From c0a4058c5f57b2dc1cfce1125a7de62d8493e6c3 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 29 Jun 2015 19:26:06 +0300
Subject: [PATCH] Node objects update

---
 libuavcan/include/uavcan/node/node.hpp             |  2 +-
 libuavcan/include/uavcan/node/publisher.hpp        | 14 --------------
 .../uavcan/protocol/node_status_provider.hpp       |  2 +-
 3 files changed, 2 insertions(+), 16 deletions(-)

diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp
index 37900c0729..8356d2244c 100644
--- a/libuavcan/include/uavcan/node/node.hpp
+++ b/libuavcan/include/uavcan/node/node.hpp
@@ -148,7 +148,7 @@ public:
      * @param node_status_transfer_priority Transfer priority that will be used for outgoing NodeStatus messages.
      *                                      Normal priority is used by default.
      */
-    int start(const TransferPriority node_status_transfer_priority = TransferPriorityNormal);
+    int start(const TransferPriority node_status_transfer_priority = TransferPriority::Default);
 
 #if !UAVCAN_TINY
     /**
diff --git a/libuavcan/include/uavcan/node/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
index 2b9222d1b5..edd3674900 100644
--- a/libuavcan/include/uavcan/node/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -65,20 +65,6 @@ public:
         return BaseType::publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast, tid);
     }
 
-    /**
-     * Unicast the message to the specified destination Node ID.
-     * Returns negative error code.
-     */
-    int unicast(const DataType& message, NodeID dst_node_id)
-    {
-        if (!dst_node_id.isUnicast())
-        {
-            UAVCAN_ASSERT(0);
-            return -ErrInvalidParam;
-        }
-        return BaseType::publish(message, TransferTypeMessageUnicast, dst_node_id);
-    }
-
     /**
      * Returns priority of outgoing transfers.
      */
diff --git a/libuavcan/include/uavcan/protocol/node_status_provider.hpp b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
index 107aaf91c0..08335f98c5 100644
--- a/libuavcan/include/uavcan/protocol/node_status_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
@@ -68,7 +68,7 @@ public:
      * Starts the provider and immediately broadcasts uavcan.protocol.NodeStatus.
      * Returns negative error code.
      */
-    int startAndPublish(TransferPriority priority = TransferPriorityNormal);
+    int startAndPublish(TransferPriority priority = TransferPriority::Default);
 
     /**
      * Publish the message uavcan.protocol.NodeStatus right now, out of schedule.