Combined watchdog code with latest changes.

include/sta/tacos/watchdog.hpp

@@ -0,0 +1,74 @@
+#ifndef STA_TACOS_WATCHDOG_HPP
+#define STA_TACOS_WATCHDOG_HPP
+
+#include <sta/config.hpp>
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+
+#ifndef STA_TACOS_WATCHDOG_PRIORITY
+#	error "TACOS watchdog priority was not specified!"
+#endif // STA_TACOS_WATCHDOG_PRIORITY
+
+#ifndef STA_TACOS_WATCHDOG_FREQUENCY
+#	error "TACOS watchdog frequency was not specified!"
+#endif // STA_TACOS_WATCHDOG_FREQUENCY
+
+
+#include <sta/tacos/thread.hpp>
+
+
+namespace sta
+{
+    namespace tacos
+    {
+        /**
+         * @brief Watchdog class for TACOS using singleton pattern.
+         * 
+         */
+        class Watchdog: public TacosThread
+		{
+		public:
+			/**
+			 * @brief Getter for the singleton instance. Constructs the instance if no exists.
+			 * 
+			 * @return Watchdog* 
+			 */
+			static Watchdog* instance()
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create the watchdog singleton instance.
+					Watchdog::_instance = new Watchdog();
+				}
+
+				return _instance;
+			}
+
+			void func() override;
+		private:
+            static Watchdog* _instance;
+
+            class CGuard
+			{
+			public:
+			   ~CGuard()
+			   {
+				  if( NULL != Watchdog::_instance )
+				  {
+					 delete Watchdog::_instance;
+					 Watchdog::_instance = NULL;
+				  }
+			   }
+			};
+
+            Watchdog(const Watchdog&);
+
+			Watchdog();
+		};
+    } // namespace tacos
+} // namespace sta
+
+#endif // STA_TACOS_WATCHDOG_ENABLED
+
+#endif // STA_TACOS_WATCHDOG_HPP