Combined watchdog code with latest changes.

include/sta/tacos/thread.hpp

@@ -22,6 +22,45 @@ namespace sta
 {
 	namespace tacos
 	{
+		/**
+		 * @brief A status flags for the watchdog.
+		 * 
+		 */
+		enum class ThreadStatus
+		{
+			/**
+			 * @brief This thread wants to be ignored by the watchdog.
+			 * 
+			 */
+			IGNORED,
+
+			/**
+			 * @brief The thread terminated regularly. The watchdog will not try to restart this thread.
+			 * 
+			 */
+			STOPPED,
+
+			/**
+			 * @brief The thread's status is unknown. If the watchdog encounters this status, it will try to
+			 * restart the affected thread.
+			 * 
+			 */
+			UNKNOWN,
+
+			/**
+			 * @brief The thread is running as intended. The watchdog will set this flag back to UNKNOWN.
+			 * 
+			 */
+			RUNNING,
+
+			/**
+			 * @brief The thread is waiting and might not send a heartbeat signal in a while. The watchdog will
+			 * not do anything in this case.
+			 * 
+			 */
+			WAITING
+		};
+
 		/**
 		 * @brief Abstract class for thread implementations in Tacos.
 		 *
@@ -97,8 +136,37 @@ namespace sta
 			 */
 			virtual void cleanup();
 
-		private:
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+		#define BLOCKING(stmt) waiting(); stmt heartbeat()
 
+		protected:
+			/**
+			 * @brief 
+			 * 
+			 */
+			void heartbeat();
+
+			/**
+			 * @brief Set the thread's status to waiting. Should be called before executing
+			 * 
+			 */
+			void waiting();
+		public:
+			/**
+			 * @brief Get the current status of the thread.
+			 * 
+			 * @return ThreadStatus 
+			 */
+			ThreadStatus getStatus();
+
+			/**
+			 * @brief Reset the thread's status to UNKNOWN. Should only be called by the Watchdog.
+			 * 
+			 */
+			void resetStatus();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+
+		private:
 			/**
 			 * @brief Static function to pass to RTOS to run as a thread. Calls the loop function implemented here.
 			 */
@@ -108,6 +176,9 @@ namespace sta
 			osThreadId_t instance_;
 			osThreadAttr_t attribs_;
 			bool running_;
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+			ThreadStatus status_;
+#endif // STA_TACOS_WATCHDOG_ENABLED
 		};
 	}
 }