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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/protocol/dynamic_node_id_allocation_client.hpp
+4 -1
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@@ -58,11 +58,14 @@ public:
* @param hardware_version Hardware version information, where unique_id must be set correctly.
* @param preferred_node_id Node ID that the application would like to take; set to broadcast (zero) if
* the application doesn't have any preference (this is default).
* @param transfer_priority Transfer priority, Normal by default.
* @return Zero on success
* Negative error code on failure
* -ErrLogic if 1. the node is not in passive mode or 2. the client is already started
*/
int start(const protocol::HardwareVersion& hardware_version, const NodeID preferred_node_id = NodeID::Broadcast);
int start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id = NodeID::Broadcast,
const TransferPriority transfer_priority = TransferPriorityNormal);
/**
* Use this method to determine when allocation is complete.