Fix fsm priorities.

diff --git a/src/cand/eb2008/cand_eb2008.cc b/src/cand/eb2008/cand_eb2008.cc
index bec6cb004c88bc1729fdde0e2043542af49f7ef0..f9657dfab2e6751e0762102a660aff3ea472d2fd 100644 (file)
--- a/src/cand/eb2008/cand_eb2008.cc
+++ b/src/cand/eb2008/cand_eb2008.cc
@@ -340,9 +340,10 @@ int cand_parse_frame(struct eb2008_orte_data *orte_eb2008,
                case CAN_LAS_DATA:
                        orte_eb2008->laser_data.period = (frame.data[0]<<8)|(frame.data[1]);
                        orte_eb2008->laser_data.measure = (frame.data[2]<<8)|(frame.data[3]);
-                       if (prev_meas != orte_eb2008->laser_data.measure)
+                       if (prev_meas != orte_eb2008->laser_data.measure) {
                                ORTEPublicationSend(orte_eb2008->publication_laser_data);
-                       prev_meas = orte_eb2008->laser_data.measure;
+                               prev_meas = orte_eb2008->laser_data.measure;
+                       }
                        break;
 
                default:

diff --git a/src/robofsm/eb2008/robot_eb2008.c b/src/robofsm/eb2008/robot_eb2008.c
index a1269216a41cf12de68316d7f23e67ea0bdd1013..843a8fc7efad242899f8a7db74581e75b72945f2 100644 (file)
--- a/src/robofsm/eb2008/robot_eb2008.c
+++ b/src/robofsm/eb2008/robot_eb2008.c
@@ -16,11 +16,11 @@
 #include <robot_orte.h>
 #include <robomath.h>
 
-#define THREAD_PRIO_MAIN       10
-#define THREAD_PRIO_MOTION     15
+#define THREAD_PRIO_MOTION     30
+#define THREAD_PRIO_MAIN       25
 #define THREAD_PRIO_LOC                20
-#define THREAD_PRIO_DISP       25
-#define THREAD_PRIO_JOY                30
+#define THREAD_PRIO_DISP       15
+#define THREAD_PRIO_JOY                10
 
 static int thread_priorities[] = {
        [FSM_ID_MAIN] = THREAD_PRIO_MAIN,