YARP
Yet Another Robot Platform
yarp::os::impl::LocalCarrier Class Reference

A carrier for communicating locally within a process. More...

#include <yarp/os/impl/LocalCarrier.h>

+ Inheritance diagram for yarp::os::impl::LocalCarrier:

Public Member Functions

 LocalCarrier ()
 
virtual ~LocalCarrier ()
 
Carriercreate () const override
 Factory method. More...
 
std::string getName () const override
 Get the name of this connection type ("tcp", "mcast", "shmem", ...) More...
 
bool requireAck () const override
 Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. More...
 
bool isConnectionless () const override
 Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). 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...
 
virtual std::string getSpecifierName () const
 
bool checkHeader (const 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. More...
 
void getHeader (Bytes &header) const override
 Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. More...
 
void setParameters (const Bytes &header) override
 Configure this carrier based on the first 8 bytes of the 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 expectExtraHeader (ConnectionState &proto) override
 Receive any carrier-specific header. More...
 
virtual bool becomeLocal (ConnectionState &proto, bool sender)
 
bool write (ConnectionState &proto, SizedWriter &writer) override
 Write a message. More...
 
bool respondToHeader (ConnectionState &proto) override
 Respond to the header. More...
 
bool expectReplyToHeader (ConnectionState &proto) override
 Process reply to header, if one is expected for this carrier. More...
 
bool expectIndex (ConnectionState &proto) override
 Expect a message header, if there is one for this carrier. More...
 
void removePeer ()
 
void shutdown ()
 
void accept (yarp::os::Portable *ref)
 
- Public Member Functions inherited from yarp::os::AbstractCarrier
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 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...
 
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...
 
virtual bool sendIndex (ConnectionState &proto, SizedWriter &writer)
 
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...
 
ConnectionReadermodifyIncomingData (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 PortWritermodifyOutgoingData (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...
 
PortReadermodifyReply (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::FacecreateFace () 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 Attributes

bool doomed
 
yarp::os::Portableref
 
LocalCarrierpeer
 
std::mutex peerMutex
 
yarp::os::Semaphore sent
 
yarp::os::Semaphore received
 
std::string portName
 

Static Protected Attributes

static LocalCarrierManager manager
 

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 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

A carrier for communicating locally within a process.

Definition at line 86 of file LocalCarrier.h.

Constructor & Destructor Documentation

◆ LocalCarrier()

yarp::os::impl::LocalCarrier::LocalCarrier ( )

Definition at line 144 of file LocalCarrier.cpp.

◆ ~LocalCarrier()

yarp::os::impl::LocalCarrier::~LocalCarrier ( )
virtual

Definition at line 152 of file LocalCarrier.cpp.

Member Function Documentation

◆ accept()

void yarp::os::impl::LocalCarrier::accept ( yarp::os::Portable ref)

Definition at line 345 of file LocalCarrier.cpp.

◆ becomeLocal()

bool yarp::os::impl::LocalCarrier::becomeLocal ( ConnectionState proto,
bool  sender 
)
virtual

Definition at line 284 of file LocalCarrier.cpp.

◆ canEscape()

bool yarp::os::impl::LocalCarrier::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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 201 of file LocalCarrier.cpp.

◆ checkHeader()

bool yarp::os::impl::LocalCarrier::checkHeader ( const Bytes header)
overridevirtual

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
headera buffer holding the first 8 bytes received on the connection
Returns
true if this is the carrier to use.

Implements yarp::os::AbstractCarrier.

Definition at line 216 of file LocalCarrier.cpp.

◆ create()

yarp::os::Carrier * yarp::os::impl::LocalCarrier::create ( ) const
overridevirtual

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::AbstractCarrier.

Definition at line 157 of file LocalCarrier.cpp.

◆ expectExtraHeader()

bool yarp::os::impl::LocalCarrier::expectExtraHeader ( ConnectionState proto)
overridevirtual

Receive any carrier-specific header.

Parameters
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 264 of file LocalCarrier.cpp.

◆ expectIndex()

bool yarp::os::impl::LocalCarrier::expectIndex ( ConnectionState proto)
overridevirtual

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

Parameters
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 326 of file LocalCarrier.cpp.

◆ expectReplyToHeader()

bool yarp::os::impl::LocalCarrier::expectReplyToHeader ( ConnectionState proto)
overridevirtual

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

Parameters
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 320 of file LocalCarrier.cpp.

◆ getHeader()

void yarp::os::impl::LocalCarrier::getHeader ( Bytes header) const
overridevirtual

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

Parameters
headera buffer to hold the first 8 bytes to send on a connection

Implements yarp::os::AbstractCarrier.

Definition at line 230 of file LocalCarrier.cpp.

◆ getName()

std::string yarp::os::impl::LocalCarrier::getName ( ) const
overridevirtual

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

Returns
the name of this connection type

Implements yarp::os::AbstractCarrier.

Definition at line 186 of file LocalCarrier.cpp.

◆ getSpecifierName()

std::string yarp::os::impl::LocalCarrier::getSpecifierName ( ) const
virtual

Definition at line 211 of file LocalCarrier.cpp.

◆ isConnectionless()

bool yarp::os::impl::LocalCarrier::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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 196 of file LocalCarrier.cpp.

◆ isLocal()

bool yarp::os::impl::LocalCarrier::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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 206 of file LocalCarrier.cpp.

◆ removePeer()

void yarp::os::impl::LocalCarrier::removePeer ( )

Definition at line 162 of file LocalCarrier.cpp.

◆ requireAck()

bool yarp::os::impl::LocalCarrier::requireAck ( ) const
overridevirtual

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

Returns
true if carrier requires acknowledgement.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 191 of file LocalCarrier.cpp.

◆ respondToHeader()

bool yarp::os::impl::LocalCarrier::respondToHeader ( ConnectionState proto)
overridevirtual

Respond to the header.

Parameters
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Implements yarp::os::AbstractCarrier.

Definition at line 313 of file LocalCarrier.cpp.

◆ sendHeader()

bool yarp::os::impl::LocalCarrier::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
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 245 of file LocalCarrier.cpp.

◆ setParameters()

void yarp::os::impl::LocalCarrier::setParameters ( const Bytes header)
overridevirtual

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

This will only be called if checkHeader passed.

Parameters
headera buffer holding the first 8 bytes received on the connection

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 240 of file LocalCarrier.cpp.

◆ shutdown()

void yarp::os::impl::LocalCarrier::shutdown ( )

Definition at line 171 of file LocalCarrier.cpp.

◆ write()

bool yarp::os::impl::LocalCarrier::write ( ConnectionState proto,
SizedWriter writer 
)
overridevirtual

Write a message.

Parameters
protothe protocol object, which tracks connection state
Returns
true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 294 of file LocalCarrier.cpp.

Member Data Documentation

◆ doomed

bool yarp::os::impl::LocalCarrier::doomed
protected

Definition at line 119 of file LocalCarrier.h.

◆ manager

yarp::os::impl::LocalCarrierManager yarp::os::impl::LocalCarrier::manager
staticprotected

Definition at line 127 of file LocalCarrier.h.

◆ peer

LocalCarrier* yarp::os::impl::LocalCarrier::peer
protected

Definition at line 121 of file LocalCarrier.h.

◆ peerMutex

std::mutex yarp::os::impl::LocalCarrier::peerMutex
protected

Definition at line 122 of file LocalCarrier.h.

◆ portName

std::string yarp::os::impl::LocalCarrier::portName
protected

Definition at line 125 of file LocalCarrier.h.

◆ received

yarp::os::Semaphore yarp::os::impl::LocalCarrier::received
protected

Definition at line 124 of file LocalCarrier.h.

◆ ref

yarp::os::Portable* yarp::os::impl::LocalCarrier::ref
protected

Definition at line 120 of file LocalCarrier.h.

◆ sent

yarp::os::Semaphore yarp::os::impl::LocalCarrier::sent
protected

Definition at line 123 of file LocalCarrier.h.


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