Port examples to Xenomai3

examples/Makefile.am

@@ -40,6 +40,11 @@ SUBDIRS += \
 	xenomai \
 	xenomai_posix
 endif
+if ENABLE_XENOMAI_V3
+SUBDIRS += \
+	xenomai \
+	xenomai_posix
+endif
 
 if ENABLE_RTAI
 SUBDIRS += \

examples/xenomai/Makefile.am

@@ -25,13 +25,26 @@ ec_xenomai_example_SOURCES = main.c
 
 ec_xenomai_example_CFLAGS = \
 	-Wall \
-	-I$(top_srcdir)/include \
+	-I$(top_srcdir)/include
+
+ec_xenomai_example_LDFLAGS = \
+	-L$(top_builddir)/lib/.libs -lethercat_rtdm
+
+if ENABLE_XENOMAI_V3
+ec_xenomai_example_CFLAGS += \
+	-DXENOMAI_API_V3 \
+	$(XENOMAI_ALCHEMY_CFLAGS)
+
+ec_xenomai_example_LDFLAGS += \
+	$(XENOMAI_ALCHEMY_LDFLAGS)
+else
+ec_xenomai_example_CFLAGS += \
 	$(XENOMAI_NATIVE_CFLAGS) \
 	$(XENOMAI_RTDM_CFLAGS)
 
-ec_xenomai_example_LDFLAGS = \
-	-L$(top_builddir)/lib/.libs -lethercat_rtdm \
+ec_xenomai_example_LDFLAGS += \
 	$(XENOMAI_NATIVE_LDFLAGS) \
 	$(XENOMAI_RTDM_LDFLAGS)
+endif
 
 #------------------------------------------------------------------------------

examples/xenomai/main.c

@@ -29,12 +29,18 @@
 #include <sys/types.h>
 #include <unistd.h>
 #include <sys/mman.h>
+#ifdef XENOMAI_API_V3
+#include <alchemy/task.h>
+#include <alchemy/sem.h>
+enum {T_FPU = 0};
+#else
 #include <rtdm/rtdm.h>
 #include <native/task.h>
 #include <native/sem.h>
 #include <native/mutex.h>
 #include <native/timer.h>
 #include <rtdk.h>
+#endif
 #include <pthread.h>
 
 #include "ecrt.h"
@@ -201,8 +207,10 @@ int main(int argc, char *argv[])
     ec_slave_config_t *sc;
     int ret;
 
+#ifndef XENOMAI_API_V3
     /* Perform auto-init of rt_print buffers if the task doesn't do so */
     rt_print_auto_init(1);
+#endif
 
     signal(SIGTERM, signal_handler);
     signal(SIGINT, signal_handler);

examples/xenomai_posix/Makefile.am

@@ -29,6 +29,11 @@ ec_xenomai_posix_example_CFLAGS = \
 	$(XENOMAI_POSIX_CFLAGS) \
 	$(XENOMAI_RTDM_CFLAGS)
 
+if ENABLE_XENOMAI_V3
+ec_xenomai_posix_example_CFLAGS += \
+	-DXENOMAI_API_V3
+endif
+
 ec_xenomai_posix_example_LDFLAGS = \
 	-L$(top_builddir)/lib/.libs -lethercat_rtdm \
 	$(XENOMAI_POSIX_LDFLAGS) \

examples/xenomai_posix/main.c

@@ -32,8 +32,10 @@
 #include <sys/mman.h>
 #include <time.h>
 
+#ifndef XENOMAI_API_V3
 #include <rtdm/rtdm.h>
 #include <rtdk.h>
+#endif
 
 #include "ecrt.h"