Strongly typed action constructor (#1087)

* strong typing

* maybe we needed that one

firmware/controllers/engine_cycle/aux_valves.cpp

@@ -34,7 +34,7 @@ void plainPinTurnOn(AuxActor *current) {
 	scheduleOrQueue(&current->open,
 			TRIGGER_EVENT_UNDEFINED,
 			current->extra + engine->engineState.auxValveStart,
-			{ (schfunc_t)plainPinTurnOn, current }
+			{ plainPinTurnOn, current }
 			PASS_ENGINE_PARAMETER_SUFFIX
 			);
 
@@ -45,7 +45,7 @@ void plainPinTurnOn(AuxActor *current) {
 	scheduleOrQueue(&current->close,
 			TRIGGER_EVENT_UNDEFINED,
 			current->extra + engine->engineState.auxValveEnd,
-			{ (schfunc_t)plainPinTurnOff, output }
+			{ plainPinTurnOff, output }
 			PASS_ENGINE_PARAMETER_SUFFIX
 			);
 	}
@@ -103,12 +103,12 @@ static void auxValveTriggerCallback(trigger_event_e ckpSignalType,
 			fixAngle(onTime, "onTime", CUSTOM_ERR_6556);
 			scheduleByAngle(onEvent,
 					onTime,
-					(schfunc_t) &plainPinTurnOn, output PASS_ENGINE_PARAMETER_SUFFIX);
+					&plainPinTurnOn, output PASS_ENGINE_PARAMETER_SUFFIX);
 			angle_t offTime = extra + engine->engineState.auxValveEnd;
 			fixAngle(offTime, "offTime", CUSTOM_ERR_6557);
 			scheduleByAngle(offEvent,
 					offTime,
-					(schfunc_t) &plainPinTurnOff, output PASS_ENGINE_PARAMETER_SUFFIX);
+					&plainPinTurnOff, output PASS_ENGINE_PARAMETER_SUFFIX);
 			if (isOverlap) {
 				enginePins.debugTriggerSync.setValue(0);
 			}
@@ -149,7 +149,7 @@ void initAuxValves(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 			scheduleOrQueue(&actor->open,
 					TRIGGER_EVENT_UNDEFINED,
 					actor->extra + engine->engineState.auxValveStart,
-					{ (schfunc_t)plainPinTurnOn, actor }
+					{ plainPinTurnOn, actor }
 					PASS_ENGINE_PARAMETER_SUFFIX
 					);
 		}

firmware/controllers/engine_cycle/main_trigger_callback.cpp

@@ -192,7 +192,7 @@ static void sescheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, ac
 //	scheduleMsg(&sharedLogger, "schX %s %x %d", prefix, scheduling,	time);
 //	scheduleMsg(&sharedLogger, "schX %s", param->name);
 
-	const char *direction = callback == (schfunc_t) &seTurnPinHigh ? "up" : "down";
+	const char *direction = callback == &seTurnPinHigh ? "up" : "down";
 	printf("seScheduleByTime %s %s %d sch=%d\r\n", direction, param->name, (int)time, (int)scheduling);
 #endif /* FUEL_MATH_EXTREME_LOGGING || EFI_UNIT_TEST */
 
@@ -278,9 +278,9 @@ static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionE
 // todo: sequential need this logic as well, just do not forget to clear flag		event->isScheduled = true;
 		scheduling_s * sDown = &event->endOfInjectionEvent;
 
-		engine->executor.scheduleForLater(sUp, (int) injectionStartDelayUs, { (schfunc_t) &startSimultaniousInjection, engine });
+		engine->executor.scheduleForLater(sUp, (int) injectionStartDelayUs, { &startSimultaniousInjection, engine });
 		engine->executor.scheduleForLater(sDown, (int) injectionStartDelayUs + durationUs,
-					{ (schfunc_t) &endSimultaniousInjection, event });
+					{ &endSimultaniousInjection, event });
 
 	} else {
 #if EFI_UNIT_TEST
@@ -327,10 +327,10 @@ static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionE
 		printf("please cancel %s %d %d\r\n", output->name, (int)getTimeNowUs(), output->overlappingCounter);
 	#endif /* EFI_UNIT_TEST || EFI_SIMULATOR */
 		} else {
-			sescheduleByTimestamp(sUp, turnOnTime, { (schfunc_t) &seTurnPinHigh, event } PASS_ENGINE_PARAMETER_SUFFIX);
+			sescheduleByTimestamp(sUp, turnOnTime, { &seTurnPinHigh, event } PASS_ENGINE_PARAMETER_SUFFIX);
 		}
 		efitimeus_t turnOffTime = nowUs + (int) (injectionStartDelayUs + durationUs);
-		sescheduleByTimestamp(sDown, turnOffTime, { (schfunc_t) &seTurnPinLow, event } PASS_ENGINE_PARAMETER_SUFFIX);
+		sescheduleByTimestamp(sDown, turnOffTime, { &seTurnPinLow, event } PASS_ENGINE_PARAMETER_SUFFIX);
 	}
 }
 
@@ -561,7 +561,7 @@ void startPrimeInjectionPulse(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 		if (pulseLength > 0) {
 			startSimultaniousInjection(engine);
 			efitimeus_t turnOffDelayUs = (efitimeus_t)efiRound(MS2US(pulseLength), 1.0f);
-			engine->executor.scheduleForLater(sDown, turnOffDelayUs, { (schfunc_t) &endSimultaniousInjectionOnlyTogglePins, engine });
+			engine->executor.scheduleForLater(sDown, turnOffDelayUs, { &endSimultaniousInjectionOnlyTogglePins, engine });
 		}
 	}
 #if EFI_PROD_CODE

firmware/controllers/engine_cycle/rpm_calculator.cpp

@@ -323,7 +323,7 @@ static void tdcMarkCallback(trigger_event_e ckpSignalType,
 		// todo: use tooth event-based scheduling, not just time-based scheduling
 		if (isValidRpm(rpm)) {
 			scheduleByAngle(&tdcScheduler[revIndex2], tdcPosition(),
-					{ (schfunc_t) onTdcCallback, engine } PASS_ENGINE_PARAMETER_SUFFIX);
+					{ onTdcCallback, engine } PASS_ENGINE_PARAMETER_SUFFIX);
 		}
 	}
 }

firmware/controllers/engine_cycle/spark_logic.cpp

@@ -321,7 +321,7 @@ static ALWAYS_INLINE void handleSparkEvent(bool limitedSpark, uint32_t trgEventI
 		 * This way we make sure that coil dwell started while spark was enabled would fire and not burn
 		 * the coil.
 		 */
-		engine->executor.scheduleForLater(sUp, chargeDelayUs, { (schfunc_t) &turnSparkPinHigh, iEvent });
+		engine->executor.scheduleForLater(sUp, chargeDelayUs, { &turnSparkPinHigh, iEvent });
 	}
 	/**
 	 * Spark event is often happening during a later trigger event timeframe
@@ -332,7 +332,7 @@ static ALWAYS_INLINE void handleSparkEvent(bool limitedSpark, uint32_t trgEventI
 	assertAngleRange(sparkAngle, "findAngle#a5", CUSTOM_ERR_6549);
 
 
-	bool scheduled = scheduleOrQueue(&iEvent->sparkEvent, trgEventIndex, sparkAngle, { (schfunc_t)fireSparkAndPrepareNextSchedule, iEvent } PASS_ENGINE_PARAMETER_SUFFIX);
+	bool scheduled = scheduleOrQueue(&iEvent->sparkEvent, trgEventIndex, sparkAngle, { fireSparkAndPrepareNextSchedule, iEvent } PASS_ENGINE_PARAMETER_SUFFIX);
 
 	if (scheduled) {
 #if SPARK_EXTREME_LOGGING

firmware/controllers/system/timer/pwm_generator_logic.cpp

@@ -262,7 +262,7 @@ static void timerCallback(PwmConfig *state) {
 		return;
 	}
 
-	state->executor->scheduleByTimestamp(&state->scheduling, switchTimeUs, { (schfunc_t) timerCallback, state });
+	state->executor->scheduleByTimestamp(&state->scheduling, switchTimeUs, { timerCallback, state });
 	state->dbgNestingLevel--;
 }
 

firmware/controllers/system/timer/scheduler.h

@@ -18,6 +18,11 @@ public:
 	action_s(schfunc_t callback) : action_s(callback, nullptr) { }
 	action_s(schfunc_t callback, void *param) : callback(callback), param(param) { }
 
+	// Allow any function that takes a single pointer parameter, so long as param is also of the same pointer type.
+	// This constructor means you shouldn't ever have to cast to schfunc_t on your own.
+	template <typename TArg>
+	action_s(void (*callback)(TArg*), TArg* param) : callback((schfunc_t)callback), param(param) { }
+
 	void execute();
 	schfunc_t getCallback() const;
 	void * getArgument() const;

firmware/hw_layer/servo.cpp

@@ -61,7 +61,7 @@ static msg_t seThread(void *arg) {
 
 		float durationMs = 0 + position * 0.02f;
 
-		engine->executor.scheduleForLater(&servoTurnSignalOff, (int)MS2US(durationMs), { (schfunc_t) &servoTachPinLow, pin });
+		engine->executor.scheduleForLater(&servoTurnSignalOff, (int)MS2US(durationMs), { &servoTachPinLow, pin });
 
 
 		chThdSleepMilliseconds(19);

unit_tests/tests/test_signal_executor.cpp

@@ -34,7 +34,7 @@ static void complexCallback(TestPwm *testPwm) {
 	callbackCounter++;
 
 	eq.insertTask(&testPwm->s, complexTestNow + testPwm->period,
-			{ (schfunc_t) complexCallback, testPwm });
+			{ complexCallback, testPwm });
 }
 
 static void testSignalExecutor2(void) {
@@ -47,8 +47,8 @@ static void testSignalExecutor2(void) {
 
 	complexTestNow = 0;
 	callbackCounter = 0;
-	eq.insertTask(&p1.s, 0, { (schfunc_t) complexCallback, &p1 });
-	eq.insertTask(&p2.s, 0, { (schfunc_t) complexCallback, &p2 });
+	eq.insertTask(&p1.s, 0, { complexCallback, &p1 });
+	eq.insertTask(&p2.s, 0, { complexCallback, &p2 });
 	eq.executeAll(complexTestNow);
 	ASSERT_EQ( 2,  callbackCounter) << "callbackCounter #1";
 	ASSERT_EQ(2, eq.size());