[Krobot-commits] [SCM] krobot branch, master, updated. bc4bb4d72adf50b771323b7d2ce8d32908d41a76

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit bc4bb4d72adf50b771323b7d2ce8d32908d41a76
Author: Jérémie Dimino <je...@di...>
Date:   Sun May 9 19:47:56 2010 +0200

    fix a race condition in the controller

-----------------------------------------------------------------------

Changes:
diff --git a/info/control/clients/controller.ml b/info/control/clients/controller.ml
index 13a7d93..5e7d435 100644
--- a/info/control/clients/controller.ml
+++ b/info/control/clients/controller.ml
@@ -509,28 +509,32 @@ lwt () =
     with exn ->
       Lwt_log.error_f ~exn "cannot monitor property"
   in
-  Lwt_signal.always_notify_s
-    (function
-       | true ->
-           join [
-             notify_property (Krobot.Compass.measure krobot);
-             notify_property (Krobot.Logic_sensors.states krobot);
-             notify_property (Krobot.Range_finders.measures krobot);
-             notify_property (Krobot.Motors.inhibit_forward_until krobot);
-             notify_property (Krobot.Motors.inhibit_backward_until krobot);
-             notify_property (Krobot.Card.state krobot `Interface);
-             notify_property (Krobot.Card.state krobot `Sensor);
-             notify_property (Krobot.Card.state krobot `Motor);
-             notify_property (Krobot.Card.state krobot `Monitoring);
-             notify_property (Krobot.devices_status krobot);
-             notify_property (Krobot.Infrared.states krobot);
-             notify_property (Krobot.Power.current krobot);
-           ]
-       | false ->
-           List.iter Lwt_signal.disable !notifiers;
-           notifiers := [];
-           return ())
-    (React.S.map (fun services -> List.mem "Driver" services) services);
+  ignore (
+    lwt () = Lwt_unix.yield () in
+    Lwt_signal.always_notify_s
+      (function
+         | true ->
+             join [
+               notify_property (Krobot.Compass.measure krobot);
+               notify_property (Krobot.Logic_sensors.states krobot);
+               notify_property (Krobot.Range_finders.measures krobot);
+               notify_property (Krobot.Motors.inhibit_forward_until krobot);
+               notify_property (Krobot.Motors.inhibit_backward_until krobot);
+               notify_property (Krobot.Card.state krobot `Interface);
+               notify_property (Krobot.Card.state krobot `Sensor);
+               notify_property (Krobot.Card.state krobot `Motor);
+               notify_property (Krobot.Card.state krobot `Monitoring);
+               notify_property (Krobot.devices_status krobot);
+               notify_property (Krobot.Infrared.states krobot);
+               notify_property (Krobot.Power.current krobot);
+             ]
+         | false ->
+             List.iter Lwt_signal.disable !notifiers;
+             notifiers := [];
+             return ())
+      (React.S.map (fun services -> List.mem "Driver" services) services);
+    return ()
+  );
 
   List.iter
     (fun card ->


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