Add optional priority attribute for messages

lib/v1.0/C/ivy_transport.c

@@ -32,6 +32,9 @@
 #include <stdio.h>
 #include <Ivy/ivy.h>
 
+static void put_priority(struct ivy_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)),
+                         long fd __attribute__((unused)), uint8_t prio __attribute__((unused))) {}
+
 static void put_bytes(struct ivy_transport *trans, struct link_device *dev __attribute__((unused)), long fd __attribute__((unused)),
                       enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
                       const void *bytes, uint16_t len)
@@ -196,4 +199,5 @@ void ivy_transport_init(struct ivy_transport *t)
   t->device.char_available = (char_available_t) null_function;
   t->device.get_byte = (get_byte_t) null_function;
   t->device.periph = (void *)(t);
+  t->trans_tx.put_priority = (put_priority_t) put_priority;
 }

lib/v1.0/C/pprz_transport.c

@@ -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)
@@ -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;
 }
 
 

lib/v1.0/C/pprzlog_transport.c

@@ -51,6 +51,9 @@ static void accumulate_checksum(struct pprzlog_transport *trans, const uint8_t b
   trans->ck += byte;
 }
 
+static void put_priority(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)),
+                         long fd __attribute__((unused)), uint8_t prio __attribute__((unused))) {}
+
 static void put_bytes(struct pprzlog_transport *trans, struct link_device *dev, long fd,
                       enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
                       const void *bytes, uint16_t len)
@@ -122,5 +125,6 @@ void pprzlog_transport_init(struct pprzlog_transport *t, get_time_usec_t get_tim
   t->trans_tx.count_bytes = (count_bytes_t) count_bytes;
   t->trans_tx.impl = (void *)(t);
   t->get_time_usec = get_time_usec;
+  t->trans_tx.put_priority = (put_priority_t) put_priority;
 }
 

lib/v1.0/C/short_transport.c

@@ -29,6 +29,9 @@
 #include <inttypes.h>
 #include "pprzlink/short_transport.h"
 
+static void put_priority(struct short_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)),
+                         long fd __attribute__((unused)), uint8_t prio __attribute__((unused))) {}
+
 static void put_bytes(struct short_transport *trans __attribute__((unused)), struct link_device *dev, long fd,
                       enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
                       const void *bytes, uint16_t len)
@@ -86,5 +89,6 @@ void short_transport_init(struct short_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;
 }
 

lib/v1.0/C/xbee_transport.c

@@ -90,6 +90,9 @@
 
 /** Xbee protocol implementation */
 
+static void put_priority(struct xbee_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)),
+                         long fd __attribute__((unused)), uint8_t prio __attribute__((unused))) {}
+
 static void accumulate_checksum(struct xbee_transport *trans, const uint8_t byte)
 {
   trans->cs_tx += byte;
@@ -218,6 +221,7 @@ void xbee_transport_init(struct xbee_transport *t, struct link_device *dev, uint
   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;
 
   // Empty buffer before init process
   while (dev->char_available(dev->periph)) {

lib/v2.0/C/ivy_transport.c

@@ -37,6 +37,9 @@ static struct ivy_transport * get_ivy_trans(struct pprzlink_msg *msg)
   return (struct ivy_transport *)(msg->trans->impl);
 }
 
+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 __attribute__((unused)),
                       enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)),
                       const void *bytes, uint16_t len)
@@ -204,4 +207,5 @@ void ivy_transport_init(struct ivy_transport *t)
   t->device.char_available = (char_available_t) null_function;
   t->device.get_byte = (get_byte_t) null_function;
   t->device.periph = (void *)(t);
+  t->trans_tx.put_priority = (put_priority_t) put_priority;
 }

lib/v2.0/C/pprz_transport.c

@@ -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)
@@ -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;
 }
 
 

lib/v2.0/C/pprzlog_transport.c

@@ -51,6 +51,9 @@ static struct pprzlog_transport * get_pprzlog_trans(struct pprzlink_msg *msg)
   return (struct pprzlog_transport *)(msg->trans->impl);
 }
 
+static void put_priority(struct pprzlink_msg *msg __attribute__((unused)), long fd __attribute__((unused)),
+                         uint8_t prio __attribute__((unused))) {}
+
 static void accumulate_checksum(struct pprzlog_transport *trans, const uint8_t byte)
 {
   trans->ck += byte;
@@ -124,5 +127,6 @@ void pprzlog_transport_init(struct pprzlog_transport *t, get_time_usec_t get_tim
   t->trans_tx.count_bytes = (count_bytes_t) count_bytes;
   t->trans_tx.impl = (void *)(t);
   t->get_time_usec = get_time_usec;
+  t->trans_tx.put_priority = (put_priority_t) put_priority;
 }
 

lib/v2.0/C/short_transport.c

@@ -29,6 +29,9 @@
 #include <inttypes.h>
 #include "pprzlink/short_transport.h"
 
+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)
@@ -83,5 +86,6 @@ void short_transport_init(struct short_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;
 }
 

lib/v2.0/C/xbee_transport.c

@@ -115,6 +115,9 @@ static void set_xbee_receiver_addr(uint8_t *buf, uint8_t offset, uint8_t addr)
   buf[offset+1] = (receiver & 0xFF);
 }
 
+static void put_priority(struct pprzlink_msg *msg __attribute__((unused)), long fd __attribute__((unused)),
+                         uint8_t prio __attribute__((unused))) {}
+
 static void accumulate_checksum(struct xbee_transport *trans, const uint8_t byte)
 {
   trans->cs_tx += byte;
@@ -243,6 +246,7 @@ void xbee_transport_init(struct xbee_transport *t, struct link_device *dev, uint
   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;
 
   // Empty buffer before init process
   while (dev->char_available(dev->periph)) {

message_definitions/v1.0/messages.dtd

@@ -12,6 +12,7 @@
   name CDATA #REQUIRED
   id   CDATA #REQUIRED
   link CDATA #IMPLIED
+  priority CDATA #IMPLIED
 >
 
 <!ELEMENT description (#PCDATA)>

message_definitions/v1.0/messages.xml

@@ -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>
 
@@ -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"/>
@@ -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"/>
@@ -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"/>

message_definitions/v1.0/pprz_schema.xsd

@@ -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 -->
@@ -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>
 

tools/generator/C/include_v1.0/pprzlink_transport.h

@@ -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
  */
@@ -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

tools/generator/C/include_v2.0/pprzlink_transport.h

@@ -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
  */
@@ -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

tools/generator/gen_messages_v1_0_c.py

@@ -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});

tools/generator/gen_messages_v2_0_c.py

@@ -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);
@@ -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):

tools/generator/pprz_parse.py

@@ -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 = []
@@ -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.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:

tools/generator/pprz_schema.xsd

@@ -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 -->
@@ -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>