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Support for priority in TransferSender

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This commit is contained in:
Pavel Kirienko
2015-04-30 12:30:13 +03:00
parent 5c0314e187
commit 6b19bf09e2
3 changed files with 35 additions and 6 deletions
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libuavcan/src/transport/uc_frame.cpp
+1
View File
@@ -35,6 +35,7 @@ uint_fast8_t Frame::getMaxIndexForTransferType(const TransferType type)
void Frame::setPriority(const TransferPriority priority)
{
UAVCAN_ASSERT(priority < NumTransferPriorities);
if (transfer_type_ == TransferTypeMessageBroadcast ||
transfer_type_ == TransferTypeMessageUnicast)
{
libuavcan/src/transport/uc_transfer_sender.cpp
+12 -3
View File
@@ -10,14 +10,14 @@
namespace uavcan
{
void TransferSender::registerError()
void TransferSender::registerError() const
{
dispatcher_.getTransferPerfCounter().addError();
}
int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
TransferID tid) const
{
if (payload_len > getMaxPayloadLenForTransferType(transfer_type))
{
@@ -25,6 +25,12 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
}
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);
if (transfer_type == TransferTypeMessageBroadcast ||
transfer_type == TransferTypeMessageUnicast)
{
UAVCAN_ASSERT(priority_ != TransferPriorityService);
frame.setPriority(priority_);
}
UAVCAN_TRACE("TransferSender", "%s", frame.toString().c_str());
/*
@@ -126,7 +132,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
}
int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id)
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id) const
{
// This check must be performed before TID is incremented to avoid skipping TID values on failures
if (payload_len > getMaxPayloadLenForTransferType(transfer_type))
@@ -134,6 +140,9 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
return -ErrTransferTooLong;
}
/*
* TODO: TID is not needed for anonymous transfers, this part of the code can be skipped?
*/
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
UAVCAN_ASSERT(!tx_deadline.isZero());