From 062170c995ef7377b9920f4854a41057cfbd662c Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 28 Mar 2014 02:17:00 +0400
Subject: [PATCH] Using std::function<> for callbacks with C++11

---
 .../include/uavcan/node/service_client.hpp      | 17 ++++++++++++++++-
 .../include/uavcan/node/service_server.hpp      | 14 ++++++++++++++
 libuavcan/include/uavcan/node/subscriber.hpp    | 13 +++++++++++++
 .../include/uavcan/protocol/panic_listener.hpp  | 17 ++++++++++++++++-
 4 files changed, 59 insertions(+), 2 deletions(-)

diff --git a/libuavcan/include/uavcan/node/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
index 2ed6f9cff7..40f7ace84b 100644
--- a/libuavcan/include/uavcan/node/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -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 >
diff --git a/libuavcan/include/uavcan/node/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
index b8462e4682..3e55495c1c 100644
--- a/libuavcan/include/uavcan/node/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -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,
diff --git a/libuavcan/include/uavcan/node/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
index 5ad0812850..f8c2b7cd59 100644
--- a/libuavcan/include/uavcan/node/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -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_,
diff --git a/libuavcan/include/uavcan/protocol/panic_listener.hpp b/libuavcan/include/uavcan/protocol/panic_listener.hpp
index aa91776e9d..60f0f18cbd 100644
--- a/libuavcan/include/uavcan/protocol/panic_listener.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_listener.hpp
@@ -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>&)>