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Priority support in Publisher

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This commit is contained in:
Pavel Kirienko 2015-04-30 13:57:11 +03:00
parent 6b19bf09e2
commit 2bfadc46b4
1 changed files with 40 additions and 0 deletions
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40
libuavcan/include/uavcan/node/publisher.hpp
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@ -79,6 +79,46 @@ public:
return BaseType::publish(message, TransferTypeMessageUnicast, dst_node_id);
}
/**
* Returns priority of outgoing transfers.
* TODO: Make const.
*/
TransferPriority getPriority()
{
// TODO probably TransferSender must be transformed into regular field?
TransferSender* const ts = getTransferSender();
if (ts != NULL)
{
return ts->getPriority();
}
else
{
return TransferPriorityNormal; // This is default
}
}
/**
* 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.
*/
void setPriority(const TransferPriority prio)
{
if (prio < NumTransferPriorities && prio != TransferPriorityService)
{
TransferSender* const ts = getTransferSender();
if (ts != NULL)
{
ts->setPriority(prio);
}
}
else
{
UAVCAN_ASSERT(0);
}
}
static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromMSec(10); }
/**