#include <yarp/manager/yarpbroker.h>

Inheritance diagram for yarp::manager::YarpBroker:

Public Member Functions
	YarpBroker ()

	~YarpBroker () override

bool	init () override

bool	init (const char szcmd, const char szparam, const char szhost, const char szstdio, const char szworkdir, const char szenv) override

void	fini () override

bool	start () override

bool	stop () override

bool	kill () override

bool	connect (const std::string &from, const std::string &to, const std::string &carrier, bool persist=false) override
	connection broker

bool	disconnect (const std::string &from, const std::string &to, const std::string &carrier) override

bool	rmconnect (const std::string &from, const std::string &to)

int	running () override

bool	exists (const std::string &port) override

std::string	requestRpc (const std::string &szport, const std::string &request, double timeout) override

bool	connected (const std::string &from, const std::string &to, const std::string &carrier) override

std::string	error () override

bool	initialized () override

bool	attachStdout () override

void	detachStdout () override

bool	getSystemInfo (const std::string &server, yarp::os::SystemInfoSerializer &info)

bool	getAllProcesses (const std::string &server, ProcessContainer &processes)

bool	getAllPorts (std::vector< std::string > &stingList)

bool	setQos (const std::string &from, const std::string &to, const std::string &qosFrom, const std::string &qosTo)

void	run () override
	Loop function.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

Public Member Functions inherited from yarp::manager::Broker
	Broker ()

virtual	~Broker ()

void	setEventSink (BrokerEventSink *pEventSink)

unsigned int	generateID ()

void	enableWatchDog ()

void	disableWatchDog ()

bool	hasWatchDog ()

void	setDisplay (const char *szDisplay)

std::string	getDisplay () const

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Protected Attributes inherited from yarp::manager::Broker
unsigned int	UNIQUEID

BrokerEventSink *	eventSink

bool	bWithWatchDog

std::string	strDisplay

Detailed Description

Class Broker.

Definition at line 33 of file yarpbroker.h.

Constructor & Destructor Documentation

◆ YarpBroker()

YarpBroker::YarpBroker ( )

Definition at line 40 of file yarpbroker.cpp.

◆ ~YarpBroker()

YarpBroker::~YarpBroker ( )

override

Definition at line 48 of file yarpbroker.cpp.

Member Function Documentation

◆ attachStdout()

bool YarpBroker::attachStdout ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 377 of file yarpbroker.cpp.

◆ connect()

bool YarpBroker::connect	(	const std::string &	from,
		const std::string &	to,
		const std::string &	carrier,
		bool	persist = `false`
	)

overridevirtual

connection broker

Implements yarp::manager::Broker.

Definition at line 411 of file yarpbroker.cpp.

◆ connected()

bool YarpBroker::connected	(	const std::string &	from,
		const std::string &	to,
		const std::string &	carrier
	)

overridevirtual

Implements yarp::manager::Broker.

Definition at line 578 of file yarpbroker.cpp.

◆ detachStdout()

void YarpBroker::detachStdout ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 382 of file yarpbroker.cpp.

◆ disconnect()

bool YarpBroker::disconnect	(	const std::string &	from,
		const std::string &	to,
		const std::string &	carrier
	)

overridevirtual

Implements yarp::manager::Broker.

Definition at line 473 of file yarpbroker.cpp.

◆ error()

std::string YarpBroker::error ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 807 of file yarpbroker.cpp.

◆ exists()

bool YarpBroker::exists ( const std::string & port )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 523 of file yarpbroker.cpp.

◆ fini()

void YarpBroker::fini ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 53 of file yarpbroker.cpp.

◆ getAllPorts()

bool YarpBroker::getAllPorts ( std::vector< std::string > & stingList )

Definition at line 650 of file yarpbroker.cpp.

◆ getAllProcesses()

bool YarpBroker::getAllProcesses	(	const std::string &	server,
		ProcessContainer &	processes
	)

Definition at line 683 of file yarpbroker.cpp.

◆ getSystemInfo()

bool YarpBroker::getSystemInfo	(	const std::string &	server,
		yarp::os::SystemInfoSerializer &	info
	)

Definition at line 590 of file yarpbroker.cpp.

◆ init() [1/2]

bool YarpBroker::init ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 61 of file yarpbroker.cpp.

◆ init() [2/2]

bool YarpBroker::init	(	const char *	szcmd,
		const char *	szparam,
		const char *	szhost,
		const char *	szstdio,
		const char *	szworkdir,
		const char *	szenv
	)

overridevirtual

Implements yarp::manager::Broker.

Reimplemented in yarp::manager::YarpdevYarprunBroker.

Definition at line 85 of file yarpbroker.cpp.

◆ initialized()

bool yarp::manager::YarpBroker::initialized ( )

inlineoverridevirtual

Implements yarp::manager::Broker.

Definition at line 54 of file yarpbroker.h.

◆ kill()

bool YarpBroker::kill ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 284 of file yarpbroker.cpp.

◆ requestRpc()

std::string YarpBroker::requestRpc	(	const std::string &	szport,
		const std::string &	request,
		double	timeout
	)

overridevirtual

Implements yarp::manager::Broker.

Definition at line 531 of file yarpbroker.cpp.

◆ rmconnect()

bool YarpBroker::rmconnect	(	const std::string &	from,
		const std::string &	to
	)

Definition at line 731 of file yarpbroker.cpp.

◆ run()

void YarpBroker::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 849 of file yarpbroker.cpp.

◆ running()

int YarpBroker::running ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 338 of file yarpbroker.cpp.

◆ setQos()

bool YarpBroker::setQos	(	const std::string &	from,
		const std::string &	to,
		const std::string &	qosFrom,
		const std::string &	qosTo
	)

Definition at line 745 of file yarpbroker.cpp.

◆ start()

bool YarpBroker::start ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 185 of file yarpbroker.cpp.

◆ stop()

bool YarpBroker::stop ( )

overridevirtual

Implements yarp::manager::Broker.

Definition at line 232 of file yarpbroker.cpp.

◆ threadInit()

bool YarpBroker::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 822 of file yarpbroker.cpp.

◆ threadRelease()

void YarpBroker::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 861 of file yarpbroker.cpp.

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

src/libYARP_manager/src/yarp/manager/yarpbroker.h
src/libYARP_manager/src/yarp/manager/yarpbroker.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ YarpBroker()

◆ ~YarpBroker()

Member Function Documentation

◆ attachStdout()

◆ connect()

◆ connected()

◆ detachStdout()

◆ disconnect()

◆ error()

◆ exists()

◆ fini()

◆ getAllPorts()

◆ getAllProcesses()

◆ getSystemInfo()

◆ init() [1/2]

◆ init() [2/2]

◆ initialized()

◆ kill()

◆ requestRpc()

◆ rmconnect()

◆ run()

◆ running()

◆ setQos()

◆ start()

◆ stop()

◆ threadInit()

◆ threadRelease()