File content as of revision 0:f3bf6c7e2283:

#ifndef SYSTEM_H
#define SYSTEM_H

#include "globals.h"

//#include "rtos.h"

// rectifies angle to range -PI to PI
template <typename T>
T rectifyAng (T ang_in) {
    ang_in -= (floor(ang_in/(2*PI)))*2*PI;
    if (ang_in < -PI) {
        ang_in += 2*PI;
    }
    if (ang_in > PI) {
        ang_in -= 2*PI;
    }

    return ang_in;
}

#define SIGTICKARGS(thread, signal) \
    (tfuncptr_t) (&Signalsetter::callback), osTimerPeriodic, (void*)(new Signalsetter(thread, signal))

typedef void (*tfuncptr_t)(void const *argument);

class Signalsetter {
public:
    Signalsetter(Thread& inthread, int insignal) :
            thread(inthread) {
        signal = insignal;
        //pc.printf("ptr saved as %#x \r\n", (int)(&(inthread)));
    }

    static void callback(void* thisin) {

        Signalsetter* fthis = (Signalsetter*)thisin;
        //pc.printf("callback will signal thread object at %#x \r\n", (int)(&(fthis->thread)));
        fthis->thread.signal_set(fthis->signal);
        //delete fthis; //this is useful for single fire tickers!
    }

private:
    Thread& thread;
    int signal;
};

#endif