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Add optional priority attribute for messages #67

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Add optional priority attribute for messages #67

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454ed04
Added priority attribude to the messages
podhrmic Nov 30, 2017
5adc3a9
Compilation fixes
podhrmic Nov 30, 2017
ac1e4e0
Compilation fixes
podhrmic Nov 30, 2017
627598d
Compilation fixes
podhrmic Nov 30, 2017
662d2a3
Compilation fixes
podhrmic Nov 30, 2017
1ba10f1
Finally working
podhrmic Nov 30, 2017
341a355
Finally compiles
podhrmic Nov 30, 2017
35210e0
Minor fix
podhrmic Dec 2, 2017
dc024c8
Merge branch 'master' into priority
podhrmic Dec 2, 2017
41d9511
Added empty 'put_priority' functions
podhrmic Dec 9, 2017
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7 changes: 7 additions & 0 deletions .gitignore
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Expand Up @@ -20,3 +20,10 @@
/build
/var
/.idea/

# Eclipse IDE settings files
.cproject
.project
.pydevproject
.settings/*

4 changes: 4 additions & 0 deletions lib/v1.0/C/pprz_transport.c
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Expand Up @@ -55,6 +55,9 @@ static void accumulate_checksum(struct pprz_transport *trans, const uint8_t byte
trans->ck_b_tx += trans->ck_a_tx;
}

static void put_priority(struct pprz_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)),
long fd __attribute__((unused)), uint8_t prio __attribute__((unused))) {}

static void put_bytes(struct pprz_transport *trans, struct link_device *dev, long fd,
enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
const void *bytes, uint16_t len)
Expand Down Expand Up @@ -127,6 +130,7 @@ void pprz_transport_init(struct pprz_transport *t)
t->trans_tx.overrun = (overrun_t) overrun;
t->trans_tx.count_bytes = (count_bytes_t) count_bytes;
t->trans_tx.impl = (void *)(t);
t->trans_tx.put_priority = (put_priority_t) put_priority;
}


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4 changes: 4 additions & 0 deletions lib/v2.0/C/pprz_transport.c
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Expand Up @@ -59,6 +59,9 @@ static void accumulate_checksum(struct pprz_transport *trans, const uint8_t byte
trans->ck_b_tx += trans->ck_a_tx;
}

static void put_priority(struct pprzlink_msg *msg __attribute__((unused)), long fd __attribute__((unused)),
uint8_t prio __attribute__((unused))) {}

static void put_bytes(struct pprzlink_msg *msg, long fd,
enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
const void *bytes, uint16_t len)
Expand Down Expand Up @@ -130,6 +133,7 @@ void pprz_transport_init(struct pprz_transport *t)
t->trans_tx.overrun = (overrun_t) overrun;
t->trans_tx.count_bytes = (count_bytes_t) count_bytes;
t->trans_tx.impl = (void *)(t);
t->trans_tx.put_priority = (put_priority_t) put_priority;
}


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1 change: 1 addition & 0 deletions message_definitions/v1.0/messages.dtd
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Expand Up @@ -12,6 +12,7 @@
name CDATA #REQUIRED
id CDATA #REQUIRED
link CDATA #IMPLIED
priority CDATA #IMPLIED
>

<!ELEMENT description (#PCDATA)>
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10 changes: 5 additions & 5 deletions message_definitions/v1.0/messages.xml
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Expand Up @@ -14,7 +14,7 @@
<field name="md5sum" type="uint8[]"/>
</message>

<message name="PONG" id="3">
<message name="PONG" id="3" priority="2">
<description>Answer to PING datalink message, to measure latencies</description>
</message>

Expand Down Expand Up @@ -2052,7 +2052,7 @@
<field name="ac_id" type="uint8"/>
</message>

<message name="PING" id="8"/>
<message name="PING" id="8" priority="2"/>

<message name="FORMATION_SLOT" id="9" link="broadcasted">
<field name="ac_id" type="uint8"/>
Expand Down Expand Up @@ -2307,13 +2307,13 @@
<field name="cycle_time" type="uint32" unit="ms"/>
</message>

<message name="RC_3CH" id="51" link="broadcasted">
<message name="RC_3CH" id="51" link="broadcasted" priority="2">
<field name="throttle_mode" type="uint8" unit="byte_mask"/>
<field name="roll" type="int8"/>
<field name="pitch" type="int8"/>
</message>

<message name="RC_4CH" id="52" link="broadcasted">
<message name="RC_4CH" id="52" link="broadcasted" priority="2">
<field name="ac_id" type="uint8"/>
<field name="mode" type="uint8"/>
<field name="throttle" type="uint8"/>
Expand All @@ -2322,7 +2322,7 @@
<field name="yaw" type="int8"/>
</message>

<message name="RC_5CH" id="53" link="broadcasted">
<message name="RC_5CH" id="53" link="broadcasted" priority="2">
<field name="ac_id" type="uint8"/>
<field name="throttle" type="uint8"/>
<field name="roll" type="int8"/>
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2 changes: 2 additions & 0 deletions message_definitions/v1.0/pprz_schema.xsd
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Expand Up @@ -19,6 +19,7 @@
<xs:attribute name="link" type="xs:string"/> <!-- message -->
<xs:attribute name="format" type="xs:string"/> <!-- field -->
<xs:attribute name="unit" type="xs:string"/> <!-- field -->
<xs:attribute name="priority" type="xs:byte"/> <!-- field -->
<xs:attribute name="alt_unit" type="xs:string"/> <!-- field -->
<xs:attribute name="alt_unit_coef" type="xs:string"/> <!-- field (FIXME: should be decimal AND scientific notation, allow all strings as workaround for now -->
<xs:attribute name="values" type="xs:string"/> <!-- field -->
Expand Down Expand Up @@ -67,6 +68,7 @@
<xs:attribute ref="name" use="required"/>
<xs:attribute ref="id" use="required"/>
<xs:attribute ref="link"/>
<xs:attribute ref="priority"/>
</xs:complexType>
</xs:element>

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2 changes: 2 additions & 0 deletions tools/generator/C/include_v1.0/pprzlink_transport.h
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Expand Up @@ -88,6 +88,7 @@ typedef void (*start_message_t)(void *, struct link_device *, long, uint8_t);
typedef void (*end_message_t)(void *, struct link_device *, long);
typedef void (*overrun_t)(void *, struct link_device *);
typedef void (*count_bytes_t)(void *, struct link_device *, uint8_t);
typedef void (*put_priority_t)(void *, struct link_device *, long, uint8_t);

/** Generic transmission transport header
*/
Expand All @@ -101,6 +102,7 @@ struct transport_tx {
overrun_t overrun; ///< overrun
count_bytes_t count_bytes; ///< count bytes to send
void *impl; ///< pointer to parent implementation
put_priority_t put_priority; ///< set a message priority
};

#ifdef __cplusplus
Expand Down
2 changes: 2 additions & 0 deletions tools/generator/C/include_v2.0/pprzlink_transport.h
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Expand Up @@ -89,6 +89,7 @@ typedef void (*start_message_t)(struct pprzlink_msg *, long, uint8_t);
typedef void (*end_message_t)(struct pprzlink_msg *, long);
typedef void (*overrun_t)(struct pprzlink_msg *);
typedef void (*count_bytes_t)(struct pprzlink_msg *, uint8_t);
typedef void (*put_priority_t)(struct pprzlink_msg *, long, uint8_t);

/** Generic transmission transport header
*/
Expand All @@ -102,6 +103,7 @@ struct transport_tx {
overrun_t overrun; ///< overrun
count_bytes_t count_bytes; ///< count bytes to send
void *impl; ///< pointer to parent implementation
put_priority_t put_priority; ///< set a message priority
};

#ifdef __cplusplus
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1 change: 1 addition & 0 deletions tools/generator/gen_messages_v1_0_c.py
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Expand Up @@ -69,6 +69,7 @@ def generate_messages_h(directory, name, xml):
if (trans->check_available_space(trans->impl, dev, _FD_ADDR, trans->size_of(trans->impl, 0${{fields:${array_extra_length}+${length}}} +2 /* msg header overhead */))) {
trans->count_bytes(trans->impl, dev, trans->size_of(trans->impl, 0${{fields:${array_extra_length}+${length}}} +2 /* msg header overhead */));
trans->start_message(trans->impl, dev, _FD, 0${{fields:${array_extra_length}+${length}}} +2 /* msg header overhead */);
trans->put_priority(trans->impl, dev, _FD, ${msg_priority} /* msg priority */);
trans->put_bytes(trans->impl, dev, _FD, DL_TYPE_UINT8, DL_FORMAT_SCALAR, &ac_id, 1);
trans->put_named_byte(trans->impl, dev, _FD, DL_TYPE_UINT8, DL_FORMAT_SCALAR, DL_${msg_name}, "${msg_name}");
${{fields:${array_byte}trans->put_bytes(trans->impl, dev, _FD, DL_TYPE_${type_upper}, ${dl_format}, (void *) _${field_name}, ${length});
Expand Down
3 changes: 2 additions & 1 deletion tools/generator/gen_messages_v2_0_c.py
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Expand Up @@ -134,6 +134,7 @@ def generate_one(directory, xml, m):
if (msg->trans->check_available_space(msg, _FD_ADDR, size)) {
msg->trans->count_bytes(msg, size);
msg->trans->start_message(msg, _FD, /* msg header overhead */4${{fields:${array_extra_length}+${length}}});
msg->trans->put_priority(msg, _FD, ${msg_priority} /* msg priority */);
msg->trans->put_bytes(msg, _FD, DL_TYPE_UINT8, DL_FORMAT_SCALAR, &(msg->sender_id), 1);
msg->trans->put_named_byte(msg, _FD, DL_TYPE_UINT8, DL_FORMAT_SCALAR, msg->receiver_id, NULL);
uint8_t comp_class = (msg->component_id & 0x0F) << 4 | (${class_id} & 0x0F);
Expand Down Expand Up @@ -195,7 +196,7 @@ def generate_one(directory, xml, m):

#endif // _VAR_MESSAGES_${class_name}_${msg_name}_H_

''', {'msg_name' : m.msg_name, 'description' : m.description ,'class_id' : xml.class_id, 'class_name' : xml.class_name, 'id' : m.id, 'fields' : m.fields, 'message' : xml.message})
''', {'msg_name' : m.msg_name, 'description' : m.description ,'class_id' : xml.class_id, 'class_name' : xml.class_name, 'id' : m.id, 'fields' : m.fields, 'message' : xml.message, 'msg_priority': m.msg_priority})


def generate(output, xml):
Expand Down
6 changes: 4 additions & 2 deletions tools/generator/pprz_parse.py
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Expand Up @@ -76,9 +76,10 @@ def __init__(self, name, type, xml, description=''):


class PPRZMsg(object):
def __init__(self, name, id, linenumber, description=''):
def __init__(self, name, id, linenumber, description='', priority=1):
self.msg_name = name
self.linenumber = linenumber
self.msg_priority = priority
self.id = int(id)
self.description = description
self.fields = []
Expand Down Expand Up @@ -131,7 +132,8 @@ def start_element(name, attrs):
elif in_element == "protocol.msg_class.message":
check_attrs(attrs, ['name', 'id'], 'message')
if self.current_class == self.class_name:
self.message.append(PPRZMsg(attrs['name'], attrs['id'], p.CurrentLineNumber))
priority = attrs['priority'] if 'priority' in attrs else 1
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probably easier to write priority = attrs.get('priority', 1)

self.message.append(PPRZMsg(attrs['name'], attrs['id'], p.CurrentLineNumber, priority=int(priority)))
elif in_element == "protocol.msg_class.message.field":
check_attrs(attrs, ['name', 'type'], 'field')
if self.current_class == self.class_name:
Expand Down
2 changes: 2 additions & 0 deletions tools/generator/pprz_schema.xsd
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Expand Up @@ -19,6 +19,7 @@
<xs:attribute name="link" type="xs:string"/> <!-- message -->
<xs:attribute name="format" type="xs:string"/> <!-- field -->
<xs:attribute name="unit" type="xs:string"/> <!-- field -->
<xs:attribute name="priority" type="xs:byte"/> <!-- message -->
<xs:attribute name="alt_unit" type="xs:string"/> <!-- field -->
<xs:attribute name="alt_unit_coef" type="xs:string"/> <!-- field (FIXME: should be decimal AND scientific notation, allow all strings as workaround for now -->
<xs:attribute name="values" type="xs:string"/> <!-- field -->
Expand Down Expand Up @@ -67,6 +68,7 @@
<xs:attribute ref="name" use="required"/>
<xs:attribute ref="id" use="required"/>
<xs:attribute ref="link"/>
<xs:attribute ref="priority"/>
</xs:complexType>
</xs:element>

Expand Down