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

Inheritance diagram for yarp::os::impl::PortCore:

Public Member Functions
	PortCore ()
	Constructor.

	~PortCore ()
	Destructor.

bool	addOutput (const std::string &dest, void id, yarp::os::OutputStream os, bool onlyIfNeeded=false)
	Add an output connection to this port.

void	addOutput (OutputProtocol *op)
	Add another output to the port.

void	removeInput (const std::string &src, void id, yarp::os::OutputStream os)
	Remove an input connection.

void	removeOutput (const std::string &dest, void id, yarp::os::OutputStream os)
	Remove an output connection.

bool	removeIO (const Route &route, bool synch=false)
	Remove any connection matching the supplied route.

void	describe (void id, yarp::os::OutputStream os)
	Produce a text description of the port and its connections.

void	describe (yarp::os::PortReport &reporter)
	Generate a description of the connections associated with the port.

bool	readBlock (ConnectionReader &reader, void id, yarp::os::OutputStream os)
	Read a block of regular payload data.

bool	adminBlock (ConnectionReader &reader, void *id)
	Read a block of administrative data.

void	setName (const std::string &name)
	Set the name of this port.

std::string	getName ()

void	setEnvelope (const std::string &envelope)
	Set some envelope information to pass along with a message without actually being part of the message.

bool	setEnvelope (yarp::os::PortWriter &envelope)
	Set some extra meta data to pass along with the message.

std::string	getEnvelope ()

bool	getEnvelope (yarp::os::PortReader &envelope)
	Get any meta data associated with the last message received.

void	report (const yarp::os::PortInfo &info)
	Handle a port event (connection, disconnection, etc) Generate a description of the connections associated with the port.

void	reportUnit (PortCoreUnit *unit, bool active)
	Called by a connection handler with active=true just after it is fully configured, and with active=false just before it shuts itself down.

void	setFlags (unsigned int flags)
	Configure the port to meet certain restrictions in behavior.

void	setContactable (Contactable *contactable)

unsigned int	getFlags ()
	Check current configuration of port.

bool	listen (const Contact &address, bool shouldAnnounce=true)
	Begin service at a given address.

bool	isWriting ()
	Check if a message is currently being sent.

int	getInputCount ()
	Check how many input connections there are.

int	getOutputCount ()
	Check how many output connections there are.

void	setReadHandler (yarp::os::PortReader &reader)
	Set a callback for incoming data.

void	setAdminReadHandler (yarp::os::PortReader &reader)
	Set a callback for incoming administrative messages.

void	setReadCreator (yarp::os::PortReaderCreator &creator)
	Set a callback for creating callbacks for incoming data.

void	setWaitBeforeSend (bool waitBeforeSend)
	Upon being asked to send a message, should we wait for any existing message to be sent to all destinations?

void	setWaitAfterSend (bool waitAfterSend)
	After sending a message, should we wait for it to be sent to all destinations before returning?

bool	read (yarp::os::ConnectionReader &reader) override
	Callback for data.

bool	start () override
	Begin main thread.

bool	manualStart (const char *sourceName)
	Start up the port, but without a main thread.

bool	send (const yarp::os::PortWriter &writer, yarp::os::PortReader reader=nullptr, const yarp::os::PortWriter callback=nullptr)
	Send a normal message.

bool	sendHelper (const yarp::os::PortWriter &writer, int mode, yarp::os::PortReader reader=nullptr, const yarp::os::PortWriter callback=nullptr)
	Send a message with a specific mode (normal or log).

void	close () override
	Shut down port.

void	run () override
	The body of the main thread.

int	getEventCount ()
	A diagnostic for testing purposes.

const Contact &	getAddress () const
	Get the address associated with the port.

void	resetPortName (const std::string &str)

yarp::os::PortReaderCreator *	getReadCreator ()
	Get the creator of callbacks.

void	notifyCompletion (void *tracker)
	Call the right onCompletion() after sending message.

void	setControlRegistration (bool flag)
	Normally the port will unregister its name with the name server when shutting down.

void	interrupt ()
	Prepare the port to be shut down.

void	resume ()
	Undo an interrupt()

void	setReportCallback (yarp::os::PortReport *reporter)
	Set a callback to be notified of changes in port status.

void	resetReportCallback ()
	Reset the callback to be notified of changes in port status.

bool	isListening () const

bool	isManual () const

bool	isInterrupted () const

void	setTimeout (float timeout)

Property *	acquireProperties (bool readOnly)

void	releaseProperties (Property *prop)

bool	setCallbackLock (std::mutex *mutex=nullptr)

bool	removeCallbackLock ()

bool	lockCallback ()

bool	tryLockCallback ()

void	unlockCallback ()

yarp::os::impl::PortDataModifier &	getPortModifier ()

void	checkType (PortReader &reader)

yarp::os::Type	getType ()

void	promiseType (const Type &typ)

Public Member Functions inherited from yarp::os::impl::ThreadImpl
virtual	~ThreadImpl ()

int	join (double seconds=-1)

void	askToClose ()

bool	isClosing ()

bool	isRunning ()

virtual void	beforeStart ()

virtual void	afterStart (bool success)

virtual bool	threadInit ()

virtual void	threadRelease ()

long int	getKey ()

void	notify (bool s)

void	notifyOpened (bool s)

void	synchroWait ()

void	synchroPost ()

int	setPriority (int priority=-1, int policy=-1)

int	getPriority ()

int	getPolicy ()

long	getTid ()

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

virtual Type	getReadType () const

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::impl::ThreadImpl
static int	getCount ()

static long int	getKeyOfCaller ()

static void	yield ()

Public Attributes inherited from yarp::os::impl::ThreadImpl
long	tid {-1}

std::thread::id	id

Detailed Description

Definition at line 141 of file PortCore.h.

Constructor & Destructor Documentation

◆ PortCore()

PortCore::PortCore ( )

default

Constructor.

◆ ~PortCore()

PortCore::~PortCore ( )

Destructor.

Definition at line 61 of file PortCore.cpp.

Member Function Documentation

◆ acquireProperties()

Property * PortCore::acquireProperties ( bool readOnly )

Warning: Must be called in the same thread as releaseProperties

Definition at line 2944 of file PortCore.cpp.

◆ addOutput() [1/2]

bool PortCore::addOutput	(	const std::string &	dest,
		void *	id,
		yarp::os::OutputStream *	os,
		bool	onlyIfNeeded = `false`
	)

Add an output connection to this port.

Parameters

dest	the name of the target
id	an opaque tracker for the connection
os	the output stream for messages about this operation
onlyIfNeeded	if true, don't add the connection if there is already a connection to the named target

Returns: true on success

Definition at line 842 of file PortCore.cpp.

◆ addOutput() [2/2]

void PortCore::addOutput ( OutputProtocol * op )

Add another output to the port.

Definition at line 697 of file PortCore.cpp.

◆ adminBlock()

bool PortCore::adminBlock	(	ConnectionReader &	reader,
		void *	id
	)

Read a block of administrative data.

Process an administrative message.

Parameters

reader	source of data
id	opaque identifier of connection providing data

Definition at line 1659 of file PortCore.cpp.

◆ checkType()

void PortCore::checkType ( PortReader & reader )

Definition at line 3079 of file PortCore.cpp.

◆ close()

void PortCore::close ( )

overridevirtual

Shut down port.

Reimplemented from yarp::os::impl::ThreadImpl.

Definition at line 264 of file PortCore.cpp.

◆ describe() [1/2]

void PortCore::describe	(	void *	id,
		yarp::os::OutputStream *	os
	)

Produce a text description of the port and its connections.

Parameters

id	opaque identifier of connection that needs the description
os	stream to write on

Definition at line 1048 of file PortCore.cpp.

◆ describe() [2/2]

void PortCore::describe ( yarp::os::PortReport & reporter )

Generate a description of the connections associated with the port.

Definition at line 1106 of file PortCore.cpp.

◆ getAddress()

const Contact & PortCore::getAddress ( ) const

Get the address associated with the port.

Definition at line 2986 of file PortCore.cpp.

◆ getEnvelope() [1/2]

std::string PortCore::getEnvelope ( )

Definition at line 1471 of file PortCore.cpp.

◆ getEnvelope() [2/2]

bool PortCore::getEnvelope ( yarp::os::PortReader & envelope )

Get any meta data associated with the last message received.

Definition at line 1476 of file PortCore.cpp.

◆ getEventCount()

int PortCore::getEventCount ( )

A diagnostic for testing purposes.

Definition at line 532 of file PortCore.cpp.

◆ getFlags()

unsigned int yarp::os::impl::PortCore::getFlags ( )

inline

Check current configuration of port.

Definition at line 298 of file PortCore.h.

◆ getInputCount()

int PortCore::getInputCount ( )

Check how many input connections there are.

Definition at line 1414 of file PortCore.cpp.

◆ getName()

std::string PortCore::getName ( )

Returns: the name of this port

Definition at line 2971 of file PortCore.cpp.

◆ getOutputCount()

int PortCore::getOutputCount ( )

Check how many output connections there are.

Definition at line 1423 of file PortCore.cpp.

◆ getPortModifier()

yarp::os::impl::PortDataModifier & PortCore::getPortModifier ( )

Definition at line 3074 of file PortCore.cpp.

◆ getReadCreator()

yarp::os::PortReaderCreator * PortCore::getReadCreator ( )

Get the creator of callbacks.

Definition at line 2996 of file PortCore.cpp.

◆ getType()

yarp::os::Type PortCore::getType ( )

Definition at line 3091 of file PortCore.cpp.

◆ interrupt()

void PortCore::interrupt ( )

Prepare the port to be shut down.

Definition at line 331 of file PortCore.cpp.

◆ isInterrupted()

bool PortCore::isInterrupted ( ) const

Returns: true if port operation has been interrupted.

Definition at line 3016 of file PortCore.cpp.

◆ isListening()

bool PortCore::isListening ( ) const

Returns: true if there is a server socket/thread currently associated with this port.

Definition at line 3006 of file PortCore.cpp.

◆ isManual()

bool PortCore::isManual ( ) const

Returns: true if there the port is configured to operate without a server socket/thread.

Definition at line 3011 of file PortCore.cpp.

◆ isWriting()

bool PortCore::isWriting ( )

Check if a message is currently being sent.

Definition at line 1395 of file PortCore.cpp.

◆ listen()

bool PortCore::listen	(	const Contact &	address,
		bool	shouldAnnounce = `true`
	)

Begin service at a given address.

Definition at line 68 of file PortCore.cpp.

◆ lockCallback()

bool PortCore::lockCallback ( )

Definition at line 3049 of file PortCore.cpp.

◆ manualStart()

bool PortCore::manualStart ( const char * sourceName )

Start up the port, but without a main thread.

Definition at line 308 of file PortCore.cpp.

◆ notifyCompletion()

void PortCore::notifyCompletion ( void * tracker )

Call the right onCompletion() after sending message.

Definition at line 1433 of file PortCore.cpp.

◆ promiseType()

void PortCore::promiseType ( const Type & typ )

Definition at line 3099 of file PortCore.cpp.

◆ read()

bool yarp::os::impl::PortCore::read ( yarp::os::ConnectionReader & reader )

inlineoverridevirtual

Callback for data.

Implements yarp::os::PortReader.

Reimplemented in yarp::os::impl::PortCoreAdapter.

Definition at line 359 of file PortCore.h.

◆ readBlock()

bool PortCore::readBlock	(	ConnectionReader &	reader,
		void *	id,
		yarp::os::OutputStream *	os
	)

Read a block of regular payload data.

Parameters

reader	source of data
id	opaque identifier of connection providing data
os	stream to write error messages on

Definition at line 1199 of file PortCore.cpp.

◆ releaseProperties()

void PortCore::releaseProperties ( Property * prop )

Warning: Must be called in the same thread as acquireProperties

Definition at line 2955 of file PortCore.cpp.

◆ removeCallbackLock()

bool PortCore::removeCallbackLock ( )

Definition at line 3039 of file PortCore.cpp.

◆ removeInput()

void PortCore::removeInput	(	const std::string &	src,
		void *	id,
		yarp::os::OutputStream *	os
	)

Remove an input connection.

Parameters

src	the name of the source port
id	an opaque tracker for the connection
os	the output stream for messages about this operation

Definition at line 1030 of file PortCore.cpp.

◆ removeIO()

bool PortCore::removeIO	(	const Route &	route,
		bool	synch = `false`
	)

Remove any connection matching the supplied route.

Parameters

route	the source/target/carrier associated with the connection
synch	true if we should wait for removal to complete

Returns: true if a connection was found that needed removal

Definition at line 2961 of file PortCore.cpp.

◆ removeOutput()

void PortCore::removeOutput	(	const std::string &	dest,
		void *	id,
		yarp::os::OutputStream *	os
	)

Remove an output connection.

Parameters

dest	the name of the target port
id	an opaque tracker for the connection
os	the output stream for messages about this operation

Definition at line 1012 of file PortCore.cpp.

◆ report()

void PortCore::report ( const yarp::os::PortInfo & info )

Handle a port event (connection, disconnection, etc) Generate a description of the connections associated with the port.

Parameters

info	the event description

Definition at line 1185 of file PortCore.cpp.

◆ reportUnit()

void PortCore::reportUnit	(	PortCoreUnit *	unit,
		bool	active
	)

Called by a connection handler with active=true just after it is fully configured, and with active=false just before it shuts itself down.

Parameters

unit	the connection handler starting up / shutting down
active	true if the handler is starting up, false if shutting down

Definition at line 2889 of file PortCore.cpp.

◆ resetPortName()

void PortCore::resetPortName ( const std::string & str )

Definition at line 2991 of file PortCore.cpp.

◆ resetReportCallback()

void PortCore::resetReportCallback ( )

Reset the callback to be notified of changes in port status.

Definition at line 1179 of file PortCore.cpp.

◆ resume()

void PortCore::resume ( )

Undo an interrupt()

Definition at line 325 of file PortCore.cpp.

◆ run()

void PortCore::run ( )

overridevirtual

The body of the main thread.

Reimplemented from yarp::os::impl::ThreadImpl.

Definition at line 165 of file PortCore.cpp.

◆ send()

bool PortCore::send	(	const yarp::os::PortWriter &	writer,
		yarp::os::PortReader *	reader = `nullptr`,
		const yarp::os::PortWriter *	callback = `nullptr`
	)

Send a normal message.

Parameters

writer	the message
reader	where to direct replies
callback	who to call onCompletion() on when message sent.

Definition at line 1248 of file PortCore.cpp.

◆ sendHelper()

bool PortCore::sendHelper	(	const yarp::os::PortWriter &	writer,
		int	mode,
		yarp::os::PortReader *	reader = `nullptr`,
		const yarp::os::PortWriter *	callback = `nullptr`
	)

Send a message with a specific mode (normal or log).

Parameters

writer	the message
reader	where to direct replies
callback	who to call onCompletion() on when message sent.

Definition at line 1272 of file PortCore.cpp.

◆ setAdminReadHandler()

void PortCore::setAdminReadHandler ( yarp::os::PortReader & reader )

Set a callback for incoming administrative messages.

Definition at line 148 of file PortCore.cpp.

◆ setCallbackLock()

bool PortCore::setCallbackLock ( std::mutex * mutex = nullptr )

Definition at line 3026 of file PortCore.cpp.

◆ setContactable()

void yarp::os::impl::PortCore::setContactable ( Contactable * contactable )

inline

Definition at line 290 of file PortCore.h.

◆ setControlRegistration()

void PortCore::setControlRegistration ( bool flag )

Normally the port will unregister its name with the name server when shutting down.

This can be inhibited.

Definition at line 3001 of file PortCore.cpp.

◆ setEnvelope() [1/2]

void PortCore::setEnvelope ( const std::string & envelope )

Set some envelope information to pass along with a message without actually being part of the message.

Parameters

envelope the extra message to send

Definition at line 1457 of file PortCore.cpp.

◆ setEnvelope() [2/2]

bool PortCore::setEnvelope ( yarp::os::PortWriter & envelope )

Set some extra meta data to pass along with the message.

Definition at line 1446 of file PortCore.cpp.

◆ setFlags()

void yarp::os::impl::PortCore::setFlags ( unsigned int flags )

inline

Configure the port to meet certain restrictions in behavior.

Definition at line 285 of file PortCore.h.

◆ setName()

void PortCore::setName ( const std::string & name )

Set the name of this port.

Parameters

name	the name of this port

Definition at line 2966 of file PortCore.cpp.

◆ setReadCreator()

void PortCore::setReadCreator ( yarp::os::PortReaderCreator & creator )

Set a callback for creating callbacks for incoming data.

Definition at line 156 of file PortCore.cpp.

◆ setReadHandler()

void PortCore::setReadHandler ( yarp::os::PortReader & reader )

Set a callback for incoming data.

Definition at line 140 of file PortCore.cpp.

◆ setReportCallback()

void PortCore::setReportCallback ( yarp::os::PortReport * reporter )

Set a callback to be notified of changes in port status.

Definition at line 1171 of file PortCore.cpp.

◆ setTimeout()

void PortCore::setTimeout ( float timeout )

Definition at line 3021 of file PortCore.cpp.

◆ setWaitAfterSend()

void yarp::os::impl::PortCore::setWaitAfterSend ( bool waitAfterSend )

inline

After sending a message, should we wait for it to be sent to all destinations before returning?

Definition at line 351 of file PortCore.h.

◆ setWaitBeforeSend()

void yarp::os::impl::PortCore::setWaitBeforeSend ( bool waitBeforeSend )

inline

Upon being asked to send a message, should we wait for any existing message to be sent to all destinations?

Definition at line 342 of file PortCore.h.

◆ start()

bool PortCore::start ( )

overridevirtual

Begin main thread.

Reimplemented from yarp::os::impl::ThreadImpl.

Definition at line 277 of file PortCore.cpp.

◆ tryLockCallback()

bool PortCore::tryLockCallback ( )

Definition at line 3058 of file PortCore.cpp.

◆ unlockCallback()

void PortCore::unlockCallback ( )

Definition at line 3066 of file PortCore.cpp.

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

src/libYARP_os/src/yarp/os/impl/PortCore.h
src/libYARP_os/src/yarp/os/impl/PortCore.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PortCore()

◆ ~PortCore()

Member Function Documentation

◆ acquireProperties()

◆ addOutput() [1/2]

◆ addOutput() [2/2]

◆ adminBlock()

◆ checkType()

◆ close()

◆ describe() [1/2]

◆ describe() [2/2]

◆ getAddress()

◆ getEnvelope() [1/2]

◆ getEnvelope() [2/2]

◆ getEventCount()

◆ getFlags()

◆ getInputCount()

◆ getName()

◆ getOutputCount()

◆ getPortModifier()

◆ getReadCreator()

◆ getType()

◆ interrupt()

◆ isInterrupted()

◆ isListening()

◆ isManual()

◆ isWriting()

◆ listen()

◆ lockCallback()

◆ manualStart()

◆ notifyCompletion()

◆ promiseType()

◆ read()

◆ readBlock()

◆ releaseProperties()

◆ removeCallbackLock()

◆ removeInput()

◆ removeIO()

◆ removeOutput()

◆ report()

◆ reportUnit()

◆ resetPortName()

◆ resetReportCallback()

◆ resume()

◆ run()

◆ send()

◆ sendHelper()

◆ setAdminReadHandler()

◆ setCallbackLock()

◆ setContactable()

◆ setControlRegistration()

◆ setEnvelope() [1/2]

◆ setEnvelope() [2/2]

◆ setFlags()

◆ setName()

◆ setReadCreator()

◆ setReadHandler()

◆ setReportCallback()

◆ setTimeout()

◆ setWaitAfterSend()

◆ setWaitBeforeSend()

◆ start()

◆ tryLockCallback()

◆ unlockCallback()