Added simple method binder and system clock getter for dispatcher

libuavcan/include/uavcan/internal/transport/dispatcher.hpp

@@ -89,6 +89,9 @@ public:
     IOutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
 
     NodeID getSelfNodeID() const { return self_node_id_; }
+
+    const ISystemClock& getSystemClock() const { return sysclock_; }
+    ISystemClock& getSystemClock() { return sysclock_; }
 };
 
 }

libuavcan/include/uavcan/internal/util.hpp

@@ -74,6 +74,27 @@ 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