Various suggested updates for watchdogs branch

core/reactor_common.c

@@ -1318,21 +1318,23 @@ bool _lf_check_deadline(self_base_t* self, bool invoke_deadline_handler) {
 
 #ifdef LF_THREADED
 
-void* run_watchdog(watchdog_t* watchdog) {
+void* run_watchdog(void* arg) {
+    watchdog_t* watchdog = (watchdog_t*)arg;
     watchdog->thread_active = true;
     self_base_t* base = watchdog->base;
     lf_mutex_lock(&(base->watchdog_mutex));
 
     while (lf_time_physical() < watchdog->expiration) {
         interval_t T = watchdog->expiration - lf_time_physical();
         lf_mutex_unlock(&(base->watchdog_mutex));
-        lf_nanosleep(T);
+        lf_sleep(T);
         lf_mutex_lock(&(base->watchdog_mutex));
     }
     watchdog_function_t watchdog_func = watchdog->watchdog_function;
-    (*watchdog_func)(watchdog);
+    (*watchdog_func)(base);
     lf_mutex_unlock(&(base->watchdog_mutex));
     watchdog->thread_active = false;
+    return NULL;
 }
 
 void _lf_watchdog_start(watchdog_t* watchdog, interval_t additional_timeout) {

include/core/lf_types.h

@@ -146,7 +146,7 @@ typedef void(*reaction_function_t)(void*);
  * these watchdog functions is a pointer to the self struct
  * for the reactor.
  */
-typedef void(*watchdog_function_t)(void*); 
+typedef void(*watchdog_function_t)(void*);
 
 /** Trigger struct representing an output, timer, action, or input. See below. */
 typedef struct trigger_t trigger_t;
@@ -223,12 +223,12 @@ typedef struct watchdog_t watchdog_t;
 #ifdef LF_THREADED
 /** Watchdog struct for handler. */
 struct watchdog_t {
-    struct self_base_t* base;                      // The reactor that contains the watchdog.
+    struct self_base_t* base;               // The reactor that contains the watchdog.
     instant_t expiration;                   // The expiration instant for the watchdog. (Initialized to NEVER)
     interval_t min_expiration;              // The minimum expiration interval for the watchdog.
-    lf_thread_t thread_id;                 // The thread that the watchdog is meant to run on.
-    bool thread_active;                     // Boolean indicating whether or not thread is active.  
-    watchdog_function_t watchdog_function;  // The function/handler for the watchdog.
+    lf_thread_t thread_id;                  // The thread that the watchdog is meant to run on.
+    bool thread_active;                     // Boolean indicating whether or not thread is active.
+    watchdog_function_t watchdog_function; // The function/handler for the watchdog.
 };
 #endif 
 

include/core/reactor_common.h

@@ -78,7 +78,7 @@ void _lf_advance_logical_time(instant_t next_time);
 trigger_handle_t _lf_schedule_int(lf_action_base_t* action, interval_t extra_delay, int value);
 bool _lf_check_deadline(self_base_t* self, bool invoke_deadline_handler);
 #ifdef LF_THREADED
-void* run_watchdog(watchdog_t* watchdog);
+void* run_watchdog(void* watchdog);
 void _lf_watchdog_start(watchdog_t* watchdog, interval_t additional_timeout);
 void _lf_watchdog_stop(watchdog_t* watchdog);
 #endif