revert pikeos changes

src/arch/pikeos_posix/CMakeLists.txt

@@ -39,11 +39,11 @@ if("${FORTE_ARCHITECTURE}" STREQUAL "PikeOS_Posix")
 
 
    forte_add_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-   forte_add_timerhandler(CPCTimerHandler pctimeha )
-   forte_add_sourcefile_hcpp(../posix/forte_sync ../utils/timespec_utils ../posix/pctimeha)
+   forte_add_sourcefile_hcpp(../posix/forte_sync ../utils/timespec_utils)
    forte_add_sourcefile_cpp(forte_thread.cpp pctimeha.cpp forte_sem.cpp forte_architecture_time.cpp
                             ../genforte_printer.cpp ../genforte_realFunctions.cpp)
-   forte_add_sourcefile_h(../forte_architecture_time.h forte_thread.h )
+   forte_add_sourcefile_h(../forte_architecture_time.h forte_thread.h pctimeha.h)
+   forte_add_timerhandler(CPCTimerHandler pctimeha)
    forte_add_sourcefile_cpp(./forte_specific_architecture.cpp)
 
    if(FORTE_COM_ETH)

src/arch/pikeos_posix/pctimeha.cpp

@@ -0,0 +1,80 @@
+/*******************************************************************************
+ * Copyright (c) 2005 - 2018, 2018 ACIN, fortiss GmbH, SYSGO AG
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *
+ * Contributors:
+ *  Alois Zoitl - initial API and implementation and/or initial documentation
+ *  Martin Melik-Merkumians - updates timer handler to use monotonic clock
+ *  Agostino Mascitti - PikeOS adaption
+ *******************************************************************************/
+#include <fortenew.h>
+#include "pctimeha.h"
+#include "../../core/devexec.h"
+#include <time.h>
+#include <sys/time.h>
+#include "../utils/timespec_utils.h"
+
+CTimerHandler* CTimerHandler::createTimerHandler(CDeviceExecution& paDeviceExecution){
+  return new CPCTimerHandler(paDeviceExecution);
+}
+
+CPCTimerHandler::CPCTimerHandler(CDeviceExecution& paDeviceExecution) : CTimerHandler(paDeviceExecution)  {
+}
+
+CPCTimerHandler::~CPCTimerHandler(){
+  disableHandler();
+}
+
+void CPCTimerHandler::run(){
+  struct timespec stReq;
+  stReq.tv_sec = 0;
+  stReq.tv_nsec = (1000000 / getTicksPerSecond()) * 1000;
+
+  struct timespec stOldTime;
+  struct timespec stNewTime;
+  struct timespec stReqTime;
+  // Timer interval is 1ms
+  stReqTime.tv_sec = 0;
+  stReqTime.tv_nsec = (1000000 / getTicksPerSecond()) * 1000;
+  struct timespec stDiffTime;
+  struct timespec stRemainingTime = { 0, 0 };
+
+  clock_gettime(CLOCK_REALTIME, &stOldTime); // in PikeOS time cannot be changed at run-time. So it's equivalent to CLOCK_MONOTONIC
+  while(isAlive()){
+
+    nanosleep(&stReq, nullptr);
+
+    clock_gettime(CLOCK_REALTIME, &stNewTime);
+
+    timespecSub(&stNewTime, &stOldTime, &stDiffTime);
+
+    timespecAdd(&stRemainingTime, &stDiffTime, &stRemainingTime);
+
+    while(!timespecLessThan(&stRemainingTime, &stReqTime)){
+      nextTick();
+      timespecSub(&stRemainingTime, &stReqTime, &stRemainingTime);
+    }
+    stOldTime = stNewTime;  // in c++ this should work fine
+  } 
+}
+
+void CPCTimerHandler::enableHandler(){
+  start();
+}
+
+void CPCTimerHandler::disableHandler(){
+  end(); 
+}
+
+void CPCTimerHandler::setPriority(int ){
+  //TODO think on hwo to handle this.
+}
+
+int CPCTimerHandler::getPriority() const {
+  //TODO think on hwo to handle this.
+  return 1;
+}

src/arch/pikeos_posix/pctimeha.h

@@ -0,0 +1,18 @@
+/*******************************************************************************
+ * Copyright (c) 2005 - 2011, 2018 ACIN, SYSGO AG
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *
+ * Contributors:
+ *  Alois Zoitl - initial API and implementation and/or initial documentation
+ *  Agostino Mascitti - Adaption to PikeOS 4.2
+ *******************************************************************************/
+#ifndef _PIKEOS_PCTIMEHA_H_
+#define _PIKEOS_PCTIMEHA_H_
+
+#include "../posix/pctimeha.h"
+
+#endif /*_PIKEOS_PCTIMEHA_H_*/