Loaded atomic for json

huskyroboticsteam · Oct 10, 2023 · ca2b299 · ca2b299
1 parent b48e412
commit ca2b299
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/network/MissionControlProtocol.cpp b/src/network/MissionControlProtocol.cpp
@@ -158,7 +158,7 @@ void MissionControlProtocol::handleSetArmIKEnabled(const json& j) {
 			_arm_ik_repeat_thread.join();
 		}
 	}
-	sendArmIKEnabledReport(Globals::armIKEnabled);
+	sendArmIKEnabledReport();
 }
 
 void MissionControlProtocol::setRequestedCmdVel(double dtheta, double dx) {
@@ -268,7 +268,7 @@ void MissionControlProtocol::handleCameraStreamCloseRequest(const json& j) {
 }
 
 void MissionControlProtocol::sendArmIKEnabledReport() {
-	json msg = {{"type", ARM_IK_ENABLED_REP_TYPE}, {"enabled", Globals::armIKEnabled}};
+	json msg = {{"type", ARM_IK_ENABLED_REP_TYPE}, {"enabled", Globals::armIKEnabled.load()}};
 	this->_server.sendJSON(Constants::MC_PROTOCOL_NAME, msg);
 }
 

diff --git a/src/network/MissionControlProtocol.h b/src/network/MissionControlProtocol.h
@@ -64,7 +64,7 @@ class MissionControlProtocol : public WebSocketProtocol { // TODO: add documenta
 	void handleJointPowerRequest(const json& j);
 	void handleDriveRequest(const json& j);
 	void handleRequestArmIKEnabled(const json& j);
-	void sendArmIKEnabledReport(const bool& isEnabled);
+	void sendArmIKEnabledReport();
 	void sendCameraStreamReport(const CameraID& cam,
 								const std::vector<std::basic_string<uint8_t>>& videoData);
 	void sendJointPositionReport(const std::string& jointName, int32_t position);