fixed bug in TWARN support

examples/common/config/user.cfg.i7

-95000 RTSLEEP_TOLERANCE
-45000 TASK_SLOT_TIME_TOLERANCE
+35000 RTSLEEP_TOLERANCE
+30000 TASK_SLOT_TIME_TOLERANCE
 1 DELAY_CORRECTION
 0 PRINT_STATES
 15 1 0 0 0 0 0 0 0 0 0 0 0 -10 0 0 NUMBER_OF_PROCESSES PRIORITIES -20..19
 localhost   ESM_GUI
 nil ESM_GUI TELEM
 1 FREE_CPU
-5000 NANOSLEEP_UNIT
+50000 NANOSLEEP_UNIT

examples/system_test/smi/user.cfg

-../../common/config/user.cfg.i7
\ No newline at end of file
+/home/aslab/awcar/common/config/user.cfg.hystou
\ No newline at end of file

smi/CMakeLists.txt

@@ -19,7 +19,7 @@ SET(NRTCFLAGS "-D_NRT -O2 -Wall")
 
 if($ENV{RTAI})
 # RTAI
-SET(RTCFLAGS "-D_TWARN $(shell rtai-config --lxrt-cflags) -D_RTAI -Wall")
+SET(RTCFLAGS "$(shell rtai-config --lxrt-cflags) -D_RTAI -Wall")
 SET(RTLIB rtsmirtai)
 SET(NRTLIB nrtsmirtai)
 else()

smi/src/rt_system.c

@@ -406,6 +406,13 @@ void main_task(void) {
 
 
 	rt_printf("[main_task] main task started\n");
+
+#ifdef _TWARN
+printf("[main_task] RT warning messages enabled\n");
+#else 
+printf("[main_task] RT warning messages disabled\n");
+#endif
+
 	
 	rt_printf("[main_task] waiting for nrt\n");
 	shm->rtSync=RT_INIT;

smi/src/smi_def.h

@@ -2,7 +2,7 @@
 #define SMIDEF_H
 
 #define VERSION_MAJOR 2
-#define VERSION_MINOR 23
+#define VERSION_MINOR 24
 
 #define ATOMIC_UNLOCKED -1 
 #define ATOMIC_UNLOCKED0 0

smi/src/taskdisp.c

@@ -213,7 +213,7 @@ rt_printf("%d ",(int)((slotStartAbs[slot]+(taskSchedulerDelay+clockOffset)-smiSt
 
 			if (dt>shm->taskSlotTimeTolerance) {
 				corrections++;
-#if _TWARN
+#ifdef _TWARN
 //rt_printf("s%d_%d_%d ",t/1000,slotStartAbs[slot]/1000,taskSchedulerDelay/1000);		
 rt_printf("Slot %d delayed; latency=%lld tolerance=%d maxLatency=%lld ",slot,dt,shm->taskSlotTimeTolerance,maxLatency);
 rt_printf("prev. slot=%d\n",lastSlot);