From 9ea0d83ed3a8bcc9976a4c89daa55b322a12fd99 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Mon, 31 Oct 2016 17:07:47 -0500
Subject: [PATCH] Replaced lambda with bind
PLEASE be supported on ground station
---
groundStation/src/vrpn_tracker.cpp | 27 +++++++++++++++++----------
1 file changed, 17 insertions(+), 10 deletions(-)
diff --git a/groundStation/src/vrpn_tracker.cpp b/groundStation/src/vrpn_tracker.cpp
index df5d9eb49..7f9b56a99 100644
--- a/groundStation/src/vrpn_tracker.cpp
+++ b/groundStation/src/vrpn_tracker.cpp
@@ -1,5 +1,6 @@
#include <iostream>
#include <algorithm>
+#include <functional>
#include "vrpn_Tracker.h"
#include "quat.h"
@@ -111,6 +112,20 @@ struct ucart_vrpn_tracker {
microcart::Tracker * t;
};
+void cb_wrapper(void (*cb)(struct ucart_vrpn_TrackerData *),
+ const microcart::TrackerData &td)
+{
+ struct ucart_vrpn_TrackerData data;
+ data.x = td.x;
+ data.y = td.y;
+ data.z = td.z;
+ data.pitch = td.pitch;
+ data.roll = td.roll;
+ data.yaw = td.yaw;
+ data.fps = td.fps;
+ (*cb)(&data);
+}
+
extern "C"
{
struct ucart_vrpn_tracker * ucart_vrpn_tracker_createInstance(
@@ -135,16 +150,8 @@ extern "C"
void (*cb)(struct ucart_vrpn_TrackerData *))
{
try {
- inst->t->addCallback([cb](const microcart::TrackerData & td) {
- struct ucart_vrpn_TrackerData data;
- data.x = td.x;
- data.y = td.y;
- data.z = td.z;
- data.pitch = td.pitch;
- data.roll = td.roll;
- data.yaw = td.yaw;
- (*cb)(&data);
- });
+ auto new_cb = bind(cb_wrapper, cb, std::placeholders::_1);
+ inst->t->addCallback(new_cb);
} catch(...) {
return -1;
}
--
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