Thread rework to support watchdog restarting

include/sta/rtos/handle.hpp

@@ -60,7 +60,7 @@ namespace sta
 		/**
 		 * @brief Access handle value.
 		 *
-		 * If the deferred ctor was used the handle value is
+		 * If the deferred constructor was used the handle value is
 		 * evaluated on the first call to this method.
 		 *
 		 * @return Handle value

include/sta/rtos/thread.hpp

@@ -2,7 +2,6 @@
 #define STA_RTOS_THREAD_HPP
 
 #include <sta/rtos/defs.hpp>
-#include <sta/rtos/handle.hpp>
 
 #include <cmsis_os2.h>
 
@@ -73,15 +72,30 @@ namespace sta
 	class RtosThread
 	{
 	public:
-		using Handle = RtosHandle<osThreadId_t>;    /**< Thread handle type */
-
-	public:
-		RtosThread();
+		/**
+		 * @brief Create an RtosThread.
+		 * 
+		 * @param name The thread's name. Will be used for debugging.
+		 * @param prio The thread's priority.
+		 */
+		RtosThread(const char* name, osPriority_t prio);
 
 		/**
-		 * @param handle Thread handle
+		 * @brief Get the currently running instance.
+		 * 
+		 * @return The currently running instance id.
 		 */
-		RtosThread(const Handle & handle);
+		osThreadId_t getInstance();
+
+		/**
+		 * @brief Get the name of this thread.
+		 */
+		const char* getName() const;
+
+		/**
+		 * @brief Start the execution of this thread.
+		 */
+		void start();
 
 		/**
 		 * @brief Sets the thread to BLOCKED for a given number of ticks. 
@@ -117,23 +131,6 @@ namespace sta
 		 */
 		uint32_t clear(uint32_t flags);
 
-		/**
-		 * @brief Send termination request to thread.
-		 */
-		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();
-
 		/**
 		 * @brief Forcibly terminate thread.
 		 */
@@ -145,22 +142,22 @@ namespace sta
 		 * @param flags     System flags
 		 */
 		void sysNotify(uint32_t flags);
+	protected:
+		/**
+		 * @brief A function that wraps this task's functionality.
+		 */
+		virtual void loop() = 0;
 
 	private:
-		Handle handle_;
-		bool terminate_;
+		/**
+		 * @brief Static function to pass to RTOS to run as a thread. Calls the loop function implemented here.
+		 */
+		static void entry_point(void* arg);
+
+	private:
+		osThreadId_t instance_;
+		osThreadAttr_t attribs_;
 	};
 } // namespace sta
 
-
-/**
- * @brief Create RtosThread wrapper object for thread handle.
- *
- * @param name Thread name
- */
-#define STA_RTOS_THREAD_WRAPPER(name) \
-	extern osThreadId_t name ## Handle; \
-	sta::RtosThread name ## Thread = sta::RtosThread(sta::RtosThread::Handle::Deferred(&name ## Handle));
-
-
 #endif // STA_RTOS_THREAD_HPP