From 0fe60d7f5f98d6fe17613a1cb436bd912ad5b0ca Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 15 Apr 2020 19:36:54 +0200
Subject: [PATCH] Solved a bug in the main motion manager loop: The
post_process functions were never called.
---
dynamixel_manager/src/dyn_manager.c | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/dynamixel_manager/src/dyn_manager.c b/dynamixel_manager/src/dyn_manager.c
index 99d42c5..65acbd4 100644
--- a/dynamixel_manager/src/dyn_manager.c
+++ b/dynamixel_manager/src/dyn_manager.c
@@ -361,12 +361,12 @@ void dyn_manager_start(TDynManager *manager)
{
scheduler_enable_channel(manager->scheduler,manager->sch_loop_ch);
manager->running=0x01;
+ manager->stop_flag=0x00;
manager->memory->data[manager->ram_base_address+DYN_MANAGER_CONTROL_OFFSET]|=DYN_MANAGER_RUNNING;
}
void dyn_manager_stop(TDynManager *manager)
{
- scheduler_disable_channel(manager->scheduler,manager->sch_loop_ch);
manager->stop_flag=0x01;
}
@@ -1101,7 +1101,7 @@ void dyn_manager_loop(TDynManager *manager)
// initialize the remaining operations
dyn_manager_lock(manager);
- for(i=0;i<manager->num_masters;i++)
+ for(i=0;i<DYN_MANAGER_MAX_NUM_MASTERS;i++)
{
states[i]=start_single_ops;
current_single_op[i]=0;
@@ -1119,7 +1119,6 @@ void dyn_manager_loop(TDynManager *manager)
{
if(manager->modules[i]->pre_process!=0x00000000)
manager->modules[i]->pre_process(manager->modules[i]->data);
- manager->modules_period_count[i]=0;
}
}
}
@@ -1275,5 +1274,6 @@ void dyn_manager_loop(TDynManager *manager)
manager->running=0x00;
manager->memory->data[manager->ram_base_address+DYN_MANAGER_CONTROL_OFFSET]&=(~DYN_MANAGER_RUNNING);
manager->stop_flag=0x00;
+ scheduler_disable_channel(manager->scheduler,manager->sch_loop_ch);
}
}
--
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