X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;fp=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;h=6b3c172967865f91880e4d24d986889f44bb4785;hp=e3311a9007b789cdf90c5b25f53b3b4486926c86;hb=aa1ec78cadb05a26d91acb93f96ccbdf681e2ba5;hpb=cd8a7eb53ba41c5463155ac6b183aa823eef0d38

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 */