fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 09:20:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Using transfer priorities in protocol:: classes

Browse Source
This commit is contained in:
Pavel Kirienko
2015-04-30 14:19:52 +03:00
parent 2bfadc46b4
commit 20feaba1de
8 changed files with 47 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/protocol/uc_dynamic_node_id_allocation_client.cpp
+7 -1
View File
@@ -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)