robofsm: Priority inheritance can be disabled in config.omk

diff --git a/src/robofsm/Makefile.omk b/src/robofsm/Makefile.omk
index 7d942ce4dfcab1023fd22954b7373c1880e65219..64817acdbbef1ed1e3430a4127da8fe59c41129c 100644 (file)
--- a/src/robofsm/Makefile.omk
+++ b/src/robofsm/Makefile.omk
@@ -2,10 +2,10 @@
 
 SUBDIRS = test
 
-default_CONFIG = CONFIG_LOCK_CHECKING=n
+default_CONFIG = CONFIG_LOCK_CHECKING=n HAVE_PRIO_INHERIT=y
 
 config_include_HEADERS = robot_config.h
-robot_config_DEFINES = CONFIG_LOCK_CHECKING
+robot_config_DEFINES = CONFIG_LOCK_CHECKING HAVE_PRIO_INHERIT
 
 bin_PROGRAMS += robomain
 robomain_SOURCES = main.cc fsmmain.c

diff --git a/src/robofsm/motion-control.cc b/src/robofsm/motion-control.cc
index 6b6266925726b0811a0c3666c9156b1140e1becc..f38a8692ab15d112d4374bf25c45e3a47a7011ce 100644 (file)
--- a/src/robofsm/motion-control.cc
+++ b/src/robofsm/motion-control.cc
@@ -452,7 +452,9 @@ int motion_control_init()
 
 
        ret = pthread_mutexattr_init(&mattr);
+#ifdef HAVE_PRIO_INHERIT
        ret = pthread_mutexattr_setprotocol(&mattr, PTHREAD_PRIO_INHERIT);
+#endif
        pthread_mutex_init(&actual_trajectory_lock, &mattr);
 
        // Trajectory follower thread