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107-systems#276 feat: added support for setting priorities for creati…
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…ng publishers, clients, server through their constructors with the default CanardPriorityNominal priority param
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@bakul14
bakul14 committed Jul 3, 2024
1 parent d786624 commit 168dddb
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Showing 8 changed files with 31 additions and 22 deletions.
12 changes: 6 additions & 6 deletions src/Node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,24 +83,24 @@ class Node


template <typename T>
Publisher<T> create_publisher(CanardMicrosecond const tx_timeout_usec);
Publisher<T> create_publisher(CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority = CanardPriorityNominal);
template <typename T>
Publisher<T> create_publisher(CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec);
Publisher<T> create_publisher(CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority = CanardPriorityNominal);

template <typename T, typename OnReceiveCb>
Subscription create_subscription(OnReceiveCb&& on_receive_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);
template <typename T, typename OnReceiveCb>
Subscription create_subscription(CanardPortID const port_id, OnReceiveCb&& on_receive_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);

template <typename T_REQ, typename T_RSP, typename OnRequestCb>
ServiceServer create_service_server(CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);
ServiceServer create_service_server(CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, CanardPriority const tx_tx_priority = CanardPriorityNominal);
template <typename T_REQ, typename T_RSP, typename OnRequestCb>
ServiceServer create_service_server(CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);
ServiceServer create_service_server(CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, CanardPriority const tx_priority = CanardPriorityNominal);

template <typename T_REQ, typename T_RSP, typename OnResponseCb>
ServiceClient<T_REQ> create_service_client(CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);
ServiceClient<T_REQ> create_service_client(CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, CanardPriority const tx_priority = CanardPriorityNominal);
template <typename T_REQ, typename T_RSP, typename OnResponseCb>
ServiceClient<T_REQ> create_service_client(CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC);
ServiceClient<T_REQ> create_service_client(CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec = CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, CanardPriority const tx_priority = CanardPriorityNominal);

#if !defined(__GNUC__) || (__GNUC__ >= 11)
Registry create_registry();
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23 changes: 13 additions & 10 deletions src/Node.ipp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,14 +26,14 @@ namespace cyphal
**************************************************************************************/

template <typename T>
Publisher<T> Node::create_publisher(CanardMicrosecond const tx_timeout_usec)
Publisher<T> Node::create_publisher(CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority)
{
static_assert(T::_traits_::HasFixedPortID, "T does not have a fixed port id.");
return create_publisher<T>(T::_traits_::FixedPortId, tx_timeout_usec);
return create_publisher<T>(T::_traits_::FixedPortId, tx_timeout_usec, tx_priority);
}

template <typename T>
Publisher<T> Node::create_publisher(CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec)
Publisher<T> Node::create_publisher(CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority)
{
static_assert(!T::_traits_::IsServiceType, "T is not message type");

Expand All @@ -43,7 +43,8 @@ Publisher<T> Node::create_publisher(CanardPortID const port_id, CanardMicrosecon
return std::make_shared<impl::Publisher<T>>(
*this,
port_id,
tx_timeout_usec
tx_timeout_usec,
tx_priority
);
}

Expand Down Expand Up @@ -81,16 +82,16 @@ Subscription Node::create_subscription(CanardPortID const port_id, OnReceiveCb&&
}

template <typename T_REQ, typename T_RSP, typename OnRequestCb>
ServiceServer Node::create_service_server(CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec)
ServiceServer Node::create_service_server(CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec, CanardPriority const tx_priority)
{
static_assert(T_REQ::_traits_::HasFixedPortID, "T_REQ does not have a fixed port id.");
static_assert(T_RSP::_traits_::HasFixedPortID, "T_RSP does not have a fixed port id.");

return create_service_server<T_REQ, T_RSP>(T_REQ::_traits_::FixedPortId, tx_timeout_usec, on_request_cb, tid_timeout_usec);
return create_service_server<T_REQ, T_RSP>(T_REQ::_traits_::FixedPortId, tx_timeout_usec, on_request_cb, tid_timeout_usec, tx_priority);
}

template <typename T_REQ, typename T_RSP, typename OnRequestCb>
ServiceServer Node::create_service_server(CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec)
ServiceServer Node::create_service_server(CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, OnRequestCb&& on_request_cb, CanardMicrosecond const tid_timeout_usec, CanardPriority const tx_priority)
{
static_assert(T_REQ::_traits_::IsRequest, "T_REQ is not a request");
static_assert(T_RSP::_traits_::IsResponse, "T_RSP is not a response");
Expand All @@ -102,6 +103,7 @@ ServiceServer Node::create_service_server(CanardPortID const request_port_id, Ca
*this,
request_port_id,
tx_timeout_usec,
tx_priority,
std::forward<OnRequestCb>(on_request_cb)
);

Expand All @@ -118,16 +120,16 @@ ServiceServer Node::create_service_server(CanardPortID const request_port_id, Ca
}

template <typename T_REQ, typename T_RSP, typename OnResponseCb>
ServiceClient<T_REQ> Node::create_service_client(CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec)
ServiceClient<T_REQ> Node::create_service_client(CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec, CanardPriority const tx_priority)
{
static_assert(T_REQ::_traits_::HasFixedPortID, "T_REQ does not have a fixed port id.");
static_assert(T_RSP::_traits_::HasFixedPortID, "T_RSP does not have a fixed port id.");

return create_service_client<T_REQ, T_RSP>(T_RSP::_traits_::FixedPortId, tx_timeout_usec, on_response_cb, tid_timeout_usec);
return create_service_client<T_REQ, T_RSP>(T_RSP::_traits_::FixedPortId, tx_timeout_usec, on_response_cb, tid_timeout_usec, tx_priority);
}

template <typename T_REQ, typename T_RSP, typename OnResponseCb>
ServiceClient<T_REQ> Node::create_service_client(CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec)
ServiceClient<T_REQ> Node::create_service_client(CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb&& on_response_cb, CanardMicrosecond const tid_timeout_usec, CanardPriority const tx_priority)
{
static_assert(T_REQ::_traits_::IsRequest, "T_REQ is not a request");
static_assert(T_RSP::_traits_::IsResponse, "T_RSP is not a response");
Expand All @@ -139,6 +141,7 @@ ServiceClient<T_REQ> Node::create_service_client(CanardPortID const response_por
*this,
response_port_id,
tx_timeout_usec,
tx_priority,
std::forward<OnResponseCb>(on_response_cb)
);

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4 changes: 3 additions & 1 deletion src/Publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,10 @@ template <typename T>
class Publisher final : public PublisherBase<T>
{
public:
Publisher(Node & node_hdl, CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec)
Publisher(Node & node_hdl, CanardPortID const port_id, CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority)
: _node_hdl{node_hdl}
, _port_id{port_id}
, _tx_priority{tx_priority}
, _tx_timeout_usec{tx_timeout_usec}
, _transfer_id{0}
{ }
Expand All @@ -46,6 +47,7 @@ class Publisher final : public PublisherBase<T>
private:
Node & _node_hdl;
CanardPortID const _port_id;
CanardPriority const _tx_priority;
CanardMicrosecond const _tx_timeout_usec;
CanardTransferID _transfer_id;
};
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2 changes: 1 addition & 1 deletion src/Publisher.ipp
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Expand Up @@ -36,7 +36,7 @@ bool Publisher<T>::publish(T const & msg)
#pragma GCC diagnostic ignored "-Wpedantic"
CanardTransferMetadata const transfer_metadata =
{
.priority = CanardPriorityNominal,
.priority = _tx_priority,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id,
.remote_node_id = CANARD_NODE_ID_UNSET,
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4 changes: 3 additions & 1 deletion src/ServiceClient.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,11 @@ template<typename T_REQ, typename T_RSP, typename OnResponseCb>
class ServiceClient final : public ServiceClientBase<T_REQ>
{
public:
ServiceClient(Node & node_hdl, CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, OnResponseCb on_response_cb)
ServiceClient(Node & node_hdl, CanardPortID const response_port_id, CanardMicrosecond const tx_timeout_usec, CanardPriority tx_priority, OnResponseCb on_response_cb)
: _node_hdl{node_hdl}
, _response_port_id{response_port_id}
, _tx_timeout_usec{tx_timeout_usec}
, _tx_priority{tx_priority}
, _on_response_cb{on_response_cb}
, _transfer_id{0}
{ }
Expand All @@ -51,6 +52,7 @@ class ServiceClient final : public ServiceClientBase<T_REQ>
Node & _node_hdl;
CanardPortID const _response_port_id;
CanardMicrosecond const _tx_timeout_usec;
CanardPriority const _tx_priority;
OnResponseCb _on_response_cb;
CanardTransferID _transfer_id;
};
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2 changes: 1 addition & 1 deletion src/ServiceClient.ipp
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Expand Up @@ -45,7 +45,7 @@ bool ServiceClient<T_REQ, T_RSP, OnResponseCb>::request(CanardNodeID const remot
#pragma GCC diagnostic ignored "-Wpedantic"
CanardTransferMetadata const transfer_metadata =
{
.priority = CanardPriorityNominal,
.priority = _tx_priority,
.transfer_kind = CanardTransferKindRequest,
.port_id = _response_port_id,
.remote_node_id = remote_node_id,
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4 changes: 3 additions & 1 deletion src/ServiceServer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,11 @@ template<typename T_REQ, typename T_RSP, typename OnRequestCb>
class ServiceServer final : public ServiceServerBase
{
public:
ServiceServer(Node & node_hdl, CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, OnRequestCb on_request_cb)
ServiceServer(Node & node_hdl, CanardPortID const request_port_id, CanardMicrosecond const tx_timeout_usec, CanardPriority const tx_priority, OnRequestCb on_request_cb)
: _node_hdl{node_hdl}
, _request_port_id{request_port_id}
, _tx_timeout_usec{tx_timeout_usec}
, _tx_priority{tx_priority}
, _on_request_cb{on_request_cb}
{ }
virtual ~ServiceServer();
Expand All @@ -49,6 +50,7 @@ class ServiceServer final : public ServiceServerBase
Node & _node_hdl;
CanardPortID const _request_port_id;
CanardMicrosecond const _tx_timeout_usec;
CanardPriority const _tx_priority;
OnRequestCb _on_request_cb;
};

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2 changes: 1 addition & 1 deletion src/ServiceServer.ipp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ bool ServiceServer<T_REQ, T_RSP, OnRequestCb>::onTransferReceived(CanardRxTransf
/* Enqueue the transfer. */
CanardTransferMetadata const transfer_metadata =
{
.priority = CanardPriorityNominal,
.priority = _tx_priority,
.transfer_kind = CanardTransferKindResponse,
.port_id = transfer.metadata.port_id,
.remote_node_id = transfer.metadata.remote_node_id,
Expand Down

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