From 31e47daf84af1dd21fd2a7a28a339badc256cd61 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 9 Mar 2014 00:12:07 +0400
Subject: [PATCH] Fixed fatal error handing (exceptions); MethodBinder moved
 into a separate file

---
 .../uavcan/global_data_type_registry.hpp      |  4 +-
 .../uavcan/internal/lazy_constructor.hpp      |  4 +-
 .../include/uavcan/internal/method_binder.hpp | 47 +++++++++++++++++++
 libuavcan/include/uavcan/internal/util.hpp    | 21 ---------
 libuavcan/test/scheduler.cpp                  |  1 +
 5 files changed, 54 insertions(+), 23 deletions(-)
 create mode 100644 libuavcan/include/uavcan/internal/method_binder.hpp

diff --git a/libuavcan/include/uavcan/global_data_type_registry.hpp b/libuavcan/include/uavcan/global_data_type_registry.hpp
index 3d3d60cceb..262fcd9cc9 100644
--- a/libuavcan/include/uavcan/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/global_data_type_registry.hpp
@@ -5,12 +5,14 @@
 #pragma once
 
 #include <cassert>
+#include <typeinfo>
 #include <bitset>
 #include <stdexcept>
 #include <stdint.h>
 #include <algorithm>
 #include <uavcan/data_type.hpp>
 #include <uavcan/internal/linked_list.hpp>
+#include <uavcan/internal/impl_constants.hpp>
 
 namespace uavcan
 {
@@ -127,7 +129,7 @@ struct DefaultDataTypeRegistrator
         if (res != GlobalDataTypeRegistry::RegistResultOk)
         {
 #if UAVCAN_EXCEPTIONS
-            throw std::logic_error("Type registration failed");
+            throw std::runtime_error("Type registration failed");
 #else
             assert(0);
             std::abort();
diff --git a/libuavcan/include/uavcan/internal/lazy_constructor.hpp b/libuavcan/include/uavcan/internal/lazy_constructor.hpp
index 7aeaa0f1bd..c17e41b465 100644
--- a/libuavcan/include/uavcan/internal/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/internal/lazy_constructor.hpp
@@ -7,6 +7,8 @@
 #include <cstdlib>
 #include <cassert>
 #include <stdexcept>
+#include <typeinfo>
+#include <uavcan/internal/impl_constants.hpp>
 
 namespace uavcan
 {
@@ -20,7 +22,7 @@ class LazyConstructor
     void failure() const
     {
 #if UAVCAN_EXCEPTIONS
-        throw std::logic_error(typeid(*this).name());
+        throw std::runtime_error(typeid(*this).name());
 #else
         assert(0);
         std::abort();
diff --git a/libuavcan/include/uavcan/internal/method_binder.hpp b/libuavcan/include/uavcan/internal/method_binder.hpp
new file mode 100644
index 0000000000..768533d61a
--- /dev/null
+++ b/libuavcan/include/uavcan/internal/method_binder.hpp
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <cstdlib>
+#include <stdexcept>
+#include <typeinfo>
+#include <uavcan/internal/impl_constants.hpp>
+
+namespace uavcan
+{
+
+template <typename ObjectPtr, typename MemFunPtr>
+class MethodBinder
+{
+    ObjectPtr obj_;
+    MemFunPtr fun_;
+
+public:
+    MethodBinder(ObjectPtr o, MemFunPtr f)
+    : obj_(o)
+    , fun_(f)
+    {
+        if (!o || !f)
+        {
+#if UAVCAN_EXCEPTIONS
+            throw std::runtime_error(typeid(*this).name());
+#else
+            assert(0);
+            std::abort();
+#endif
+        }
+    }
+
+    void operator()() { (obj_->*fun_)(); }
+
+    template <typename Par1>
+    void operator()(Par1 p1) { (obj_->*fun_)(p1); }
+
+    template <typename Par1, typename Par2>
+    void operator()(Par1 p1, Par2 p2) { (obj_->*fun_)(p1, p2); }
+};
+
+}
diff --git a/libuavcan/include/uavcan/internal/util.hpp b/libuavcan/include/uavcan/internal/util.hpp
index 8e8b7aa3fd..15ab6e7bfa 100644
--- a/libuavcan/include/uavcan/internal/util.hpp
+++ b/libuavcan/include/uavcan/internal/util.hpp
@@ -74,27 +74,6 @@ template<bool> struct BooleanType { };
 typedef BooleanType<true> TrueType;
 typedef BooleanType<false> FalseType;
 
-/**
- * Makeshift binder
- */
-template <typename ObjectPtr, typename MemFunPtr>
-class MethodBinder
-{
-    ObjectPtr obj_;
-    MemFunPtr fun_;
-
-public:
-    MethodBinder(ObjectPtr o, MemFunPtr f) : obj_(o), fun_(f) { }
-
-    void operator()() { (obj_->*fun_)(); }
-
-    template <typename Par1>
-    void operator()(Par1 p1) { (obj_->*fun_)(p1); }
-
-    template <typename Par1, typename Par2>
-    void operator()(Par1 p1, Par2 p2) { (obj_->*fun_)(p1, p2); }
-};
-
 }
 
 /// Ensure that conditional comilation macros are present
diff --git a/libuavcan/test/scheduler.cpp b/libuavcan/test/scheduler.cpp
index 88d7bd4f67..8eb07079f3 100644
--- a/libuavcan/test/scheduler.cpp
+++ b/libuavcan/test/scheduler.cpp
@@ -4,6 +4,7 @@
 
 #include <gtest/gtest.h>
 #include <uavcan/timer.hpp>
+#include <uavcan/internal/method_binder.hpp>
 #include "common.hpp"
 #include "transport/can/iface_mock.hpp"