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fixed mutex in hardpoint_controler_set()

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This commit is contained in:
blah
2016-03-14 09:07:46 +01:00
committed by Lorenz Meier
parent 39fc9c7761
commit 5e596df859
2 changed files with 3 additions and 3 deletions
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src/modules/uavcan/actuators/hardpoint.cpp
+1 -3
View File
@@ -65,8 +65,6 @@ int UavcanHardpointController::init()
void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command) void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
{ {
(void)pthread_mutex_lock(&_node_mutex);
_cmd.command = command; _cmd.command = command;
_cmd.hardpoint_id = hardpoint_id; _cmd.hardpoint_id = hardpoint_id;
@@ -81,7 +79,7 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
if (!_timer.isRunning()) { if (!_timer.isRunning()) {
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ)); _timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
} }
(void)pthread_mutex_lock(&_node_mutex);
} }
void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &) void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
{ {
src/modules/uavcan/uavcan_main.cpp
+2
View File
@@ -1224,7 +1224,9 @@ void UavcanNode::shrink()
void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command) void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command)
{ {
(void)pthread_mutex_lock(&_node_mutex);
_hardpoint_controller.set_command(hardpoint_id, command); _hardpoint_controller.set_command(hardpoint_id, command);
(void)pthread_mutex_lock(&_node_mutex);
} }
/* /*
* App entry point * App entry point