcan/node/subscriber.hpp
+13
View File
@@ -5,13 +5,26 @@
#pragma once
#include <cassert>
#include <uavcan/impl_constants.hpp>
#include <uavcan/node/generic_subscriber.hpp>
#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
# include <functional>
#endif
namespace uavcan
{
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback = std::function<void (const ReceivedDataStructure<DataType_>&)>,
#else
typename Callback = void (*)(const ReceivedDataStructure<DataType_>&),
#endif
unsigned int NumStaticReceivers = 2,
unsigned int NumStaticBufs = 1>
class Subscriber : public GenericSubscriber<DataType_, DataType_,
libuavcan/include/uavcan/protocol/panic_listener.hpp
+16 -1
View File
@@ -6,10 +6,19 @@
#include <cassert>
#include <uavcan/debug.hpp>
#include <uavcan/impl_constants.hpp>
#include <uavcan/node/subscriber.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/protocol/Panic.hpp>
#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
# include <functional>
#endif
namespace uavcan
{
/**
@@ -19,7 +28,13 @@ namespace uavcan
* void (const protocol::Panic&)
* The listener can be stopped from the callback.
*/
template <typename Callback = void (*)(const ReceivedDataStructure<protocol::Panic>&)>
template <
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback = std::function<void (const ReceivedDataStructure<protocol::Panic>&)>
#else
typename Callback = void (*)(const ReceivedDataStructure<protocol::Panic>&)
#endif
>
class PanicListener : Noncopyable
{
typedef MethodBinder<PanicListener*, void (PanicListener::*)(const ReceivedDataStructure<protocol::Panic>&)>