From: zer0 <zer0@carbon.local>
Date: Sun, 9 May 2010 14:24:01 +0000 (+0200)
Subject: bad trajectory workaround
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=aa1ec78cadb05a26d91acb93f96ccbdf681e2ba5;p=aversive.git

bad trajectory workaround
---

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index e3311a9..6b3c172 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -319,11 +319,24 @@ uint8_t trajectory_distance_finished(struct trajectory *traj)
 uint8_t trajectory_finished(struct trajectory *traj)
 {
 	uint8_t flags, ret;
+	//	uint8_t ret2;
+
 	IRQ_LOCK(flags);
-	ret = trajectory_angle_finished(traj) &&
-		trajectory_distance_finished(traj);
+	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 */