Switch to std::function for callbacks

RoboticsBrno · Jan 7, 2019 · 4c22463 · 4c22463
1 parent e027731
commit 4c22463
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Showing 4 changed files with 8 additions and 14 deletions.
diff --git a/README.md b/README.md
@@ -14,7 +14,7 @@ A library faciliating communication with RbController Android app: https://play.
 #include "rbprotocol.h"
 #include "rbwebserver.h"
 
-void onPktReceived(rb::Protocol &protocol, void *cookie, const std::string& command, rbjson::Object *pkt) {
+void onPktReceived(const std::string& command, rbjson::Object *pkt) {
     if(command == "joy") {
         printf("Joy: ");
         rbjson::Array *data = pkt->getArray("data");

diff --git a/examples/basic/main.cpp b/examples/basic/main.cpp
@@ -8,7 +8,7 @@
 #include "rbprotocol.h"
 #include "rbwebserver.h"
 
-void onPktReceived(rb::Protocol &protocol, void *cookie, const std::string& command, rbjson::Object *pkt) {
+void onPktReceived(const std::string& command, rbjson::Object *pkt) {
     if(command == "joy") {
         printf("Joy: ");
         rbjson::Array *data = pkt->getArray("data");

diff --git a/src/rbprotocol.cpp b/src/rbprotocol.cpp
@@ -43,12 +43,11 @@ class SemaphoreHolder {
 namespace rb {
 
 Protocol::Protocol(const char *owner, const char *name, const char *description,
-    ProtocolCallback onPacketReceivedCallback, void *callback_cookie) {
+    std::function<void(const std::string& cmd, rbjson::Object* pkt)> callback) {
     m_owner = owner;
     m_name = name;
     m_desc = description;
-    m_callback = onPacketReceivedCallback;
-    m_callback_cookie = callback_cookie;
+    m_callback = callback;
 
     m_socket = -1;
     m_mutex = xSemaphoreCreateMutex();
@@ -387,7 +386,7 @@ void Protocol::handle_msg(struct sockaddr_in *addr, char *buf, ssize_t size) {
         ESP_LOGI(TAG, "We are possessed!");
         send_log("The device %s has been possessed!\n", m_name);
     } else if(m_callback != NULL) {
-        m_callback(*this, m_callback_cookie, cmd, pkt.get());
+        m_callback(cmd, pkt.get());
     }
 }
 

diff --git a/src/rbprotocol.h b/src/rbprotocol.h
@@ -5,6 +5,7 @@
 #include <string>
 #include <vector>
 #include <sys/socket.h>
+#include <functional>
 
 #include "rbjson.h"
 
@@ -17,11 +18,6 @@ namespace rb {
 
 class Protocol;
 
-/**
- * \brief This is the type for onPacketReceived callback
- */
-typedef void (*ProtocolCallback)(Protocol& protocol, void *cookie, const std::string& command, rbjson::Object *pkt);
-
 /**
  * \brief Class that manages the RBProtocol communication
  */
@@ -32,7 +28,7 @@ class Protocol {
      * It runs on a separate task, only single packet is processed at a time.
      */
     Protocol(const char *owner, const char *name, const char *description,
-        ProtocolCallback onPacketReceivedCallback = NULL, void *callback_cookie = NULL);
+        std::function<void(const std::string& cmd, rbjson::Object* pkt)> callback = nullptr);
     ~Protocol();
 
     void start(int port = RBPROTOCOL_PORT); //!< Start listening for UDP packets on port
@@ -79,8 +75,7 @@ class Protocol {
     const char *m_name;
     const char *m_desc;
 
-    ProtocolCallback m_callback;
-    void *m_callback_cookie;
+    std::function<void(const std::string& cmd, rbjson::Object* pkt)> m_callback;
 
     int m_socket;
     int m_read_counter;