tutorial, main: simplify connections

Signed-off-by: Markus Klotzbuecher <mk@mkio.de>
kmarkus · Jul 16, 2020 · 17ba236 · 17ba236
1 parent 10d69da
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/docs/user/tutorial.rst b/docs/user/tutorial.rst
@@ -503,7 +503,7 @@ output ports, that are connected via two fifos:
 
 .. literalinclude:: ../../examples/platform/platform_launch/main.c
    :language: c
-   :lines: 168-177
+   :lines: 168-175
 
 	   
 Init and Start the blocks
@@ -514,7 +514,7 @@ Lastly, we need to init and start all the blocks. For example, for the
 
 .. literalinclude:: ../../examples/platform/platform_launch/main.c
    :language: c
-   :lines: 190-194,225-228
+   :lines: 188-192,223-226
 
 The same applies to all other blocks.
 
@@ -525,7 +525,7 @@ terminate, we can use ``ubx_wait_sigint`` to wait for the user to type
 
 .. literalinclude:: ../../examples/platform/platform_launch/main.c
    :language: c
-   :lines: 238,239
+   :lines: 236,237
 
 Note that we have to link against pthread library, so the
 *Makefile.am* has to be modified accordingly:

diff --git a/examples/platform/platform_launch/main.c b/examples/platform/platform_launch/main.c
@@ -171,10 +171,8 @@ int main()
 	ubx_port_t* control1_commanded_vel = ubx_port_get(control1,"commanded_vel");
 	ubx_port_t* plat1_desired_vel = ubx_port_get(plat1,"desired_vel");
 
-	ubx_port_connect_out(plat1_pos,fifo_pos);
-	ubx_port_connect_in(control1_measured_pos,fifo_pos);
-	ubx_port_connect_out(control1_commanded_vel,fifo_vel);
-	ubx_port_connect_in(plat1_desired_vel,fifo_vel);
+	ubx_ports_connect(plat1_pos, control1_measured_pos, fifo_pos);
+	ubx_ports_connect(control1_commanded_vel, plat1_desired_vel, fifo_vel);
 
 	/* init and start blocks */
 	if(ubx_block_init(webif) != 0) {