diff --git a/dynamixel_manager/include/dyn_manager.h b/dynamixel_manager/include/dyn_manager.h
index 0b8635b9f447022158f8124ca54b6c910c9fb954..2860e0ceb0d8171eac3301e512d87df7c28aca57 100644
--- a/dynamixel_manager/include/dyn_manager.h
+++ b/dynamixel_manager/include/dyn_manager.h
@@ -119,16 +119,17 @@ typedef struct{
unsigned char num_ops;
unsigned char period_ms;
TScheduler *scheduler;
- sched_channel_t sch_channel;
+ sched_channel_t sch_loop_ch;
+ sched_channel_t sch_scan_ch;
TMemory *memory;
TMemModule mem_module;
unsigned char running;
- unsigned char do_scan;
unsigned int present_devices;
+ volatile unsigned char lock;
}TDynManager;
// public functions
-unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t sch_channel,unsigned short int eeprom_base_address,unsigned short int ram_base_address);
+unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t loop_ch,sched_channel_t scan_ch,unsigned short int eeprom_base_address,unsigned short int ram_base_address);
void dyn_manager_set_period(TDynManager *manager,unsigned char period_ms);
static inline unsigned char dyn_manager_get_period(TDynManager *manager)
{
diff --git a/dynamixel_manager/src/dyn_manager.c b/dynamixel_manager/src/dyn_manager.c
index 63e7ee57fa4f9b27a1d74c0edd06096231a62b16..3e70b32b8c366ee66e1ec271ee40da58c3c4ebe9 100644
--- a/dynamixel_manager/src/dyn_manager.c
+++ b/dynamixel_manager/src/dyn_manager.c
@@ -18,12 +18,22 @@ extern unsigned char dyn_master_is_bulk_read_done(TDynamixelMaster *master,unsig
typedef enum {start_single_ops,wait_single_ops,start_sync_ops,wait_sync_ops,start_bulk_ops,wait_bulk_ops,ops_done} dyn_manager_states_t;
// private functions
+void dyn_manager_lock(TDynManager *manager)
+{
+ while(manager->lock==1);
+ manager->lock=1;
+}
+
+void dyn_manager_unlock(TDynManager *manager)
+{
+ manager->lock=0;
+}
+
void dyn_manager_start_scan(TDynManager *manager)
{
- if(manager->running==0x00)
- dyn_manager_start(manager);
- manager->do_scan=0x01;
+ dyn_manager_stop(manager);
manager->memory->data[manager->ram_base_address+DYN_MANAGER_CONTROL_OFFSET]|=DYN_MANAGER_SCANNING;
+ scheduler_enable_channel(manager->scheduler,manager->sch_scan_ch);
}
void dyn_manager_write_cmd(TDynManager *module,unsigned short int address,unsigned short int length,unsigned char *data)
@@ -73,7 +83,8 @@ TDynManagerOpCommon *dyn_manager_get_op_common(TDynManager *manager,unsigned cha
default: return 0x00000000;
}
}
- else return 0x00000000;
+ else
+ return 0x00000000;
}
OP_HANDLE *dyn_manager_get_free_op_handle(TDynManager *manager)
@@ -137,7 +148,7 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
break;
case DYN_MANAGER_SYNC: if(op->op_index[master_index]<(DYN_MANAGER_MAX_NUM_SYNC_OP-1))
{
- for(j=op->op_index[master_index];j<manager->operations[master_index].num_sync_op;j++)
+ for(j=op->op_index[master_index];j<=manager->operations[master_index].num_sync_op;j++)
{
manager->operations[master_index].sync_op[j].common.operation=manager->operations[master_index].sync_op[j+1].common.operation;
manager->operations[master_index].sync_op[j].common.repetitions=manager->operations[master_index].sync_op[j+1].common.repetitions;
@@ -145,12 +156,12 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].sync_op[j].common.op_handle=manager->operations[master_index].sync_op[j+1].common.op_handle;
manager->operations[master_index].sync_op[j].address=manager->operations[master_index].sync_op[j+1].address;
manager->operations[master_index].sync_op[j].length=manager->operations[master_index].sync_op[j+1].length;
- manager->operations[master_index].sync_op[j].num_devices=manager->operations[master_index].sync_op[j+1].num_devices;
for(k=0;k<manager->operations[master_index].sync_op[j].num_devices;k++)
{
manager->operations[master_index].sync_op[j].ids[k]=manager->operations[master_index].sync_op[j+1].ids[k];
manager->operations[master_index].sync_op[j].data[k]=manager->operations[master_index].sync_op[j+1].data[k];
}
+ manager->operations[master_index].sync_op[j].num_devices=manager->operations[master_index].sync_op[j+1].num_devices;
}
}
else
@@ -161,12 +172,12 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].sync_op[op->op_index[master_index]].common.op_handle=0x00000000;
manager->operations[master_index].sync_op[op->op_index[master_index]].address=0x0000;
manager->operations[master_index].sync_op[op->op_index[master_index]].length=0x0000;
- manager->operations[master_index].sync_op[op->op_index[master_index]].num_devices=0x00;
for(k=0;k<manager->operations[master_index].sync_op[op->op_index[master_index]].num_devices;k++)
{
manager->operations[master_index].sync_op[op->op_index[master_index]].ids[k]=0xFF;
manager->operations[master_index].sync_op[op->op_index[master_index]].data[k]=0x00000000;
}
+ manager->operations[master_index].sync_op[op->op_index[master_index]].num_devices=0x00;
}
manager->operations[master_index].num_sync_op--;
break;
@@ -178,7 +189,6 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].bulk_op[j].common.repetitions=manager->operations[master_index].bulk_op[j+1].common.repetitions;
manager->operations[master_index].bulk_op[j].common.period_count=manager->operations[master_index].bulk_op[j+1].common.period_count;
manager->operations[master_index].bulk_op[j].common.op_handle=manager->operations[master_index].bulk_op[j+1].common.op_handle;
- manager->operations[master_index].bulk_op[j].num_devices=manager->operations[master_index].bulk_op[j+1].num_devices;
for(k=0;k<manager->operations[master_index].bulk_op[j].num_devices;k++)
{
manager->operations[master_index].bulk_op[j].address[k]=manager->operations[master_index].bulk_op[j+1].address[k];
@@ -186,6 +196,7 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].bulk_op[j].ids[k]=manager->operations[master_index].bulk_op[j+1].ids[k];
manager->operations[master_index].bulk_op[j].data[k]=manager->operations[master_index].bulk_op[j+1].data[k];
}
+ manager->operations[master_index].bulk_op[j].num_devices=manager->operations[master_index].bulk_op[j+1].num_devices;
}
}
else
@@ -194,7 +205,6 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].bulk_op[op->op_index[master_index]].common.repetitions=0x01;
manager->operations[master_index].bulk_op[op->op_index[master_index]].common.period_count=0x01;
manager->operations[master_index].bulk_op[op->op_index[master_index]].common.op_handle=0x00000000;
- manager->operations[master_index].bulk_op[op->op_index[master_index]].num_devices=0x00;
for(k=0;k<manager->operations[master_index].bulk_op[op->op_index[master_index]].num_devices;k++)
{
manager->operations[master_index].bulk_op[op->op_index[master_index]].address[k]=0x0000;
@@ -202,6 +212,7 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
manager->operations[master_index].bulk_op[op->op_index[master_index]].ids[k]=0xFF;
manager->operations[master_index].bulk_op[op->op_index[master_index]].data[k]=0x00000000;
}
+ manager->operations[master_index].bulk_op[op->op_index[master_index]].num_devices=0x00;
}
manager->operations[master_index].num_bulk_op--;
break;
@@ -222,7 +233,7 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
}
// public functions
-unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t sch_channel,unsigned short int ram_base_address,unsigned short int eeprom_base_address)
+unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t loop_ch,sched_channel_t scan_ch,unsigned short int ram_base_address,unsigned short int eeprom_base_address)
{
unsigned char i,j,k;
@@ -293,10 +304,13 @@ unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *
}
manager->num_ops=0x00;
manager->present_devices=0x00000000;
+ manager->lock=0;
/* initialize scheduler */
- scheduler_set_channel(scheduler,sch_channel,(void(*)(void *))dyn_manager_loop,100,manager);
+ scheduler_set_channel(scheduler,loop_ch,(void(*)(void *))dyn_manager_loop,100,manager);
+ scheduler_set_channel_one_shot(scheduler,scan_ch,(void(*)(void *))dyn_manager_scan,100,manager);
manager->scheduler=scheduler;
- manager->sch_channel=sch_channel;
+ manager->sch_loop_ch=loop_ch;
+ manager->sch_scan_ch=scan_ch;
/* initialize memory module */
mem_module_init(&manager->mem_module);
@@ -313,7 +327,6 @@ unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *
manager->ram_base_address=ram_base_address;
manager->memory=memory;
manager->running=0x00;
- manager->do_scan=0x00;
return 0x01;
}
@@ -322,7 +335,7 @@ void dyn_manager_set_period(TDynManager *manager,unsigned char period_ms)
{
unsigned char i;
- scheduler_change_period(manager->scheduler,manager->sch_channel,period_ms);
+ scheduler_change_period(manager->scheduler,manager->sch_loop_ch,period_ms);
for(i=0;i<DYN_MANAGER_MAX_NUM_MODULES;i++)
if(manager->modules[i]!=0x00000000 && manager->modules[i]->set_period!=0x00000000)
manager->modules[i]->set_period(manager->modules[i]->data,period_ms*manager->modules[i]->period_count);
@@ -332,14 +345,14 @@ void dyn_manager_set_period(TDynManager *manager,unsigned char period_ms)
void dyn_manager_start(TDynManager *manager)
{
- scheduler_enable_channel(manager->scheduler,manager->sch_channel);
+ scheduler_enable_channel(manager->scheduler,manager->sch_loop_ch);
manager->running=0x01;
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_channel);
+ scheduler_disable_channel(manager->scheduler,manager->sch_loop_ch);
manager->running=0x00;
manager->memory->data[manager->ram_base_address+DYN_MANAGER_CONTROL_OFFSET]&=(~DYN_MANAGER_RUNNING);
}
@@ -386,6 +399,7 @@ void dyn_manager_scan(TDynManager *manager)
for(i=0;i<manager->num_modules;i++)
if(manager->modules[i]->setup!=0x00000000)
manager->modules[i]->setup(manager->modules[i]->data);
+ manager->memory->data[manager->ram_base_address+DYN_MANAGER_CONTROL_OFFSET]&=(~DYN_MANAGER_SCANNING);
}
void dyn_manager_add_master(TDynManager *manager,TDynamixelMaster *master)
@@ -504,14 +518,24 @@ OP_HANDLE *dyn_manager_single_op_new(TDynManager *manager,unsigned char mode,uns
TDynManagerSingleOp *current_op;
OP_HANDLE *op_handle;
+ dyn_manager_lock(manager);
if((master_index=dyn_manager_check_id(manager,id))==0xFF)
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
if((op_handle=dyn_manager_get_free_op_handle(manager))==0x00000000)
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
if(mode==DYN_MANAGER_READ || mode==DYN_MANAGER_WRITE)
op_handle->op_type=(op_type_t)(DYN_MANAGER_SINGLE|mode);
else
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
current_op_index=manager->operations[master_index].num_single_op;
if(current_op_index<DYN_MANAGER_MAX_NUM_SINGLE_OP)
{
@@ -529,8 +553,11 @@ OP_HANDLE *dyn_manager_single_op_new(TDynManager *manager,unsigned char mode,uns
else
{
op_handle->op_type=no_op;
+ dyn_manager_unlock(manager);
return 0x00000000;
}
+ dyn_manager_unlock(manager);
+
return op_handle;
}
@@ -538,44 +565,52 @@ void dyn_manager_single_op_change_id(TDynManager *manager,OP_HANDLE *op,unsigned
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].single_op[op->op_index[i]].id=id;
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_single_op_change_address(TDynManager *manager,OP_HANDLE *op,unsigned short int address)
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].single_op[op->op_index[i]].address=address;
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_single_op_change_length(TDynManager *manager,OP_HANDLE *op,unsigned short int length)
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].single_op[op->op_index[i]].length=length;
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_single_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned char *data)
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].single_op[op->op_index[i]].data=data;
}
+ dyn_manager_unlock(manager);
}
// sync operation functions
@@ -585,17 +620,25 @@ OP_HANDLE *dyn_manager_sync_op_new(TDynManager *manager,unsigned char mode,unsig
TDynManagerSyncOp *current_op;
OP_HANDLE *op_handle;
+ dyn_manager_lock(manager);
if((op_handle=dyn_manager_get_free_op_handle(manager))==0x00000000)
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
if(mode==DYN_MANAGER_READ || mode==DYN_MANAGER_WRITE)
op_handle->op_type=(op_type_t)(DYN_MANAGER_SYNC|mode);
else
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
for(i=0;i<num;i++)
{
if((master_index=dyn_manager_check_id(manager,ids[i]))==0xFF)
{
op_handle->op_type=no_op;
+ dyn_manager_unlock(manager);
return 0x00000000;
}
if(op_handle->op_index[master_index]==0xFF)
@@ -620,6 +663,7 @@ OP_HANDLE *dyn_manager_sync_op_new(TDynManager *manager,unsigned char mode,unsig
else
{
op_handle->op_type=no_op;
+ dyn_manager_unlock(manager);
return 0x00000000;
}
}
@@ -636,6 +680,7 @@ OP_HANDLE *dyn_manager_sync_op_new(TDynManager *manager,unsigned char mode,unsig
}
}
manager->num_ops++;
+ dyn_manager_unlock(manager);
return op_handle;
}
@@ -644,6 +689,7 @@ void dyn_manager_sync_op_add_devices(TDynManager *manager,OP_HANDLE *op,unsigned
TDynManagerSyncOp *current_op;
unsigned char i,j;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -663,6 +709,7 @@ void dyn_manager_sync_op_add_devices(TDynManager *manager,OP_HANDLE *op,unsigned
}
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_sync_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids)
@@ -670,6 +717,7 @@ void dyn_manager_sync_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsig
TDynManagerSyncOp *current_op;
unsigned char i,j,k,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -699,28 +747,33 @@ void dyn_manager_sync_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsig
dyn_manager_delete_op_single_master(manager,i,op);
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_sync_op_change_address(TDynManager *manager,OP_HANDLE *op,unsigned short int address)
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].sync_op[op->op_index[i]].address=address;
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_sync_op_change_length(TDynManager *manager,OP_HANDLE *op,unsigned short int length)
{
unsigned char i;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
manager->operations[i].sync_op[op->op_index[i]].length=length;
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_sync_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids,unsigned char * const data[])
@@ -728,6 +781,7 @@ void dyn_manager_sync_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned
TDynManagerSyncOp *current_op;
unsigned char i,j,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -740,6 +794,7 @@ void dyn_manager_sync_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned
}
}
}
+ dyn_manager_unlock(manager);
}
// bulk operation functions
@@ -749,17 +804,25 @@ OP_HANDLE *dyn_manager_bulk_op_new(TDynManager *manager,unsigned char mode,unsig
TDynManagerBulkOp *current_op;
OP_HANDLE *op_handle;
+ dyn_manager_lock(manager);
if((op_handle=dyn_manager_get_free_op_handle(manager))==0x00000000)
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
if(mode==DYN_MANAGER_READ || mode==DYN_MANAGER_WRITE)
op_handle->op_type=(op_type_t)(DYN_MANAGER_BULK|mode);
else
+ {
+ dyn_manager_unlock(manager);
return 0x00000000;
+ }
for(i=0;i<num;i++)
{
if((master_index=dyn_manager_check_id(manager,ids[i]))==0xFF)
{
op_handle->op_type=no_op;
+ dyn_manager_unlock(manager);
return 0x00000000;
}
if(op_handle->op_index[master_index]==0xFF)
@@ -784,6 +847,7 @@ OP_HANDLE *dyn_manager_bulk_op_new(TDynManager *manager,unsigned char mode,unsig
else
{
op_handle->op_type=no_op;
+ dyn_manager_unlock(manager);
return 0x00000000;
}
}
@@ -802,6 +866,7 @@ OP_HANDLE *dyn_manager_bulk_op_new(TDynManager *manager,unsigned char mode,unsig
}
}
manager->num_ops++;
+ dyn_manager_unlock(manager);
return op_handle;
}
@@ -810,6 +875,7 @@ void dyn_manager_bulk_op_add_devices(TDynManager *manager,OP_HANDLE *op,unsigned
TDynManagerBulkOp *current_op;
unsigned char i,j;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -831,6 +897,7 @@ void dyn_manager_bulk_op_add_devices(TDynManager *manager,OP_HANDLE *op,unsigned
}
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_bulk_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids)
@@ -838,6 +905,7 @@ void dyn_manager_bulk_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsig
TDynManagerBulkOp *current_op;
unsigned char i,j,k,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -871,6 +939,7 @@ void dyn_manager_bulk_op_remove_devices(TDynManager *manager,OP_HANDLE *op,unsig
dyn_manager_delete_op_single_master(manager,i,op);
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_bulk_op_change_address(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids,unsigned short int *address)
@@ -878,6 +947,7 @@ void dyn_manager_bulk_op_change_address(TDynManager *manager,OP_HANDLE *op,unsig
TDynManagerBulkOp *current_op;
unsigned char i,j,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -890,6 +960,7 @@ void dyn_manager_bulk_op_change_address(TDynManager *manager,OP_HANDLE *op,unsig
}
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_bulk_op_change_length(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids,unsigned short int *length)
@@ -897,6 +968,7 @@ void dyn_manager_bulk_op_change_length(TDynManager *manager,OP_HANDLE *op,unsign
TDynManagerBulkOp *current_op;
unsigned char i,j,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -909,6 +981,7 @@ void dyn_manager_bulk_op_change_length(TDynManager *manager,OP_HANDLE *op,unsign
}
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_bulk_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned char num,unsigned char *ids,unsigned char * const data[])
@@ -916,6 +989,7 @@ void dyn_manager_bulk_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned
TDynManagerBulkOp *current_op;
unsigned char i,j,device_index;
+ dyn_manager_lock(manager);
for(i=0;i<manager->num_masters;i++)
{
if(op->op_index[i]!=0xFF)
@@ -928,6 +1002,7 @@ void dyn_manager_bulk_op_change_data(TDynManager *manager,OP_HANDLE *op,unsigned
}
}
}
+ dyn_manager_unlock(manager);
}
void dyn_manager_loop(TDynManager *manager)
@@ -945,16 +1020,6 @@ void dyn_manager_loop(TDynManager *manager)
static unsigned char sync_op_period_count[DYN_MANAGER_MAX_NUM_SINGLE_OP]={0};
static unsigned char bulk_op_period_count[DYN_MANAGER_MAX_NUM_SINGLE_OP]={0};
- // do scan
- if(manager->do_scan)
- {
- manager->do_scan=0x00;
-// dyn_manager_stop(manager);
- dyn_manager_scan(manager);
-// dyn_manager_start(manager);
- return;
- }
-
// initialize the remaining operations
for(i=0;i<manager->num_masters;i++)
{
@@ -980,6 +1045,7 @@ void dyn_manager_loop(TDynManager *manager)
}
// send all the commands
+ dyn_manager_lock(manager);
do{
for(i=0;i<manager->num_masters;i++)
{
@@ -1110,6 +1176,7 @@ void dyn_manager_loop(TDynManager *manager)
}
}
}while(loop_done>0);
+ dyn_manager_unlock(manager);
// execute the pre_process functions for all modules
for(i=0;i<manager->num_modules;i++)