The ability to set the priority of sending messages has been implemented #278
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…e transmit priority have been added
…essage transmit priority have been added
…essage transmit priority have been added
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## main #278 +/- ##
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Files 8 8
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Hi @aentinger. Due to the force push in my fork, I have to reopen the pull request. Message priority is now set via overloaded constructors instead of default values |
| @@ -43,7 +50,24 @@ Publisher<T> Node::create_publisher(CanardPortID const port_id, CanardMicrosecon | |||
| return std::make_shared<impl::Publisher<T>>( | |||
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With the more configurable create_publisher method below this is basically unnecessary code duplication. I suggest removing the body of this function and replacing it with
return create_publisher<T>(port_id, tx_timeout_usec, CanardPriorityNominal);| @@ -102,6 +135,36 @@ ServiceServer Node::create_service_server(CanardPortID const request_port_id, Ca | |||
| *this, | |||
| request_port_id, | |||
| tx_timeout_usec, | |||
| CanardPriorityNominal, | |||
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Same as for create_publisher, this is a lot of code duplication now. Replace with
return create_service_server<T_REQ, T_RSP, OnRequestCb>(request_port_id, tx_timeout_usec, on_request_cb, CanardPriorityNominal. tid_timeout_usec); // Probably needs std::forward for on_request_cb| std::forward<OnResponseCb>(on_response_cb) | ||
| ); | ||
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| int8_t const rc = canardRxSubscribe(&_canard_hdl, |
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Same. eliminate code duplication.
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Ciao @bakul14 ☕ 👋 I am awaiting your reply on my above comments, should there be none I see myself forced to close this PR. |
The priority of sending messages is set by the constructor argument when allocating the appropriate publishers, clients, servers. Thus, content will be sent with a predefined priority, which cannot be changed at runtime.