Task FUNCPTR Issue

[willson.thomas]

I am having trouble defining a task. The code and compiler errors are below. If anyone knows what I'm doing wrong, help would be greatly appreciated!

Error:

C:/windriver/workspace/2011CompetitionCode/Arm.cpp:132: error: argument of type `int (LogomotionArm::)(LogomotionArm::ArmInitArgs*)' does not match `int (*)(...)'

Function Definition:

int InitialiseArm(ArmInitArgs *argsPTR)
	{
		while (argsPTR->armJagTask->GetForwardLimitOK())
		{
			argsPTR->armJagTask->Set(1);
			Wait(0.01);
		}
		argsPTR->armJagTask->Set(0);
		argsPTR->armPositionTask->Reset();
		argsPTR->isInitialisingTask=false;
		argsPTR->isInitialisedTask=true;
		return (int)0;
	}

Task Initialisation:

Task armInit("ArmInit",(FUNCPTR)(InitialiseArm));
		armInit.Start((INT32)(&initArgs));

Thanks!

[demosthenes2k8]

Team 166's Framework166 deals with this. We don't actually use the WPilib tasks, but we DO typecast our tasks into FUNCPTRs.

The main code we use is

static int MainJacket(void *this_p, int a0, int a1, int a2, int a3, int a4, int a5, int a6, int a7, int a8);

Although I can't find the actual definition of FUNCPTR, from our code it's safe to assume that your task needs to take the same inputs as the MainJacket function snippet...or at least the same types. (There are almost certainly better names for the ints)

EDIT: This old thread mentions that the task has to have int arguments...

EDIT2: I just found it:

typedef int 		(*FUNCPTR) (...);     /* ptr to function returning int */

This basically means nothing that we don't already have by now, but it's a function that takes an int and, I believe, all int arguments.