Fix ChronoController removing the wrong elements (#21)

Fastcode · May 7, 2018 · 84de008 · 84de008
1 parent 4e00b12
commit 84de008
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Showing 2 changed files with 10 additions and 9 deletions.
diff --git a/NUClear.sublime-project b/NUClear.sublime-project
@@ -6,8 +6,10 @@
         }
     ],
     "settings": {
-    "ClangFormat": {
-      "format_on_save": true
+    "ClangFormat": {       
+        "style": "file",
+        "format_on_save": true,
+        "languages": [ "C", "C++", "C++11", "Protobuf" ],
     }
   }
 }
diff --git a/src/extension/ChronoController.cpp b/src/extension/ChronoController.cpp
@@ -31,7 +31,6 @@ namespace extension {
         : Reactor(std::move(environment)), wait_offset(std::chrono::milliseconds(0)) {
 
         on<Trigger<ChronoTask>>().then("Add Chrono task", [this](std::shared_ptr<const ChronoTask> task) {
-
             // Lock the mutex while we're doing stuff
             {
                 std::lock_guard<std::mutex> lock(mutex);
@@ -46,7 +45,6 @@ namespace extension {
 
         on<Trigger<dsl::operation::Unbind<ChronoTask>>>().then(
             "Unbind Chrono Task", [this](const dsl::operation::Unbind<ChronoTask>& unbind) {
-
                 // Lock the mutex while we're doing stuff
                 {
                     std::lock_guard<std::mutex> lock(mutex);
@@ -69,7 +67,6 @@ namespace extension {
         on<Shutdown>().then("Shutdown Chrono Controller", [this] { wait.notify_all(); });
 
         on<Always, Priority::REALTIME>().then("Chrono Controller", [this] {
-
             // Acquire the mutex lock so we can wait on it
             std::unique_lock<std::mutex> lock(mutex);
 
@@ -89,16 +86,18 @@ namespace extension {
                     NUClear::clock::time_point now = NUClear::clock::now();
 
                     // Move back from the end poping the heap
-                    for (auto end = tasks.end(); end != tasks.begin() && tasks.front().time < now; --end) {
-
+                    for (auto end = tasks.end(); end != tasks.begin() && tasks.front().time < now;) {
                         // Run our task and if it returns false remove it
                         bool renew = tasks.front()();
 
                         // Move this to the back of the list
-                        std::pop_heap(tasks.begin(), end);
+                        std::pop_heap(tasks.begin(), end, std::greater<>());
 
                         if (!renew) {
-                            tasks.pop_back();
+                            end = tasks.erase(--end);
+                        }
+                        else {
+                            --end;
                         }
                     }
                 }