From 3778720cc87eacc7a8b58b924e634528ac31ebdb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Tue, 22 Aug 2023 19:33:37 +0200
Subject: [PATCH] Embrace `std::invoke` (C++17)

---
 libraries/YarpDeviceMapperLib/DeviceMapper.hpp               | 3 ++-
 libraries/YarpDeviceMapperLib/FutureTask.hpp                 | 2 +-
 libraries/YarpPlugins/CanBusControlboard/IPidControlImpl.cpp | 4 +++-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/libraries/YarpDeviceMapperLib/DeviceMapper.hpp b/libraries/YarpDeviceMapperLib/DeviceMapper.hpp
index 960f6d2d1..ae10ff627 100644
--- a/libraries/YarpDeviceMapperLib/DeviceMapper.hpp
+++ b/libraries/YarpDeviceMapperLib/DeviceMapper.hpp
@@ -3,6 +3,7 @@
 #ifndef __DEVICE_MAPPER_HPP__
 #define __DEVICE_MAPPER_HPP__
 
+#include <functional> // std::invoke
 #include <memory>
 #include <string>
 #include <tuple>
@@ -173,7 +174,7 @@ class DeviceMapper final
     {
         auto [device, offset] = getDevice(j);
         T * p = device->getHandle<T>();
-        return p ? (p->*fn)(offset, ref...) : false;
+        return p ? std::invoke(fn, p, offset, ref...) : false;
     }
 
     //! Alias for a full-joint command. See class description.
diff --git a/libraries/YarpDeviceMapperLib/FutureTask.hpp b/libraries/YarpDeviceMapperLib/FutureTask.hpp
index e4584b432..227e3ed04 100644
--- a/libraries/YarpDeviceMapperLib/FutureTask.hpp
+++ b/libraries/YarpDeviceMapperLib/FutureTask.hpp
@@ -31,7 +31,7 @@ class FutureTask
     //! Register a deferred callback given a generic class instance.
     template<typename T, typename Fn, typename... Args>
     void add(T * p, Fn && fn, Args &&... args)
-    { deferreds.push_back([=](int) { return (p->*fn)(args...); }); }
+    { deferreds.push_back([=](int) { return std::invoke(fn, p, args...); }); }
 
     //! Dispatch the registered callbacks and returns their joint result.
     virtual bool dispatch() = 0;
diff --git a/libraries/YarpPlugins/CanBusControlboard/IPidControlImpl.cpp b/libraries/YarpPlugins/CanBusControlboard/IPidControlImpl.cpp
index db0f4ed57..1d65d1785 100644
--- a/libraries/YarpPlugins/CanBusControlboard/IPidControlImpl.cpp
+++ b/libraries/YarpPlugins/CanBusControlboard/IPidControlImpl.cpp
@@ -2,6 +2,8 @@
 
 #include "CanBusControlboard.hpp"
 
+#include <functional> // std::invoke
+
 #include <yarp/os/Log.h>
 #include <yarp/os/Vocab.h>
 
@@ -21,7 +23,7 @@ namespace
     {
         auto [device, offset] = dm.getDevice(j);
         auto * p = device->getHandle<yarp::dev::IPidControlRaw>();
-        return p && (p->*fn)(type, offset, ref...);
+        return p && std::invoke(fn, p, type, offset, ref...);
     }
 
     template<typename T_refs>