From 739db562900b850ecc13918586ad35ba303e6980 Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Tue, 12 Sep 2023 07:19:16 +0000
Subject: [PATCH] [CanProtocol] Added thread priority as parameter
---
src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp | 9 +++++----
src/shared/drivers/canbus/CanProtocol/CanProtocol.h | 4 +++-
.../drivers/canbus/CanProtocol/test-can-protocol.cpp | 2 +-
3 files changed, 9 insertions(+), 6 deletions(-)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
index c2714aedf..a58beed63 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -30,8 +30,9 @@ namespace Boardcore
namespace Canbus
{
-CanProtocol::CanProtocol(CanbusDriver* can, MsgHandler onReceive)
- : can(can), onReceive(onReceive)
+CanProtocol::CanProtocol(CanbusDriver* can, MsgHandler onReceive,
+ miosix::Priority threadPriority)
+ : can(can), onReceive(onReceive), threadPriority(threadPriority)
{
}
@@ -46,7 +47,7 @@ bool CanProtocol::start()
if (!sndStarted)
{
sndThread = miosix::Thread::create(
- sndLauncher, skywardStack(4 * 1024), miosix::MAIN_PRIORITY,
+ sndLauncher, skywardStack(4 * 1024), threadPriority,
reinterpret_cast<void*>(this), miosix::Thread::JOINABLE);
if (sndThread != nullptr)
@@ -59,7 +60,7 @@ bool CanProtocol::start()
if (!rcvStarted)
{
rcvThread = miosix::Thread::create(rcvLauncher, skywardStack(4 * 1024),
- miosix::MAIN_PRIORITY,
+ threadPriority,
reinterpret_cast<void*>(this));
if (rcvThread != nullptr)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
index 3df511ecd..0f437a53d 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -55,7 +55,8 @@ public:
*
* @param can Pointer to a CanbusDriver object.
*/
- CanProtocol(CanbusDriver* can, MsgHandler onReceive);
+ CanProtocol(CanbusDriver* can, MsgHandler onReceive,
+ miosix::Priority threadPriority);
/**
* @brief Start the receiving and sending threads.
@@ -180,6 +181,7 @@ private:
miosix::Thread* sndThread = nullptr;
miosix::Thread* rcvThread = nullptr;
+ miosix::Priority threadPriority;
SyncCircularBuffer<CanMessage, 10> outQueue;
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
index 686ebd184..799338d4d 100644
--- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol.cpp
@@ -70,7 +70,7 @@ int main()
CanbusDriver* driver2 = new CanbusDriver(CAN2, config, bitTiming);
// // Prepare the can driver
- CanProtocol protocol(driver2, print);
+ CanProtocol protocol(driver2, print, miosix::MAIN_PRIORITY);
// Add a filter to allow every message
Mask32FilterBank f2(0, 0, 1, 1, 0, 0, 0);
--
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