larger thread rework to support thread restarting

include/sta/tacos/thread.hpp

@@ -10,6 +10,7 @@
 
 #include <cmsis_os2.h>
 
+#include <sta/config.hpp>
 #include <sta/rtos/thread.hpp>
 
 /**
@@ -22,6 +23,7 @@ namespace sta
 {
 	namespace tacos
 	{
+#ifdef STA_TACOS_WATCHDOG_ENABLED
 		/**
 		 * @brief A status flags for the watchdog.
 		 * 
@@ -60,6 +62,7 @@ namespace sta
 			 */
 			WAITING
 		};
+#endif // STA_TACOS_WATCHDOG_ENABLED
 
 		/**
 		 * @brief Abstract class for thread implementations in Tacos.
@@ -74,40 +77,17 @@ namespace sta
 			 */
 			TacosThread(const char* name, osPriority_t prio);
 
-			TacosThread();
-
 			virtual ~TacosThread();
 
-			/**
-			 * @brief Start the execution of this thread.
-			 */
-			void start();
-
 			/**
 			 * @brief Checks if this thread is currently running.
 			 */
 			bool isRunning();
 
-			/**
-			 * @brief Get the currently running instance.
-			 * 
-			 * @return The currently running instance id.
-			 */
-			osThreadId_t getInstance();
-
-			/**
-			 * @brief Get the name of this thread.
-			 */
-			const char* getName() const;
-
 			bool operator==(const TacosThread& other) const;
 			bool operator<(const TacosThread& other) const;
 
-			/**
-			 * @brief A function that wraps this task's functionality in a loop. This loop will run until
-			 * termination is requested.
-			 */
-			void loop();
+			void loop() override;
 
 			/**
 			 * @brief This function is executed first when this thread is started.
@@ -126,15 +106,23 @@ namespace sta
 			 */
 			virtual void cleanup();
 
+			/**
+			 * @brief Sleep for a given number of ticks. Sets itself to WAITING if the watchdog is enabled, preventing
+			 * the watchdog from restarting this thread.
+			 * 
+			 * @param ticks 
+			 */
+			void sleep(uint32_t ticks);
+
 #ifdef STA_TACOS_WATCHDOG_ENABLED
-		/**
-		 * @brief This macro wraps a given statement into waiting() and heartbeat() to make the code more readable.
-		 * 
-		 */
-		#define blocking(...) \
-			waiting(); \
-			__VA_ARGS__ \
-			heartbeat(); \
+			/**
+			 * @brief This macro wraps a given statement into waiting() and heartbeat() to make the code more readable.
+			 * 
+			 */
+			#define blocking(...) \
+				waiting(); \
+				__VA_ARGS__ \
+				heartbeat(); \
 
 		protected:
 			/**
@@ -163,12 +151,22 @@ namespace sta
 			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.
+			 * @brief Send termination request to thread.
 			 */
-			static void entry_point(void* arg);
+			void requestTermination();
 
+			/**
+			 * @brief Clear the termination request flag for this thread.
+			 */
+			void deleteTerminationRequest();
+
+			/**
+			 * @brief Resets the terminate bool to false.
+			 *
+			 * @return Returns the previous value of this variable.
+			 */
+			bool isTerminationRequested();
 		private:
 			osThreadId_t instance_;
 			osThreadAttr_t attribs_;
@@ -176,6 +174,7 @@ namespace sta
 #ifdef STA_TACOS_WATCHDOG_ENABLED
 			ThreadStatus status_;
 #endif // STA_TACOS_WATCHDOG_ENABLED
+			bool terminate_;
 		};
 	}
 }

include/sta/tacos/watchdog.hpp

@@ -46,6 +46,13 @@ namespace sta
 			}
 
 			void func() override;
+
+			/**
+			 * @brief Get the number of thread restarts during the program's runtime.
+			 * 
+			 * @return uint16_t The number of thread restarts. 
+			 */
+			uint16_t getNumRestarts();
 		private:
             static Watchdog* _instance;
 
@@ -62,9 +69,13 @@ namespace sta
 			   }
 			};
 
-            Watchdog(const Watchdog&);
+            Watchdog();
 
-			Watchdog();
+			Watchdog(const Watchdog&);
+
+			~Watchdog() {}
+		private:
+			uint16_t restarts_;
 		};
     } // namespace tacos
 } // namespace sta