AP_HAL_Linux: attach_interrupt now takes a functor

AP_HAL_Linux: add type-safety for interrupt types

libraries/AP_HAL_Linux/GPIO_BBB.cpp

@@ -113,7 +113,9 @@ AP_HAL::DigitalSource* GPIO_BBB::channel(uint16_t n) {
 }
 
 /* Interrupt interface: */
-bool GPIO_BBB::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
+bool GPIO_BBB::attach_interrupt(uint8_t interrupt_num,
+                                irq_handler_fn_t fn,
+                                INTERRUPT_TRIGGER_TYPE mode)
 {
     return true;
 }

libraries/AP_HAL_Linux/GPIO_BBB.h

@@ -130,8 +130,9 @@ public:
     AP_HAL::DigitalSource* channel(uint16_t n);
 
     /* Interrupt interface: */
-    bool    attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
-            uint8_t mode);
+    bool    attach_interrupt(uint8_t interrupt_num,
+                             irq_handler_fn_t fn,
+                             INTERRUPT_TRIGGER_TYPE mode) override;
 
     /* return true if USB cable is connected */
     bool    usb_connected(void);

libraries/AP_HAL_Linux/GPIO_RPI.cpp

@@ -122,7 +122,9 @@ AP_HAL::DigitalSource* GPIO_RPI::channel(uint16_t n)
 }
 
 /* Interrupt interface: */
-bool GPIO_RPI::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode)
+bool GPIO_RPI::attach_interrupt(uint8_t interrupt_num,
+                                irq_handler_fn_t fn,
+                                INTERRUPT_TRIGGER_TYPE mode)
 {
     return true;
 }

libraries/AP_HAL_Linux/GPIO_RPI.h

@@ -57,8 +57,9 @@ public:
     AP_HAL::DigitalSource* channel(uint16_t n);
 
     /* Interrupt interface: */
-    bool    attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
-            uint8_t mode);
+    bool    attach_interrupt(uint8_t interrupt_num,
+                             irq_handler_fn_t fn,
+                             INTERRUPT_TRIGGER_TYPE mode);
 
     /* return true if USB cable is connected */
     bool    usb_connected(void);

libraries/AP_HAL_Linux/GPIO_Sysfs.cpp

@@ -188,8 +188,9 @@ AP_HAL::DigitalSource* GPIO_Sysfs::channel(uint16_t vpin)
     return new DigitalSource_Sysfs(pin, value_fd);
 }
 
-bool GPIO_Sysfs::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
-                                       uint8_t mode)
+bool GPIO_Sysfs::attach_interrupt(uint8_t interrupt_num,
+                                  irq_handler_fn_t p,
+                                  INTERRUPT_TRIGGER_TYPE mode)
 {
     return false;
 }

libraries/AP_HAL_Linux/GPIO_Sysfs.h

@@ -52,7 +52,9 @@ public:
     /*
      * Currently this function always returns false.
      */
-    bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p, uint8_t mode) override;
+    bool attach_interrupt(uint8_t interrupt_num,
+                          irq_handler_fn_t p,
+                          INTERRUPT_TRIGGER_TYPE mode) override;
 
     /*
      * Currently this function always returns false.