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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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libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+4 -5
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@@ -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;