A starter class for implementing simple carriers. More...

#include <yarp/os/AbstractCarrier.h>

Inheritance diagram for yarp::os::AbstractCarrier:

Detailed Description

A starter class for implementing simple carriers.

It implements reasonable default behavior.

Definition at line 24 of file AbstractCarrier.h.

Public Member Functions

Carrier *	create () const override=0
	Factory method. More...

std::string	getName () const override=0
	Get the name of this connection type ("tcp", "mcast", "shmem", ...) More...

bool	checkHeader (const yarp::os::Bytes &header) override=0
	Given the first 8 bytes received on a connection, decide if this is the right carrier type to use for the rest of the connection. More...

void	setParameters (const yarp::os::Bytes &header) override
	Configure this carrier based on the first 8 bytes of the connection. More...

void	getHeader (yarp::os::Bytes &header) const override=0
	Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. More...

void	setCarrierParams (const yarp::os::Property &params) override
	Configure carrier from port administrative commands. More...

void	getCarrierParams (yarp::os::Property &params) const override
	Get carrier configuration and deliver it by port administrative commands. More...


bool	isConnectionless () const override
	Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). More...

bool	supportReply () const override
	This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies. More...

bool	canAccept () const override
	Check if reading is implemented for this carrier. More...

bool	canOffer () const override
	Check if writing is implemented for this carrier. More...

bool	isTextMode () const override
	Check if carrier is textual in nature. More...

bool	requireAck () const override
	Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. More...

bool	canEscape () const override
	Check if carrier can encode administrative messages, as opposed to just user data. More...

bool	isLocal () const override
	Check if carrier operates within a single process. More...

std::string	toString () const override
	Get name of carrier. More...

bool	isActive () const override
	Check if carrier is alive and error free. More...


bool	prepareSend (ConnectionState &proto) override
	Perform any initialization needed before writing on a connection. More...

bool	sendHeader (ConnectionState &proto) override
	Write a header appropriate to the carrier to the connection, followed by any carrier-specific data. More...

bool	expectReplyToHeader (ConnectionState &proto) override
	Process reply to header, if one is expected for this carrier. More...

virtual bool	sendIndex (ConnectionState &proto, SizedWriter &writer)


bool	expectExtraHeader (ConnectionState &proto) override
	Receive any carrier-specific header. More...

bool	respondToHeader (ConnectionState &proto) override=0
	Respond to the header. More...

bool	expectIndex (ConnectionState &proto) override
	Expect a message header, if there is one for this carrier. More...

bool	expectSenderSpecifier (ConnectionState &proto) override
	Expect the name of the sending port. More...

bool	sendAck (ConnectionState &proto) override
	Send an acknowledgement, if needed for this carrier. More...

bool	expectAck (ConnectionState &proto) override
	Receive an acknowledgement, if expected for this carrier. More...


bool	defaultSendHeader (ConnectionState &proto)
	Default implementation for the sendHeader method. More...

bool	defaultExpectIndex (ConnectionState &proto)
	Default implementation for the expectIndex method. More...

bool	defaultSendIndex (ConnectionState &proto, SizedWriter &writer)
	Default implementation for the sendIndex method. More...

bool	defaultExpectAck (ConnectionState &proto)
	Default implementation for the expectAck method. More...

bool	defaultSendAck (ConnectionState &proto)
	Default implementation for the sendAck method. More...

int	readYarpInt (ConnectionState &proto)
	Read 8 bytes and interpret them as a YARP number. More...

void	writeYarpInt (int n, ConnectionState &proto)
	Write `n` as an 8 bytes yarp number. More...

Public Member Functions inherited from yarp::os::Carrier
bool	isBroadcast () const override
	Check if this carrier uses a broadcast mechanism. More...

void	handleEnvelope (const std::string &envelope) override
	Carriers that do not distinguish data from administrative headers (i.e. More...

bool	isPush () const override
	Check if carrier is "push" or "pull" style. More...

virtual bool	reply (ConnectionState &proto, SizedWriter &writer)

void	prepareDisconnect () override
	Do cleanup and preparation for the coming disconnect, if necessary. More...

virtual void	close ()
	Close the carrier. More...

virtual	~Carrier ()
	Destructor. More...

virtual std::string	getBootstrapCarrierName () const
	Get the name of the carrier that should be used prior to handshaking, if a port is registered with this carrier as its default carrier. More...

virtual int	connect (const Contact &src, const Contact &dest, const ContactStyle &style, int mode, bool reversed)
	Some carrier types may require special connection logic. More...

bool	modifiesIncomingData () const override
	Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method. More...

ConnectionReader &	modifyIncomingData (ConnectionReader &reader) override
	Modify incoming payload data, if appropriate. More...

bool	acceptIncomingData (ConnectionReader &reader) override
	Determine whether incoming data should be accepted. More...

bool	modifiesOutgoingData () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method. More...

const PortWriter &	modifyOutgoingData (const PortWriter &writer) override
	Modify outgoing payload data, if appropriate. More...

bool	modifiesReply () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyReply method. More...

PortReader &	modifyReply (PortReader &reader) override
	Modify reply payload data, if appropriate. More...

bool	acceptOutgoingData (const PortWriter &writer) override
	Determine whether outgoing data should be accepted. More...

virtual bool	configure (ConnectionState &proto)
	Give carrier a shot at looking at how the connection is set up. More...

virtual bool	configureFromProperty (yarp::os::Property &options)

void	setCarrierParams (const Property &params) override
	Configure carrier from port administrative commands. More...

void	getCarrierParams (Property &params) const override
	Get carrier configuration and deliver it by port administrative commands. More...

virtual yarp::os::Face *	createFace () const
	Create new Face object that the carrier needs. More...

Public Member Functions inherited from yarp::os::Connection
virtual	~Connection ()
	Destructor. More...

virtual bool	isValid () const
	Check if this object is really a connection, or just an empty placeholder. More...

virtual bool	isBareMode () const
	Check if carrier excludes type information from payload. More...

Protected Member Functions

int	getSpecifier (const Bytes &b) const

void	createStandardHeader (int specifier, yarp::os::Bytes &header) const

bool	write (ConnectionState &proto, SizedWriter &writer) override
	Write a message. More...

bool	sendConnectionStateSpecifier (ConnectionState &proto)

bool	sendSenderSpecifier (ConnectionState &proto)

Static Protected Member Functions

static int	interpretYarpNumber (const yarp::os::Bytes &b)

static void	createYarpNumber (int x, yarp::os::Bytes &header)

Member Function Documentation

◆ canAccept()

bool AbstractCarrier::canAccept ( ) const

overridevirtual

Check if reading is implemented for this carrier.

Returns: true if carrier can read messages

Implements yarp::os::Carrier.

Definition at line 39 of file AbstractCarrier.cpp.

◆ canEscape()

bool AbstractCarrier::canEscape ( ) const

overridevirtual

Check if carrier can encode administrative messages, as opposed to just user data.

The word escape is used in the sense of escape character or escape sequence here.

Returns: true if carrier can encode administrative messages

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, and MpiCarrier.

Definition at line 59 of file AbstractCarrier.cpp.

◆ canOffer()

bool AbstractCarrier::canOffer ( ) const

overridevirtual

Check if writing is implemented for this carrier.

Returns: true if carrier can write messages

Implements yarp::os::Carrier.

Definition at line 44 of file AbstractCarrier.cpp.

◆ checkHeader()

bool yarp::os::AbstractCarrier::checkHeader ( const yarp::os::Bytes & header )

overridepure virtual

Given the first 8 bytes received on a connection, decide if this is the right carrier type to use for the rest of the connection.

For example the "text" carrier looks for the 8-byte sequence "CONNECT ". See the YARP protocol documentation for all the sequences in use here. In general you are free to add your own.

Parameters

header a buffer holding the first 8 bytes received on the connection

Returns: true if this is the carrier to use.

Implements yarp::os::Carrier.

Implemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, ShmemCarrier, and yarp::os::ModifyingCarrier.

◆ create()

Carrier* yarp::os::AbstractCarrier::create ( ) const

overridepure virtual

Factory method.

Get a new object of the same type as this one.

Returns: a new object of the same type as this one.

Implements yarp::os::Carrier.

Implemented in yarp::os::impl::HttpCarrier, PriorityCarrier, yarp::os::impl::LocalCarrier, BayerCarrier, yarp::os::impl::NameserCarrier, PortMonitor, yarp::os::impl::McastCarrier, MpiBcastCarrier, MpiP2PCarrier, MpiCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, yarp::os::ModifyingCarrier, and ShmemCarrier.

◆ createStandardHeader()

void AbstractCarrier::createStandardHeader	(	int	specifier,
		yarp::os::Bytes &	header
	)		const

protected

Definition at line 173 of file AbstractCarrier.cpp.

◆ createYarpNumber()

void AbstractCarrier::createYarpNumber	(	int	x,
		yarp::os::Bytes &	header
	)

staticprotected

Definition at line 378 of file AbstractCarrier.cpp.

◆ defaultExpectAck()

bool AbstractCarrier::defaultExpectAck ( ConnectionState & proto )

Default implementation for the expectAck method.

Definition at line 243 of file AbstractCarrier.cpp.

◆ defaultExpectIndex()

bool AbstractCarrier::defaultExpectIndex ( ConnectionState & proto )

Default implementation for the expectIndex method.

Definition at line 267 of file AbstractCarrier.cpp.

◆ defaultSendAck()

bool AbstractCarrier::defaultSendAck ( ConnectionState & proto )

Default implementation for the sendAck method.

Definition at line 336 of file AbstractCarrier.cpp.

◆ defaultSendHeader()

bool AbstractCarrier::defaultSendHeader ( ConnectionState & proto )

Default implementation for the sendHeader method.

Definition at line 189 of file AbstractCarrier.cpp.

◆ defaultSendIndex()

bool AbstractCarrier::defaultSendIndex	(	ConnectionState &	proto,
		SizedWriter &	writer
	)

Default implementation for the sendIndex method.

Definition at line 224 of file AbstractCarrier.cpp.

◆ expectAck()

bool AbstractCarrier::expectAck ( ConnectionState & proto )

overridevirtual

Receive an acknowledgement, if expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, MpiCarrier, yarp::os::impl::NameserCarrier, and yarp::os::impl::TextCarrier.

Definition at line 144 of file AbstractCarrier.cpp.

◆ expectExtraHeader()

bool AbstractCarrier::expectExtraHeader ( ConnectionState & proto )

overridevirtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::LocalCarrier, and yarp::os::impl::McastCarrier.

Definition at line 97 of file AbstractCarrier.cpp.

◆ expectIndex()

bool AbstractCarrier::expectIndex ( ConnectionState & proto )

overridevirtual

Expect a message header, if there is one for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, and yarp::os::impl::TextCarrier.

Definition at line 103 of file AbstractCarrier.cpp.

◆ expectReplyToHeader()

bool AbstractCarrier::expectReplyToHeader ( ConnectionState & proto )

overridevirtual

Process reply to header, if one is expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiBcastCarrier, MpiCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, and ShmemCarrier.

Definition at line 86 of file AbstractCarrier.cpp.

◆ expectSenderSpecifier()

bool AbstractCarrier::expectSenderSpecifier ( ConnectionState & proto )

overridevirtual

Expect the name of the sending port.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, and yarp::os::impl::TextCarrier.

Definition at line 108 of file AbstractCarrier.cpp.

◆ getCarrierParams()

void AbstractCarrier::getCarrierParams ( yarp::os::Property & params ) const

overridevirtual

Get carrier configuration and deliver it by port administrative commands.

Parameters

params output carrier properties

Implements yarp::os::Connection.

Reimplemented in PriorityCarrier, PortMonitor, and yarp::os::ModifyingCarrier.

Definition at line 159 of file AbstractCarrier.cpp.

◆ getHeader()

void yarp::os::AbstractCarrier::getHeader ( yarp::os::Bytes & header ) const

overridepure virtual

Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it.

Parameters

header a buffer to hold the first 8 bytes to send on a connection

Implements yarp::os::Carrier.

Implemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, ShmemCarrier, and yarp::os::ModifyingCarrier.

◆ getName()

std::string yarp::os::AbstractCarrier::getName ( ) const

overridepure virtual

Get the name of this connection type ("tcp", "mcast", "shmem", ...)

Returns: the name of this connection type

Implements yarp::os::Connection.

Implemented in yarp::os::impl::HttpCarrier, PriorityCarrier, yarp::os::impl::LocalCarrier, BayerCarrier, PortMonitor, yarp::os::impl::NameserCarrier, MpiP2PCarrier, MpiBcastCarrier, yarp::os::impl::McastCarrier, MpiCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, yarp::os::ModifyingCarrier, and ShmemCarrier.

◆ getSpecifier()

int AbstractCarrier::getSpecifier ( const Bytes & b ) const

protected

Definition at line 164 of file AbstractCarrier.cpp.

◆ interpretYarpNumber()

int AbstractCarrier::interpretYarpNumber ( const yarp::os::Bytes & b )

staticprotected

Definition at line 365 of file AbstractCarrier.cpp.

◆ isActive()

bool AbstractCarrier::isActive ( ) const

overridevirtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Implements yarp::os::Carrier.

Reimplemented in BayerCarrier, MpiBcastCarrier, and yarp::os::impl::McastCarrier.

Definition at line 149 of file AbstractCarrier.cpp.

◆ isConnectionless()

bool AbstractCarrier::isConnectionless ( ) const

overridevirtual

Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp).

This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies. Replies are not supported by YARP on connectionless carriers.

Returns: true if carrier is connectionless

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::LocalCarrier, MpiCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, and ShmemCarrier.

Definition at line 28 of file AbstractCarrier.cpp.

◆ isLocal()

bool AbstractCarrier::isLocal ( ) const

overridevirtual

Check if carrier operates within a single process.

In such a case, YARP connections may get completely reorganized in order to optimize them.

Returns: true if carrier will only operate within a single process

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::LocalCarrier.

Definition at line 64 of file AbstractCarrier.cpp.

◆ isTextMode()

bool AbstractCarrier::isTextMode ( ) const

overridevirtual

Check if carrier is textual in nature.

Returns: true if carrier is text-based

Implements yarp::os::Carrier.

Reimplemented in BayerCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, and yarp::os::impl::TextCarrier.

Definition at line 49 of file AbstractCarrier.cpp.

◆ prepareSend()

bool AbstractCarrier::prepareSend ( ConnectionState & proto )

overridevirtual

Perform any initialization needed before writing on a connection.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 74 of file AbstractCarrier.cpp.

◆ readYarpInt()

int AbstractCarrier::readYarpInt ( ConnectionState & proto )

Read 8 bytes and interpret them as a YARP number.

Definition at line 345 of file AbstractCarrier.cpp.

◆ requireAck()

bool AbstractCarrier::requireAck ( ) const

overridevirtual

Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.

Returns: true if carrier requires acknowledgement.

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, and ShmemCarrier.

Definition at line 54 of file AbstractCarrier.cpp.

◆ respondToHeader()

bool yarp::os::AbstractCarrier::respondToHeader ( ConnectionState & proto )

overridepure virtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Implemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, ShmemCarrier, and yarp::os::ModifyingCarrier.

◆ sendAck()

bool AbstractCarrier::sendAck ( ConnectionState & proto )

overridevirtual

Send an acknowledgement, if needed for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, MpiCarrier, yarp::os::impl::NameserCarrier, and yarp::os::impl::TextCarrier.

Definition at line 139 of file AbstractCarrier.cpp.

◆ sendConnectionStateSpecifier()

bool AbstractCarrier::sendConnectionStateSpecifier ( ConnectionState & proto )

protected

Definition at line 198 of file AbstractCarrier.cpp.

◆ sendHeader()

bool AbstractCarrier::sendHeader ( ConnectionState & proto )

overridevirtual

Write a header appropriate to the carrier to the connection, followed by any carrier-specific data.

Must communicate at least the name of the originating port, if there is one.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, MpiCarrier, yarp::os::impl::McastCarrier, and yarp::os::impl::TextCarrier.

Definition at line 80 of file AbstractCarrier.cpp.

◆ sendIndex()

bool AbstractCarrier::sendIndex	(	ConnectionState &	proto,
		SizedWriter &	writer
	)

virtual

Reimplemented in yarp::os::impl::HttpCarrier, MpiCarrier, and yarp::os::impl::TextCarrier.

Definition at line 92 of file AbstractCarrier.cpp.

◆ sendSenderSpecifier()

bool AbstractCarrier::sendSenderSpecifier ( ConnectionState & proto )

protected

Definition at line 209 of file AbstractCarrier.cpp.

◆ setCarrierParams()

void AbstractCarrier::setCarrierParams ( const yarp::os::Property & params )

overridevirtual

Configure carrier from port administrative commands.

Parameters

params carrier properties

Implements yarp::os::Connection.

Reimplemented in PriorityCarrier, PortMonitor, and yarp::os::ModifyingCarrier.

Definition at line 154 of file AbstractCarrier.cpp.

◆ setParameters()

void AbstractCarrier::setParameters ( const yarp::os::Bytes & header )

overridevirtual

Configure this carrier based on the first 8 bytes of the connection.

This will only be called if checkHeader passed.

Parameters

header a buffer holding the first 8 bytes received on the connection

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, and ShmemCarrier.

Definition at line 22 of file AbstractCarrier.cpp.

◆ supportReply()

bool AbstractCarrier::supportReply ( ) const

overridevirtual

This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies.

Returns: true if carrier supports replies

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, MpiP2PCarrier, MpiBcastCarrier, MpiCarrier, and yarp::os::impl::TextCarrier.

Definition at line 34 of file AbstractCarrier.cpp.

◆ toString()

std::string AbstractCarrier::toString ( ) const

overridevirtual

Get name of carrier.

Returns: name of carrier.

Implements yarp::os::Carrier.

Reimplemented in PriorityCarrier, BayerCarrier, and PortMonitor.

Definition at line 69 of file AbstractCarrier.cpp.

◆ write()

bool AbstractCarrier::write	(	ConnectionState &	proto,
		SizedWriter &	writer
	)

overrideprotectedvirtual

Write a message.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, and MpiCarrier.

Definition at line 178 of file AbstractCarrier.cpp.

◆ writeYarpInt()

void AbstractCarrier::writeYarpInt	(	int	n,
		ConnectionState &	proto
	)

Write n as an 8 bytes yarp number.

Definition at line 357 of file AbstractCarrier.cpp.

The documentation for this class was generated from the following files:

src/libYARP_OS/include/yarp/os/AbstractCarrier.h
src/libYARP_OS/src/AbstractCarrier.cpp

Detailed Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Member Function Documentation

◆ canAccept()

◆ canEscape()

◆ canOffer()

◆ checkHeader()

◆ create()

◆ createStandardHeader()

◆ createYarpNumber()

◆ defaultExpectAck()

◆ defaultExpectIndex()

◆ defaultSendAck()

◆ defaultSendHeader()

◆ defaultSendIndex()

◆ expectAck()

◆ expectExtraHeader()

◆ expectIndex()

◆ expectReplyToHeader()

◆ expectSenderSpecifier()

◆ getCarrierParams()

◆ getHeader()

◆ getName()

◆ getSpecifier()

◆ interpretYarpNumber()

◆ isActive()

◆ isConnectionless()

◆ isLocal()

◆ isTextMode()

◆ prepareSend()

◆ readYarpInt()

◆ requireAck()

◆ respondToHeader()

◆ sendAck()

◆ sendConnectionStateSpecifier()

◆ sendHeader()

◆ sendIndex()

◆ sendSenderSpecifier()

◆ setCarrierParams()

◆ setParameters()

◆ supportReply()

◆ toString()

◆ write()

◆ writeYarpInt()