Updated implementation of barrier pattern

include/sta/rtos/patterns/barrier.hpp

@@ -11,20 +11,71 @@
 #include <sta/rtos/mutex.hpp>
 #include <sta/rtos/event.hpp>
 
+#include <set>
+
 
 namespace sta
 {
 	class Barrier {
 	public:
-		Barrier(const char* name, uint8_t n_threads);
+		/**
+		 * @brief Construct a new Barrier object
+		 * 
+		 * @param name The name of the mutex used for this barrier.
+		 * @param waitTime The minimum time that needs to pass until the barrier can open again.
+		 */
+		Barrier(const char* name, uint32_t waitTime = 0);
 
+		/**
+		 * @brief Adds the currently running thread to the threads the barrier waits for.
+		 * 
+		 */
+		void subscribe();
+
+		/**
+		 * 
+		 * @return uint8_t Returns the number of threads currently subscribed to this barrier
+		 */
+		uint8_t getNumSubscribedThreads();
+
+		/**
+		 * 
+		 * @return uint8_t Returns the number of threads that have entered the barrier and are waiting now.
+		 */
+		uint8_t getNumEntered();
+
+		/**
+		 * 
+		 * @return uint8_t Returns the number of threads that have left the barrier so far.
+		 */
+		uint8_t getNumLeft();
+
+		void setMinimumWaitDuration(uint32_t duration);
+
+		/**
+		 * @brief Wait for the barrier to open again. Sets this state into waiting state.
+		 * 
+		 */
 		void wait();
+
+		/**
+		 * @brief Method for an external thread to wait for the barrier to open without subscribing to it. 
+		 * 
+		 * @note This means that the barrier doesn't wait for this thread.
+		 * 
+		 */
+		void externalWait();
 	private:
 		RtosMutex mutex_;
 		RtosEvent flag_;
-		const uint8_t n_threads_;
-		uint8_t n_entered_;
-		uint8_t n_left_;
+
+		uint32_t waitTime_;
+		uint32_t lastTime_;
+
+		std::set<osThreadId_t> threads_;
+		uint8_t nThreads_;
+		uint8_t nEntered_;
+		uint8_t nLeft_;
 	};
 }  // namespace sta
 

include/sta/rtos/thread.hpp

@@ -82,6 +82,13 @@ namespace sta
 		 */
 		RtosThread(const char* name, osPriority_t prio, uint32_t stack_size = 0, uint32_t cb_size = 0);
 
+		/**
+		 * @brief Static method for obtaining the ID of the currently running RtosThread.
+		 * 
+		 * @return osThreadId_t The ID of the currently running Rtos-Thread.
+		 */
+		static osThreadId_t getCurrentlyRunningThreadID();
+
 		/**
 		 * @brief Get the currently running instance.
 		 *