merged with master

src/concurrency/Thread.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "freertosinc.h"
+#include "esp_task_wdt.h"
 
 namespace concurrency {
 
@@ -30,8 +31,26 @@ class Thread
      */
     virtual void doRun() = 0;
 
+    /**
+     * All thread run methods must periodically call serviceWatchdog, or the system will declare them hung and panic.
+     *
+     * this only applies after startWatchdog() has been called.  If you need to sleep for a long time call stopWatchdog()
+     */
+    void serviceWatchdog() { esp_task_wdt_reset(); }
+    void startWatchdog()
+    {
+        auto r = esp_task_wdt_add(taskHandle);
+        assert(r == ESP_OK);
+    }
+    void stopWatchdog()
+    {
+        auto r = esp_task_wdt_delete(taskHandle);
+        assert(r == ESP_OK);
+    }
+
   private:
     static void callRun(void *_this);
 };
 
+
 } // namespace concurrency