Allow priority-based message selection. More...

#include <priority_carrier/PriorityCarrier.h>

Inheritance diagram for PriorityCarrier:

Public Member Functions
	PriorityCarrier ()

virtual	~PriorityCarrier ()

Carrier *	create () const override
	Factory method.

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

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

bool	isResting (double priority)

void	stimulate (double t)

double	getActualStimulation (double t)

double	getActualInput (double t)

bool	configure (yarp::os::ConnectionState &proto) override
	Give carrier a shot at looking at how the connection is set up.

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

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

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

Public Member Functions inherited from yarp::os::ModifyingCarrier
bool	checkHeader (const yarp::os::Bytes &header) override
	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.

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

bool	respondToHeader (yarp::os::ConnectionState &proto) override
	Respond to the header.

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

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

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

bool	configureFromProperty (yarp::os::Property &prop) override

Public Member Functions inherited from yarp::os::AbstractCarrier
void	setParameters (const yarp::os::Bytes &header) override
	Configure this carrier based on the first 8 bytes of the connection.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	close ()
	Close the carrier.

virtual	~Carrier ()
	Destructor.

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.

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

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

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

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

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

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

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

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

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

Public Attributes
double	timeConstant

double	timeResting

double	stimulation

double	temporalStimulation

double	timeArrival

bool	isVirtual

bool	isActive

double	bias

yarp::os::Bottle	excitation

std::string	sourceName

double	yi

Friends
class	PriorityDebugThread

Additional Inherited Members
Protected Member Functions inherited from yarp::os::AbstractCarrier
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.

bool	sendConnectionStateSpecifier (ConnectionState &proto)

bool	sendSenderSpecifier (ConnectionState &proto)

Static Protected Member Functions inherited from yarp::os::AbstractCarrier
static int	interpretYarpNumber (const yarp::os::Bytes &b)

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

Detailed Description

Allow priority-based message selection.

Under development. Affected by carrier modifiers. Examples: tcp+recv.priority+level.15

Definition at line 75 of file PriorityCarrier.h.

Constructor & Destructor Documentation

◆ PriorityCarrier()

PriorityCarrier::PriorityCarrier ( )

inline

Definition at line 84 of file PriorityCarrier.h.

◆ ~PriorityCarrier()

virtual PriorityCarrier::~PriorityCarrier ( )

inlinevirtual

Definition at line 100 of file PriorityCarrier.h.

Member Function Documentation

◆ acceptIncomingData()

bool PriorityCarrier::acceptIncomingData ( yarp::os::ConnectionReader & reader )

overridevirtual

Determine whether incoming data should be accepted.

Parameters

reader for incoming data.

Returns: true if data should be accepted, false if it should be discarded.

Reimplemented from yarp::os::Carrier.

Definition at line 51 of file PriorityCarrier.cpp.

◆ configure()

bool PriorityCarrier::configure ( yarp::os::ConnectionState & proto )

overridevirtual

Give carrier a shot at looking at how the connection is set up.

Returns: true if the carrier was correctly configured.

Reimplemented from yarp::os::Carrier.

Definition at line 60 of file PriorityCarrier.cpp.

◆ create()

Carrier * PriorityCarrier::create ( ) const

inlineoverridevirtual

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::ModifyingCarrier.

Definition at line 107 of file PriorityCarrier.h.

◆ getActualInput()

double PriorityCarrier::getActualInput ( double t )

Definition at line 202 of file PriorityCarrier.cpp.

◆ getActualStimulation()

double PriorityCarrier::getActualStimulation ( double t )

Definition at line 133 of file PriorityCarrier.cpp.

◆ getCarrierParams()

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

inlineoverridevirtual

Get carrier configuration and deliver it by port administrative commands.

Parameters

params output carrier properties

Reimplemented from yarp::os::ModifyingCarrier.

Definition at line 163 of file PriorityCarrier.h.

◆ getName()

std::string PriorityCarrier::getName ( ) const

inlineoverridevirtual

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

Returns: the name of this connection type

Implements yarp::os::ModifyingCarrier.

Definition at line 111 of file PriorityCarrier.h.

◆ isResting()

bool PriorityCarrier::isResting ( double priority )

inline

Definition at line 119 of file PriorityCarrier.h.

◆ setCarrierParams()

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

inlineoverridevirtual

Configure carrier from port administrative commands.

Parameters

params carrier properties

Reimplemented from yarp::os::ModifyingCarrier.

Definition at line 151 of file PriorityCarrier.h.

◆ stimulate()

void PriorityCarrier::stimulate ( double t )

inline

Definition at line 125 of file PriorityCarrier.h.

◆ toString()

std::string PriorityCarrier::toString ( ) const

inlineoverridevirtual

Get name of carrier.

Returns: name of carrier.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 115 of file PriorityCarrier.h.

Friends And Related Symbol Documentation

◆ PriorityDebugThread

friend class PriorityDebugThread

friend

Definition at line 80 of file PriorityCarrier.h.

Member Data Documentation

◆ bias

double PriorityCarrier::bias

Definition at line 182 of file PriorityCarrier.h.

◆ excitation

yarp::os::Bottle PriorityCarrier::excitation

Definition at line 183 of file PriorityCarrier.h.

◆ isActive

bool PriorityCarrier::isActive

Definition at line 181 of file PriorityCarrier.h.

◆ isVirtual

bool PriorityCarrier::isVirtual

Definition at line 180 of file PriorityCarrier.h.

◆ sourceName

std::string PriorityCarrier::sourceName

Definition at line 184 of file PriorityCarrier.h.

◆ stimulation

double PriorityCarrier::stimulation

Definition at line 177 of file PriorityCarrier.h.

◆ temporalStimulation

double PriorityCarrier::temporalStimulation

Definition at line 178 of file PriorityCarrier.h.

◆ timeArrival

double PriorityCarrier::timeArrival

Definition at line 179 of file PriorityCarrier.h.

◆ timeConstant

double PriorityCarrier::timeConstant

Definition at line 175 of file PriorityCarrier.h.

◆ timeResting

double PriorityCarrier::timeResting

Definition at line 176 of file PriorityCarrier.h.

◆ yi

double PriorityCarrier::yi

Definition at line 186 of file PriorityCarrier.h.

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

src/carriers/priority_carrier/PriorityCarrier.h
src/carriers/priority_carrier/PriorityCarrier.cpp

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PriorityCarrier()

◆ ~PriorityCarrier()

Member Function Documentation

◆ acceptIncomingData()

◆ configure()

◆ create()

◆ getActualInput()

◆ getActualStimulation()

◆ getCarrierParams()

◆ getName()

◆ isResting()

◆ setCarrierParams()

◆ stimulate()

◆ toString()

Friends And Related Symbol Documentation

◆ PriorityDebugThread

Member Data Documentation

◆ bias

◆ excitation

◆ isActive

◆ isVirtual

◆ sourceName

◆ stimulation

◆ temporalStimulation

◆ timeArrival

◆ timeConstant

◆ timeResting

◆ yi