robofsm: All thread priorities moved to one place

diff --git a/src/robofsm/eb2008/robot_eb2008.c b/src/robofsm/eb2008/robot_eb2008.c
index 4b3457f551f8cd7d827474b07d659d76fe88937f..e1c010c38555757b891915c02e872116269a1ba7 100644 (file)
--- a/src/robofsm/eb2008/robot_eb2008.c
+++ b/src/robofsm/eb2008/robot_eb2008.c
@@ -22,12 +22,6 @@
 #include "map_handling.h"
 
 
-#define THREAD_PRIO_MOTION     30
-#define THREAD_PRIO_MAIN       25
-#define THREAD_PRIO_LOC                20
-#define THREAD_PRIO_DISP       15
-#define THREAD_PRIO_JOY                10
-
 static int thread_priorities[] = {
        [FSM_ID_MAIN] = THREAD_PRIO_MAIN,
        [FSM_ID_MOTION] = THREAD_PRIO_MOTION,

diff --git a/src/robofsm/eb2008/robot_eb2008.h b/src/robofsm/eb2008/robot_eb2008.h
index 37fa04fa30b8525c0c35d45d9d17cc966a5f2f09..a45549e8b1e65239df8ead04220371fdcc54a914 100644 (file)
--- a/src/robofsm/eb2008/robot_eb2008.h
+++ b/src/robofsm/eb2008/robot_eb2008.h
@@ -205,6 +205,12 @@ FSM_STATE_FULL_DECL(disp, init);
 
 /*Thread priorities*/
 #define TRAJ_FOLLOWER_PRIO 255 /* As high as possible */
-#define OBST_FORGETING_PRIO 10         /* Priority of the thread for forgeting detected obstacles. */
+#define THREAD_PRIO_MOTION     30
+#define THREAD_PRIO_MAIN       25
+#define THREAD_PRIO_LOC                20
+#define OBST_FORGETING_PRIO 17         /* Priority of the thread for forgeting detected obstacles. */
+#define THREAD_PRIO_DISP       15
+#define THREAD_PRIO_JOY                10
+
 
 #endif /* ROBOT_EB2008_H */