refactored threading-related classes, code broken

src/concurrency/Thread.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include "freertosinc.h"
+
+namespace concurrency {
+
+class Thread
+{
+  protected:
+    TaskHandle_t taskHandle = NULL;
+
+    /**
+     * set this to true to ask thread to cleanly exit asap
+     */
+    volatile bool wantExit = false;
+
+  public:
+    void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY);
+
+    virtual ~Thread() { vTaskDelete(taskHandle); }
+
+    uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
+
+  protected:
+    /**
+     * The method that will be called when start is called.
+     */
+    virtual void doRun() = 0;
+
+  private:
+    static void callRun(void *_this);
+};
+
+} // namespace concurrency