Using transfer priorities in protocol:: classes

libuavcan/src/protocol/uc_dynamic_node_id_allocation_client.cpp

@@ -114,7 +114,8 @@ void DynamicNodeIDAllocationClient::handleAllocation(
 }
 
 int DynamicNodeIDAllocationClient::start(const protocol::HardwareVersion& hardware_version,
-                                         const NodeID preferred_node_id)
+                                         const NodeID preferred_node_id,
+                                         const TransferPriority transfer_priority)
 {
     terminate();
 
@@ -161,6 +162,11 @@ int DynamicNodeIDAllocationClient::start(const protocol::HardwareVersion& hardwa
         return res;
     }
     dnida_pub_.allowAnonymousTransfers();
+    res = dnida_pub_.setPriority(transfer_priority);
+    if (res < 0)
+    {
+        return res;
+    }
 
     res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDAllocationClient::handleAllocation));
     if (res < 0)

libuavcan/src/protocol/uc_global_time_sync_master.cpp

@@ -24,6 +24,12 @@ int GlobalTimeSyncMaster::IfaceMaster::init()
         UAVCAN_ASSERT(ts != NULL);
         ts->setIfaceMask(uint8_t(1 << iface_index_));
         ts->setCanIOFlags(CanIOFlagLoopback);
+
+        const int prio_res = pub_.setPriority(TransferPriorityHigh);  // Fixed priority
+        if (prio_res < 0)
+        {
+            return prio_res;
+        }
     }
     return res;
 }

libuavcan/src/protocol/uc_logger.cpp

@@ -17,7 +17,12 @@ Logger::LogLevel Logger::getExternalSinkLevel() const
 
 int Logger::init()
 {
-    return logmsg_pub_.init();
+    const int res = logmsg_pub_.init();
+    if (res < 0)
+    {
+        return res;
+    }
+    return logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
 }
 
 int Logger::log(const protocol::debug::LogMessage& message)

libuavcan/src/protocol/uc_node_status_provider.cpp

@@ -61,7 +61,7 @@ void NodeStatusProvider::handleGetNodeInfoRequest(const protocol::GetNodeInfo::R
     rsp = node_info_;
 }
 
-int NodeStatusProvider::startAndPublish()
+int NodeStatusProvider::startAndPublish(TransferPriority priority)
 {
     if (!isNodeInfoInitialized())
     {
@@ -71,6 +71,12 @@ int NodeStatusProvider::startAndPublish()
 
     int res = -1;
 
+    res = node_status_pub_.setPriority(priority);
+    if (res < 0)
+    {
+        goto fail;
+    }
+
     if (!getNode().isPassiveMode())
     {
         res = publish();