Added modifiable callback for timers

include/sta/rtos/timer.hpp

@@ -9,6 +9,9 @@
 #include <cmsis_os2.h>
 #include <sta/timer.hpp>
 
+#include <functional>
+
+
 namespace sta
 {
 	/**
@@ -19,16 +22,55 @@ namespace sta
 	class RtosTimer : public Timer
 	{
 	public:
+		/**
+		 * @brief
+		 *
+		 * @param callback 	The callback function to call upon timer timeout.
+		 * @param arg 		The argument to pass to the callback function.
+		 */
 		RtosTimer(void (*callback)(void *arg), void *arg);
-        ~RtosTimer();
 
+		/**
+		 * @brief Initializes the timer with a callback that has no effect.
+		 */
+		RtosTimer();
+
+        ~RtosTimer();
+	public:
+        /**
+         * @brief Change the timer's callback to a new function.
+         *
+         * @param callback 	The callback function to call upon timer timeout.
+		 * @param arg 		The argument to pass to the callback function.
+         */
+        void setCallback(void (*callback)(void *arg), void *arg);
+
+        /**
+         * @brief Run the timer for a given number of milliseconds.
+         *
+         * @param millis	The number of milliseconds to run the timer for.
+         */
 		void start(uint32_t millis) override;
+
+		/**
+		 * @brief Stop the timer.
+		 */
 		void stop() override;
 
+	private:
+		static void timeoutHandler(void* arg)
+		{
+			RtosTimer* timer = static_cast<RtosTimer*>(arg);
+			timer->callback_(timer->callbackArg_);
+		}
+
 	private:
 		osTimerId_t timer_id_;                  /**< CMSIS RTOS2 Timer */
-        osTimerAttr_t timer_attr_;         /**< CMSIS RTOS2 Timer attributes */
+        osTimerAttr_t timer_attr_;         		/**< CMSIS RTOS2 Timer attributes */
+
+        std::function<void(void*)> callback_;	/**< The callback to call on timeout. */
+        void* callbackArg_;						/**< The argument to pass to the callback. */
 	};
 } // namespace sta
 
-#endif // STA_RTOS_TIMER_HPP
+#endif // STA_RTOS_TIMER_HPP