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Dynamic node ID servers - configurable priority

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This commit is contained in:
Pavel Kirienko
2015-07-05 09:37:39 +03:00
parent 7240e0d6d2
commit f48c16d1ef
4 changed files with 5 additions and 9 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
+1 -2
View File
@@ -239,12 +239,11 @@ public:
int init(const TransferPriority priority)
{
int res = allocation_pub_.init();
int res = allocation_pub_.init(priority);
if (res < 0)
{
return res;
}
allocation_pub_.setPriority(priority);
allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+1 -2
View File
@@ -258,12 +258,11 @@ public:
/*
* Initializing pub/sub and timer
*/
int res = discovery_pub_.init();
int res = discovery_pub_.init(priority);
if (res < 0)
{
return res;
}
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
+2 -2
View File
@@ -766,7 +766,7 @@ public:
return res;
}
res = append_entries_client_.init();
res = append_entries_client_.init(priority);
if (res < 0)
{
return res;
@@ -774,7 +774,7 @@ public:
append_entries_client_.setCallback(AppendEntriesResponseCallback(this,
&RaftCore::handleAppendEntriesResponse));
res = request_vote_client_.init();
res = request_vote_client_.init(priority);
if (res < 0)
{
return res;
libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+1 -3
View File
@@ -311,9 +311,7 @@ public:
int init(const TransferPriority priority)
{
// TODO FIXME set priority
(void)priority;
int res = get_node_info_client_.init();
int res = get_node_info_client_.init(priority);
if (res < 0)
{
return res;