From 2617521444c6c98af187736a405827d205ec8a09 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Wed, 7 Feb 2024 17:04:19 +0100
Subject: [PATCH] Fixed thread starting to work correctly

---
 include/sta/tacos/thread.hpp |  4 ++++
 src/thread.cpp               | 24 ++++++++++++++++++++++--
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/include/sta/tacos/thread.hpp b/include/sta/tacos/thread.hpp
index 8517c77..842b27e 100644
--- a/include/sta/tacos/thread.hpp
+++ b/include/sta/tacos/thread.hpp
@@ -89,6 +89,8 @@ namespace sta
 
 			void loop() override;
 
+			void start() override;
+
 			/**
 			 * @brief This function is executed first when this thread is started.
 			 */
@@ -149,6 +151,8 @@ namespace sta
 			 * 
 			 */
 			void resetStatus();
+
+			void watchdogIgnore();
 #endif // STA_TACOS_WATCHDOG_ENABLED
 
 			/**
diff --git a/src/thread.cpp b/src/thread.cpp
index 0f4ebda..35175e0 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -33,6 +33,18 @@ namespace sta
 			return running_;
 		}
 
+		void TacosThread::start()
+		{
+			if (getInstance() == NULL)
+			{
+				RtosThread::start();
+			}
+			else
+			{
+				sysNotify(STA_RTOS_THREAD_FLAG_START);
+			}
+		}
+
 		void TacosThread::init() {}
 
 		void TacosThread::loop()
@@ -54,8 +66,11 @@ namespace sta
 				while (!isTerminationRequested())
 				{
 #ifdef STA_TACOS_WATCHDOG_ENABLED
-					// Send a fresh heartbeat signal.
-					heartbeat();
+					if (status_ == ThreadStatus::UNKNOWN)
+					{
+						// Send a fresh heartbeat signal.
+						heartbeat();
+					}
 #endif // STA_TACOS_WATCHDOG_ENABLED
 
 					// Execute user-space implementation.
@@ -111,6 +126,11 @@ namespace sta
 		{
 			status_ = ThreadStatus::UNKNOWN;
 		}
+
+		void TacosThread::watchdogIgnore()
+		{
+			status_ = ThreadStatus::IGNORED;
+		}
 #endif // STA_TACOS_WATCHDOG_ENABLED
 
 		void TacosThread::requestTermination()