From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Tue, 18 Dec 2018 00:17:21 +0000 (-0800)
Subject: Fixed pause fail in long run due to planner ID wrap around
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=eabf290e7cf792c5cbbed2e454f6b5a4772135f9;p=bbctrl-firmware

Fixed pause fail in long run due to planner ID wrap around
---

diff --git a/src/py/bbctrl/CommandQueue.py b/src/py/bbctrl/CommandQueue.py
index 25bc6b7..ee20ee8 100644
--- a/src/py/bbctrl/CommandQueue.py
+++ b/src/py/bbctrl/CommandQueue.py
@@ -33,7 +33,7 @@ log.setLevel(logging.WARNING)
 
 
 # 16-bit less with wrap around
-def id_less(a, b): return (1 << 15) < (a - b) % ((1 << 16) - 1)
+def id_less(a, b): return (1 << 15) < (a - b) & ((1 << 16) - 1)
 
 
 class CommandQueue():
diff --git a/src/py/bbctrl/Planner.py b/src/py/bbctrl/Planner.py
index 43407f4..fc6e7e9 100644
--- a/src/py/bbctrl/Planner.py
+++ b/src/py/bbctrl/Planner.py
@@ -270,10 +270,6 @@ class Planner():
 
 
     def _encode(self, block):
-        # Handle id wrapping by restricting ids to 16-bit
-        # See CommandQueue id_less()
-        block['id'] %= (1 << 16) - 1
-
         cmd = self.__encode(block)
 
         if cmd is not None: