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Make state updates atomic (just to be really, really sure)

This commit is contained in:
Lorenz Meier 2013-08-17 18:40:28 +02:00
parent e9b6cfd671
commit eda528157a
1 changed files with 11 additions and 2 deletions
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13
src/modules/commander/state_machine_helper.cpp
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@ -69,6 +69,11 @@ static bool navigation_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety, arming_state_t new_arming_state, struct actuator_armed_s *armed)
{
/*
* Perform an atomic state update
*/
irqstate_t flags = irqsave();
transition_result_t ret = TRANSITION_DENIED;
/* only check transition if the new state is actually different from the current one */
@ -168,11 +173,15 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
if (ret == TRANSITION_CHANGED) {
status->arming_state = new_arming_state;
arming_state_changed = true;
} else {
warnx("arming transition rejected");
}
}
/* end of atomic state update */
irqrestore(flags);
if (ret == TRANSITION_DENIED)
warnx("arming transition rejected");
return ret;
}