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Configurable priority in high-level protocol logic classes

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This commit is contained in:
Pavel Kirienko 2015-07-05 09:54:54 +03:00
parent f48c16d1ef
commit 35fd634282
9 changed files with 19 additions and 15 deletions
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5
libuavcan/include/uavcan/protocol/firmware_update_trigger.hpp
View File

@ -396,7 +396,8 @@ public:
* @return Negative error code.
*/
int start(NodeInfoRetriever& node_info_retriever,
const FirmwareFilePath& arg_common_path_prefix = FirmwareFilePath())
const FirmwareFilePath& arg_common_path_prefix = FirmwareFilePath(),
const TransferPriority priority = TransferPriority::OneHigherThanLowest)
{
/*
* Configuring the node info retriever
@ -423,7 +424,7 @@ public:
/*
* Initializing the client
*/
res = begin_fw_update_client_.init();
res = begin_fw_update_client_.init(priority);
if (res < 0)
{
return res;

9
libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
View File

@ -46,14 +46,13 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
UAVCAN_ASSERT(iface_index < MaxCanIfaces);
}
int init(TransferPriority priority = TransferPriority::OneLowerThanHighest)
int init(TransferPriority priority)
{
const int res = pub_.init();
const int res = pub_.init(priority);
if (res >= 0)
{
pub_.getTransferSender().setIfaceMask(uint8_t(1 << iface_index_));
pub_.getTransferSender().setCanIOFlags(CanIOFlagLoopback);
pub_.setPriority(priority);
}
return res;
}
@ -152,7 +151,7 @@ public:
* Must be called before the master can be used.
* Returns negative error code.
*/
int init()
int init(const TransferPriority priority = TransferPriority::OneLowerThanHighest)
{
if (initialized_)
{
@ -176,7 +175,7 @@ public:
{
iface_masters_[i].construct<INode&, uint8_t>(node_, i);
}
res = iface_masters_[i]->init();
res = iface_masters_[i]->init(priority);
if (res < 0)
{
break;

5
libuavcan/include/uavcan/protocol/logger.hpp
View File

@ -94,14 +94,13 @@ public:
* Must be called once before use.
* Returns negative error code.
*/
int init(TransferPriority priority = TransferPriority::OneHigherThanLowest)
int init(const TransferPriority priority = TransferPriority::Lowest)
{
const int res = logmsg_pub_.init();
const int res = logmsg_pub_.init(priority);
if (res < 0)
{
return res;
}
logmsg_pub_.setPriority(priority); // Fixed priority
return 0;
}

4
libuavcan/include/uavcan/protocol/node_info_retriever.hpp
View File

@ -346,7 +346,7 @@ public:
* Destroy the object to stop it.
* Returns negative error code.
*/
int start()
int start(const TransferPriority priority = TransferPriority::OneHigherThanLowest)
{
int res = NodeStatusMonitor::start();
if (res < 0)
@ -354,7 +354,7 @@ public:
return res;
}
res = get_node_info_client_.init();
res = get_node_info_client_.init(priority);
if (res < 0)
{
return res;

2
libuavcan/include/uavcan/protocol/node_status_provider.hpp
View File

@ -61,7 +61,7 @@ public:
* Starts the provider and immediately broadcasts uavcan.protocol.NodeStatus.
* Returns negative error code.
*/
int startAndPublish(TransferPriority priority = TransferPriority::Default);
int startAndPublish(const TransferPriority priority = TransferPriority::Default);
/**
* Publish the message uavcan.protocol.NodeStatus right now, out of schedule.

5
libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
View File

@ -48,7 +48,8 @@ public:
* @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
* If the string exceeds 7 characters, it will be truncated.
*/
void panic(const char* short_reason_description)
void panic(const char* short_reason_description,
const TransferPriority priority = TransferPriority::Default)
{
msg_.reason_text.clear();
const char* p = short_reason_description;
@ -64,6 +65,8 @@ public:
UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str());
pub_.setPriority(priority);
publishOnce();
startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_PERIOD_MS));
}

1
libuavcan/include/uavcan/transport/transfer.hpp
View File

@ -38,6 +38,7 @@ public:
static const TransferPriority MiddleLower;
static const TransferPriority OneHigherThanLowest;
static const TransferPriority OneLowerThanHighest;
static const TransferPriority Lowest;
TransferPriority() : value_(0xFF) { }

2
libuavcan/src/protocol/uc_node_status_provider.cpp
View File

@ -50,7 +50,7 @@ void NodeStatusProvider::handleGetNodeInfoRequest(const protocol::GetNodeInfo::R
rsp = node_info_;
}
int NodeStatusProvider::startAndPublish(TransferPriority priority)
int NodeStatusProvider::startAndPublish(const TransferPriority priority)
{
if (!isNodeInfoInitialized())
{

1
libuavcan/src/transport/uc_transfer.cpp
View File

@ -19,6 +19,7 @@ const TransferPriority TransferPriority::Default((1U << BitLen) / 2);
const TransferPriority TransferPriority::MiddleLower((1U << BitLen) / 2 + (1U << BitLen) / 4);
const TransferPriority TransferPriority::OneHigherThanLowest(NumericallyMax - 1);
const TransferPriority TransferPriority::OneLowerThanHighest(NumericallyMin + 1);
const TransferPriority TransferPriority::Lowest(NumericallyMax);
/**
* TransferID