X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;h=6b3c172967865f91880e4d24d986889f44bb4785;hp=8ea3bd87a623bc6b29feb7fc925c0dc7cfec9c76;hb=HEAD;hpb=0abf8acb258a098ee79cbbdb71f284693489d678

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index 8ea3bd8..6b3c172 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -318,8 +318,25 @@ uint8_t trajectory_distance_finished(struct trajectory *traj)
  * distance. */
 uint8_t trajectory_finished(struct trajectory *traj)
 {
-	return trajectory_angle_finished(traj) &&
-		trajectory_distance_finished(traj);
+	uint8_t flags, ret;
+	//	uint8_t ret2;
+
+	IRQ_LOCK(flags);
+	ret = trajectory_distance_finished(traj) &&
+		trajectory_angle_finished(traj);
+	IRQ_UNLOCK(flags);
+
+#if 0
+	/* XXX THIS IS A VERY BAD WORKAROUND (fix a race) */
+	IRQ_LOCK(flags);
+	ret2 = trajectory_distance_finished(traj) &&
+		trajectory_angle_finished(traj);
+	IRQ_UNLOCK(flags);
+
+	return ret && ret2;
+#else
+	return ret;
+#endif
 }
 
 /** return true if traj is nearly finished */
@@ -1055,7 +1072,8 @@ int8_t trajectory_clitoid(struct trajectory *traj,
 	if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
 			 Vd, traj->a_acc, d_inter_mm,
 			 &Aa, &Va, &remain) < 0) {
-		DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error");
+		DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error",
+		      __FUNCTION__);
 		return -1;
 	}