add documentation to Priority DSL and util

src/dsl/word/Priority.hpp

@@ -32,36 +32,24 @@ namespace dsl {
         /**
          * Task priority can be controlled using an assigned setting.
          *
-         * @code on<Trigger<T, ...>, Priority::HIGH>() @endcode
+         * @code on<Trigger<T, ...>, Priority<util::Priority::HIGH>>() @endcode
          * The PowerPlant uses this setting to determine the scheduling order in the threadpool, as well as assign a
          * priority to the thread on the OS.
          *
          * The available priority settings are:
          *
-         * <b>REALTIME:</b>  Tasks assigned with this will be queued with all other REALTIME tasks.
-         *
+         * <b>HIGHEST:</b>
          * <b>HIGH:</b>
-         * Tasks assigned with this will be queued with all other HIGH tasks.
-         * They will be scheduled for execution when there are no REALTIME tasks in the queue.
-         *
          * <b>NORMAL:</b>
-         * Tasks assigned with this will be queued with all other NORMAL tasks.
-         * They will be scheduled for execution when there are no REALTIME and HIGH tasks in the queue.
-         *
          * <b>LOW:</b>
-         * Tasks assigned with this will be queued with all other LOW tasks.
-         * They will be scheduled for execution when there are no REALTIME, HIGH and NORMAL tasks in the queue.
-         *
-         * <b>IDLE:</b>
-         * Tasks assigned with this priority will be queued with all other IDLE tasks.
-         * They will be scheduled for execution when there are no other tasks running in the system.
+         * <b>LOWEST:</b>
          *
          * @par Default Behaviour
          *  @code on<Trigger<T>>() @endcode
          *  When the priority is not specified, tasks will be assigned a default setting; NORMAL.
          *
          * @attention
-         *  If the OS allows the user to set thread priority, this word can also be used to assign the priority of the
+         *  If the OS allows the user to set thread priority, this word will also be used to assign the priority of the
          *  thread in its runtime environment.
          *
          * @par Implements

src/util/Priority.hpp

@@ -30,13 +30,18 @@
 namespace NUClear {
 namespace util {
 
+    /**
+     * The priority value for Priority dsl word
+     */
     enum class Priority : uint8_t { LOWEST = 0, LOW = 1, NORMAL = 2, HIGH = 3, HIGHEST = 4 };
+    /**
+     * Gets one lower priority unless already lowest
+     */
     inline Priority prev(Priority value) {
         value = static_cast<Priority>(static_cast<std::underlying_type_t<Priority>>(value) - 1);
         value = std::min(value, Priority::LOWEST);
         return value;
     }
-    constexpr Priority MAX_PRIORITY = Priority::HIGHEST;
 
 }  // namespace util
 }  // namespace NUClear

src/util/update_current_thread_priority.hpp

@@ -33,7 +33,7 @@ inline void update_current_thread_priority(NUClear::util::Priority priority) {
     auto priority_int = static_cast<std::underlying_type_t<NUClear::util::Priority>>(priority);
 
     auto step = (sched_get_priority_max(SCHED_RR) - sched_get_priority_min(SCHED_RR))
-                / static_cast<std::underlying_type_t<NUClear::util::Priority>>(NUClear::util::MAX_PRIORITY);
+                / static_cast<std::underlying_type_t<NUClear::util::Priority>>(NUClear::util::Priority::HIGHEST);
     auto sched_priority = priority_int * step;
 
     sched_param p{};