Merge pull request #214 from fawkesrobotics/tviehmann/cx-wm-sync-corr…

…ect-trigger-order clips executive: process wm-sync triggers from old to new
fawkesrobotics · Mar 23, 2020 · 6ab6490 · 6ab6490
2 parents 6a006f7 + 59cc2fe
commit 6ab6490
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/plugins/clips-executive/clips/wm-robmem-sync.clp b/src/plugins/clips-executive/clips/wm-robmem-sync.clp
@@ -382,7 +382,9 @@
 
 (defrule wm-robmem-sync-fact-trigger-event
 	(wm-fact (key cx identity) (value ?identity))
-	?rt <- (robmem-trigger (name "wm-robmem-sync-trigger") (ptr ?obj))
+	?rt <- (robmem-trigger (name "wm-robmem-sync-trigger") (ptr ?obj) (rcvd-at $?recv-time))
+	(not (robmem-trigger (name "wm-robmem-sync-trigger")
+                       (rcvd-at $?comp-time&:(time> ?recv-time ?comp-time))))
 	=>
 	(bind ?op (sym-cat (bson-get ?obj "operationType")))