pthread-Task als Methode einer C++ Klasse?

[HaWe]

ok, noch immer ein paar Verständnisprobleme:

zu pid_calc....:

bisher verwende ich ja diese Task-Funktion hier (in 3 Varianten, ab jetzt natürlich einheitlich 1x für alle):
(ich HASSE ES, dass hier nie Codetags im Antwort-Editor dabei sind!!! )

task task_PID_A() {
  float aspeed, damp, PWMpwr, readold, errorold, tprop;
  long  readstart, cmax, cmin;                         // for monitoring
  long  starttime, runtime, clock, dtime;              // timer
  char  regloop;

  PID_A.runstate = 0x10;                               // reg state: RAMPUP
  PID_A.read     = (MotorRotationCount(OUT_A));        // get current encoder reading
  PID_A.err      = PID_A.target - PID_A.read;          // error to target

  readstart      = PID_A.read;
  regloop        = 1;



#ifdef debug_PID_A
  //............................................................................
  // init variables for graph output
  ClearScreen();
  DisplayMask();


  int timex, oldtx, oldy=15, pwm0=15;           // values for graphic screen

  float scrXratio, scrYratio;

  scrXratio=abs(PID_A.err)/8;
  if(PID_A.target<50) scrXratio=abs(PID_A.err)/4;

  scrYratio=abs(PID_A.err)/40;
  //............................................................................
#endif

  damp=0;                                 // damp the integral memory

  starttime= CurrentTick();


  // appoach target
  _Astart:
  PID_A.runstate = 0x10;                  // run state: RUNNING

  do {

    dtime    = CurrentTick() - clock;
    clock    = CurrentTick();
    runtime  = clock - starttime;
    tprop    = dtime/20.0;

    if ((PID_A.err==errorold)&& (abs(PID_A.err)>PID_A.precis)) damp=1;    // stalling
    else
    damp=PID_A.damp;

    PID_A.integr = (damp * PID_A.integr) + PID_A.err;

    if((PID_A.integr) > 3*PID_A.maxout) PID_A.integr = 3*PID_A.maxout; // cut away
    else
    if((PID_A.integr) <-3*PID_A.maxout) PID_A.integr =-3*PID_A.maxout;

    PWMpwr= (PID_A.P*PID_A.err) + (PID_A.I*PID_A.integr)*tprop + (PID_A.D*(PID_A.err-errorold))/tprop;


    if(PWMpwr >  PID_A.maxout) PWMpwr=  PID_A.maxout;   // forward maxout
    else
    if(PWMpwr < -PID_A.maxout) PWMpwr= -PID_A.maxout;   // reverse maxout


    PID_A.speed= (PID_A.read-readold)*100/dtime;  // rotat speed [degrees/100ms]

    aspeed = abs(PID_A.speed) ;

    if (aspeed > PID_A.tarpwm)  {
        PWMpwr = sign(PWMpwr)*PID_A.tarpwm;
    }

    PID_A.outp = round(PWMpwr);

#ifdef debug_PID_A
    //..........................................................................
    //  for graph output
    timex= runtime/scrXratio;
    PointOut(timex,(PID_A.read-readstart)/scrYratio);
    LineOut(oldtx, oldy, timex, pwm0+PID_A.speed*0.3);

    oldtx=timex; oldy=pwm0+PID_A.speed*0.3;
    //..........................................................................
#endif


    //**************************************************************************
                                                   // PID regulation !
    OnFwd(OUT_A, (PID_A.outp));                         // action !
    Wait(PID_A.regtime);                                // wait regulation time

    //**************************************************************************

    readold     = PID_A.read;                           // save old sensor
    errorold    = PID_A.err;                            // save old error

    PID_A.read  = (MotorRotationCount(OUT_A));          // get new encoder value
    PID_A.err   = PID_A.target-PID_A.read;              // new error to target

    if (PID_A.read>cmax) cmax=PID_A.read;               // monitor overshooting
    else
    if (PID_A.read<cmin) cmin=PID_A.read;               // monitor overshooting

    if ((PID_A.cont)&& (abs(PID_A.err)<=PID_A.precis)) PID_A.runstate = 0x60;
    else PID_A.runstate = 0x20;

#ifdef debug_PID_A
    //..........................................................................
    printf1(68, 48,"%-5d"   , cmax);
    printf1(68, 40,"%-5d"   , cmin);
    printf1(68, 32,"%-5d"   , PID_A.read);
    //..........................................................................
#endif

    if (PID_A.cont) continue;
    if (abs(PID_A.err)<=PID_A.precis) { regloop +=1 ; PID_A.runstate = 0x40; }

  } while ((abs(PID_A.err)>=PID_A.precis) && (regloop<=5));  // target reached

  Off(OUT_A);                                      // finished - brake motor
  PID_A.runstate = 0x40;                           // run state: RAMPDOWN
  PID_A.outp=0;

  Wait(50);
  PID_A.read = MotorRotationCount(OUT_A);
  regloop=1;

  if (PID_A.read>cmax) cmax=PID_A.read;            // detect overshooting
  if (PID_A.read<cmin) cmin=PID_A.read;            // detect overshooting
  PID_A.err = PID_A.target-PID_A.read;


#ifdef debug_PID_A
  //............................................................................
  printf1(68, 56,"%-5d"    , PID_A.target);
  printf1(68, 48,"%-5d"    , cmax);
  printf1(68, 40,"%-5d"    , cmin);
  printf1(68, 32,"%-5d"    , PID_A.read);
  printf1(56, 24,"P %5.2f" , PID_A.P);
  printf1(56, 16,"I %5.2f" , PID_A.I);
  printf1(56,  8,"D %5.2f" , PID_A.D);
  //............................................................................
#endif


  if ((abs(PID_A.err)>PID_A.precis))  {goto _Astart;}



#ifdef debug_PID_A
  //............................................................................
  PointOut(timex,PID_A.read/scrYratio);
  LineOut(oldtx, oldy, timex, pwm0);
  LineOut(timex+2,PID_A.target/scrYratio, timex+10, PID_A.target/scrYratio);
  LineOut(timex+2, pwm0, timex+10, pwm0);
  //............................................................................
#endif

  PID_A.runstate=0;
  Wait(1);                                //runstate = IDLE

}

//==============================================================================

a) statt
task task_PID_A()
stünde dann hier also
void * pid_calc( void *)


und der Rest bliebe gleich?
(die ..._A am Ende fallen ntl dann auch überall weg)


und b)
auch wenn ich jetzt kurz hinterenander mehrfach diesen Task für mehrere Motoren starte, wobei die Laufzeiten sich mehrfach überlappen
RotatePID(0, 3000, 15, false);
RotatePID(2, -4000, 90, false);
delay(1);
RotatePID(8, 10000, 50, true );
delay(10);
RotatePID(1, -5000, 60, false);
RotatePID(3, -3000, 20, true);

und also in diesem Falle 5 verschiedene Threads parallel asynchron laufen müssten, mit Starten eines neuen Tasks ohne auf die Beendigung des vorherigen warten zu müssen, die sich dann alle auch unabhängig zu verschiedenen Zeiten beenden oder (in 2 Fällen) "unendlich" weiter laufen -
das funktioniert dann