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/******************************************************************************* | ||
* 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" | ||
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CTimerHandler* CTimerHandler::createTimerHandler(CDeviceExecution& paDeviceExecution){ | ||
return new CPCTimerHandler(paDeviceExecution); | ||
} | ||
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CPCTimerHandler::CPCTimerHandler(CDeviceExecution& paDeviceExecution) : CTimerHandler(paDeviceExecution) { | ||
} | ||
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CPCTimerHandler::~CPCTimerHandler(){ | ||
disableHandler(); | ||
} | ||
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void CPCTimerHandler::run(){ | ||
struct timespec stReq; | ||
stReq.tv_sec = 0; | ||
stReq.tv_nsec = (1000000 / getTicksPerSecond()) * 1000; | ||
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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 }; | ||
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clock_gettime(CLOCK_REALTIME, &stOldTime); // in PikeOS time cannot be changed at run-time. So it's equivalent to CLOCK_MONOTONIC | ||
while(isAlive()){ | ||
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nanosleep(&stReq, nullptr); | ||
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clock_gettime(CLOCK_REALTIME, &stNewTime); | ||
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timespecSub(&stNewTime, &stOldTime, &stDiffTime); | ||
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timespecAdd(&stRemainingTime, &stDiffTime, &stRemainingTime); | ||
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while(!timespecLessThan(&stRemainingTime, &stReqTime)){ | ||
nextTick(); | ||
timespecSub(&stRemainingTime, &stReqTime, &stRemainingTime); | ||
} | ||
stOldTime = stNewTime; // in c++ this should work fine | ||
} | ||
} | ||
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void CPCTimerHandler::enableHandler(){ | ||
start(); | ||
} | ||
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void CPCTimerHandler::disableHandler(){ | ||
end(); | ||
} | ||
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void CPCTimerHandler::setPriority(int ){ | ||
//TODO think on hwo to handle this. | ||
} | ||
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int CPCTimerHandler::getPriority() const { | ||
//TODO think on hwo to handle this. | ||
return 1; | ||
} |
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/******************************************************************************* | ||
* 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_ | ||
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#include "../posix/pctimeha.h" | ||
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#endif /*_PIKEOS_PCTIMEHA_H_*/ |