fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-07 01:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dynamic node ID servers - configurable priority

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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 init(const TransferPriority priority)
{ {
int res = allocation_pub_.init(); int res = allocation_pub_.init(priority);
if (res < 0) if (res < 0)
{ {
return res; return res;
} }
allocation_pub_.setPriority(priority);
allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */)); allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(1000 /* TODO FIXME ALLOCATION RANDOMIZATION */));
res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation)); 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 * Initializing pub/sub and timer
*/ */
int res = discovery_pub_.init(); int res = discovery_pub_.init(priority);
if (res < 0) if (res < 0)
{ {
return res; return res;
} }
discovery_pub_.setPriority(priority);
res = discovery_sub_.start(DiscoveryCallback(this, &ClusterManager::handleDiscovery)); res = discovery_sub_.start(DiscoveryCallback(this, &ClusterManager::handleDiscovery));
if (res < 0) 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; return res;
} }
res = append_entries_client_.init(); res = append_entries_client_.init(priority);
if (res < 0) if (res < 0)
{ {
return res; return res;
@@ -774,7 +774,7 @@ public:
append_entries_client_.setCallback(AppendEntriesResponseCallback(this, append_entries_client_.setCallback(AppendEntriesResponseCallback(this,
&RaftCore::handleAppendEntriesResponse)); &RaftCore::handleAppendEntriesResponse));
res = request_vote_client_.init(); res = request_vote_client_.init(priority);
if (res < 0) if (res < 0)
{ {
return res; 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) int init(const TransferPriority priority)
{ {
// TODO FIXME set priority int res = get_node_info_client_.init(priority);
(void)priority;
int res = get_node_info_client_.init();
if (res < 0) if (res < 0)
{ {
return res; return res;