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Using transfer priorities in protocol:: classes

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Pavel Kirienko
2015-04-30 14:19:52 +03:00
parent 2bfadc46b4
commit 20feaba1de
8 changed files with 47 additions and 14 deletions
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libuavcan/include/uavcan/node/publisher.hpp
+9 -5
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@@ -100,22 +100,26 @@ public:
/**
* Allows to change the priority of outgoing transfers.
* Note that only High, Normal and Low priorities can be used; Service priority is not available for messages.
* Attempt to use Service priority will result in assertion failure in debug builds, and it will have no
* effect in release builds.
* Returns negative error code if priority cannot be set, non-negative on success.
*/
void setPriority(const TransferPriority prio)
int setPriority(const TransferPriority prio)
{
if (prio < NumTransferPriorities && prio != TransferPriorityService)
{
TransferSender* const ts = getTransferSender();
TransferSender* const ts = getTransferSender(); // TODO: Static TransferSender?
if (ts != NULL)
{
ts->setPriority(prio);
return 0;
}
else
{
return -ErrLogic;
}
}
else
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
}