All unit tests compile, but crash. This is the most horrifying commit I've ever made.

libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp

@@ -237,15 +237,15 @@ public:
         , allocation_pub_(node)
     { }
 
-    int init()
+    int init(const TransferPriority priority)
     {
         int res = allocation_pub_.init();
         if (res < 0)
         {
             return res;
         }
-        (void)allocation_pub_.setPriority(TransferPriorityLow);
-        allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(Allocation::DEFAULT_REQUEST_PERIOD_MS));
+        allocation_pub_.setPriority(priority);
+        allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
 
         res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
         if (res < 0)

libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/server.hpp

@@ -135,7 +135,8 @@ public:
         , storage_(storage)
     { }
 
-    int init(const UniqueID& own_unique_id)
+    int init(const UniqueID& own_unique_id,
+             const TransferPriority priority = TransferPriority::OneHigherThanLowest)
     {
         /*
          * Initializing storage first, because the next step requires it to be loaded
@@ -173,13 +174,13 @@ public:
         /*
          * Misc
          */
-        res = allocation_request_manager_.init();
+        res = allocation_request_manager_.init(priority);
         if (res < 0)
         {
             return res;
         }
 
-        res = node_discoverer_.init();
+        res = node_discoverer_.init(priority);
         if (res < 0)
         {
             return res;

libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp

@@ -207,7 +207,7 @@ public:
      * storage backend using key 'cluster_size'.
      * Returns negative error code.
      */
-    int init(uint8_t init_cluster_size = ClusterSizeUnknown)
+    int init(const uint8_t init_cluster_size, const TransferPriority priority)
     {
         /*
          * Figuring out the cluster size
@@ -263,7 +263,7 @@ public:
         {
             return res;
         }
-        (void)discovery_pub_.setPriority(TransferPriorityLow);
+        discovery_pub_.setPriority(priority);
 
         res = discovery_sub_.start(DiscoveryCallback(this, &ClusterManager::handleDiscovery));
         if (res < 0)

libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp

@@ -727,7 +727,7 @@ public:
      *                          value from the persistent storage will be used. If not set and there's no such key
      *                          in the persistent storage, initialization will fail.
      */
-    int init(uint8_t cluster_size = ClusterManager::ClusterSizeUnknown)
+    int init(const uint8_t cluster_size, const TransferPriority priority)
     {
         /*
          * Initializing state variables
@@ -748,7 +748,7 @@ public:
             return res;
         }
 
-        res = cluster_.init(cluster_size);
+        res = cluster_.init(cluster_size, priority);
         if (res < 0)
         {
             return res;

libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp

@@ -246,12 +246,14 @@ public:
         , node_discoverer_(node, tracer, *this)
     { }
 
-    int init(const UniqueID& own_unique_id, const uint8_t cluster_size = ClusterManager::ClusterSizeUnknown)
+    int init(const UniqueID& own_unique_id,
+             const uint8_t cluster_size = ClusterManager::ClusterSizeUnknown,
+             const TransferPriority priority = TransferPriority::OneHigherThanLowest)
     {
         /*
          * Initializing Raft core first, because the next step requires Log to be loaded
          */
-        int res = raft_core_.init(cluster_size);
+        int res = raft_core_.init(cluster_size, priority);
         if (res < 0)
         {
             return res;
@@ -276,13 +278,13 @@ public:
         /*
          * Misc
          */
-        res = allocation_request_manager_.init();
+        res = allocation_request_manager_.init(priority);
         if (res < 0)
         {
             return res;
         }
 
-        res = node_discoverer_.init();
+        res = node_discoverer_.init(priority);
         if (res < 0)
         {
             return res;

libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp

@@ -309,8 +309,10 @@ public:
         , node_status_sub_(node)
     { }
 
-    int init()
+    int init(const TransferPriority priority)
     {
+        // TODO FIXME set priority
+        (void)priority;
         int res = get_node_info_client_.init();
         if (res < 0)
         {