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

Communicating between two ports via UDP. More...

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

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

Public Member Functions

 UdpCarrier ()
 
Carriercreate () const override
 Factory method. More...
 
std::string getName () const override
 Get the name of this connection type ("tcp", "mcast", "shmem", ...) More...
 
virtual int getSpecifierCode () 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 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 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...
 
- 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...
 
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...
 
virtual bool sendIndex (ConnectionState &proto, SizedWriter &writer)
 
bool expectExtraHeader (ConnectionState &proto) override
 Receive any carrier-specific 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...
 
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...
 

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. More...
 
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

Communicating between two ports via UDP.

Definition at line 18 of file UdpCarrier.h.

Constructor & Destructor Documentation

◆ UdpCarrier()

yarp::os::impl::UdpCarrier::UdpCarrier ( )
default

Member Function Documentation

◆ checkHeader()

bool yarp::os::impl::UdpCarrier::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 34 of file UdpCarrier.cpp.

◆ create()

yarp::os::Carrier * yarp::os::impl::UdpCarrier::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 19 of file UdpCarrier.cpp.

◆ expectReplyToHeader()

bool yarp::os::impl::UdpCarrier::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 82 of file UdpCarrier.cpp.

◆ getHeader()

void yarp::os::impl::UdpCarrier::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 39 of file UdpCarrier.cpp.

◆ getName()

std::string yarp::os::impl::UdpCarrier::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 24 of file UdpCarrier.cpp.

◆ getSpecifierCode()

int yarp::os::impl::UdpCarrier::getSpecifierCode ( ) const
virtual

Reimplemented in yarp::os::impl::McastCarrier.

Definition at line 29 of file UdpCarrier.cpp.

◆ isConnectionless()

bool yarp::os::impl::UdpCarrier::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 54 of file UdpCarrier.cpp.

◆ requireAck()

bool yarp::os::impl::UdpCarrier::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 49 of file UdpCarrier.cpp.

◆ respondToHeader()

bool yarp::os::impl::UdpCarrier::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 60 of file UdpCarrier.cpp.

◆ setParameters()

void yarp::os::impl::UdpCarrier::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 44 of file UdpCarrier.cpp.


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