HAL_PX4: updates for AP_HAL::MemberProc

libraries/AP_HAL_PX4/Scheduler.cpp

@@ -128,7 +128,7 @@ void PX4Scheduler::register_delay_callback(AP_HAL::Proc proc,
     _min_delay_cb_ms = min_time_ms;
 }
 
-void PX4Scheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg) 
+void PX4Scheduler::register_timer_process(AP_HAL::MemberProc proc) 
 {
     for (uint8_t i = 0; i < _num_timer_procs; i++) {
         if (_timer_proc[i] == proc) {
@@ -138,14 +138,13 @@ void PX4Scheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
 
     if (_num_timer_procs < PX4_SCHEDULER_MAX_TIMER_PROCS) {
         _timer_proc[_num_timer_procs] = proc;
-        _timer_arg[_num_timer_procs] = arg;
         _num_timer_procs++;
     } else {
         hal.console->printf("Out of timer processes\n");
     }
 }
 
-void PX4Scheduler::register_io_process(AP_HAL::TimedProc proc, void *arg) 
+void PX4Scheduler::register_io_process(AP_HAL::MemberProc proc) 
 {
     for (uint8_t i = 0; i < _num_io_procs; i++) {
         if (_io_proc[i] == proc) {
@@ -155,14 +154,13 @@ void PX4Scheduler::register_io_process(AP_HAL::TimedProc proc, void *arg)
 
     if (_num_io_procs < PX4_SCHEDULER_MAX_TIMER_PROCS) {
         _io_proc[_num_io_procs] = proc;
-        _io_arg[_num_io_procs] = arg;
         _num_io_procs++;
     } else {
         hal.console->printf("Out of IO processes\n");
     }
 }
 
-void PX4Scheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe, uint32_t period_us) 
+void PX4Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us) 
 {
     _failsafe = failsafe;
 }
@@ -197,7 +195,7 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
         // now call the timer based drivers
         for (int i = 0; i < _num_timer_procs; i++) {
             if (_timer_proc[i] != NULL) {
-                _timer_proc[i](_timer_arg[i]);
+                _timer_proc[i]();
             }
         }
     } else if (called_from_timer_thread) {
@@ -206,7 +204,7 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
 
     // and the failsafe, if one is setup
     if (_failsafe != NULL) {
-        _failsafe(NULL);
+        _failsafe();
     }
 
     // process analog input
@@ -245,7 +243,7 @@ void PX4Scheduler::_run_io(void)
         // now call the IO based drivers
         for (int i = 0; i < _num_io_procs; i++) {
             if (_io_proc[i] != NULL) {
-                _io_proc[i](_io_arg[i]);
+                _io_proc[i]();
             }
         }
     }

libraries/AP_HAL_PX4/Scheduler.h

@@ -31,9 +31,9 @@ public:
     uint32_t micros();
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
-    void     register_timer_process(AP_HAL::TimedProc, void *);
-    void     register_io_process(AP_HAL::TimedProc, void *);
-    void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
+    void     register_timer_process(AP_HAL::MemberProc);
+    void     register_io_process(AP_HAL::MemberProc);
+    void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
@@ -47,19 +47,17 @@ private:
     bool _initialized;
     AP_HAL::Proc _delay_cb;
     uint16_t _min_delay_cb_ms;
-    AP_HAL::TimedProc _failsafe;
+    AP_HAL::Proc _failsafe;
     volatile bool _timer_pending;
     uint64_t _sketch_start_time;
 
     volatile bool _timer_suspended;
 
-    AP_HAL::TimedProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
-    void * _timer_arg[PX4_SCHEDULER_MAX_TIMER_PROCS];
+    AP_HAL::MemberProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_timer_procs;
     volatile bool _in_timer_proc;
 
-    AP_HAL::TimedProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
-    void * _io_arg[PX4_SCHEDULER_MAX_TIMER_PROCS];
+    AP_HAL::MemberProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_io_procs;
     volatile bool _in_io_proc;