--- a/examples/xenomai/main.c Mon Jul 30 11:18:45 2018 +0200
+++ b/examples/xenomai/main.c Mon Jul 30 11:58:02 2018 +0200
@@ -38,11 +38,10 @@
#include <unistd.h>
#include <sys/mman.h>
#include <rtdm/rtdm.h>
-#include <native/task.h>
-#include <native/sem.h>
-#include <native/mutex.h>
-#include <native/timer.h>
-#include <rtdk.h>
+#include <alchemy/task.h>
+#include <alchemy/sem.h>
+#include <alchemy/mutex.h>
+#include <alchemy/timer.h>
#include <pthread.h>
#include "ecrt.h"
@@ -122,11 +121,11 @@
ecrt_domain_state(domain1, &ds);
if (ds.working_counter != domain1_state.working_counter) {
- rt_printf("Domain1: WC %u.\n", ds.working_counter);
+ printf("Domain1: WC %u.\n", ds.working_counter);
}
if (ds.wc_state != domain1_state.wc_state) {
- rt_printf("Domain1: State %u.\n", ds.wc_state);
+ printf("Domain1: State %u.\n", ds.wc_state);
}
domain1_state = ds;
@@ -141,15 +140,15 @@
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding) {
- rt_printf("%u slave(s).\n", ms.slaves_responding);
+ printf("%u slave(s).\n", ms.slaves_responding);
}
if (ms.al_states != master_state.al_states) {
- rt_printf("AL states: 0x%02X.\n", ms.al_states);
+ printf("AL states: 0x%02X.\n", ms.al_states);
}
if (ms.link_up != master_state.link_up) {
- rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
+ printf("Link is %s.\n", ms.link_up ? "up" : "down");
}
master_state = ms;
@@ -209,9 +208,6 @@
ec_slave_config_t *sc;
int ret;
- /* Perform auto-init of rt_print buffers if the task doesn't do so */
- rt_print_auto_init(1);
-
signal(SIGTERM, signal_handler);
signal(SIGINT, signal_handler);
@@ -263,7 +259,7 @@
return -1;
}
- ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU);
+ ret = rt_task_create(&my_task, "my_task", 0, 80, 0);
if (ret < 0) {
fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));
return -1;