Communicating between two ports via UDP. More...
#include <yarp/os/impl/UdpCarrier.h>
Public Member Functions | |
UdpCarrier () | |
Carrier * | create () const override |
Factory method. | |
std::string | getName () const override |
Get the name of this connection type ("tcp", "mcast", "shmem", ...) | |
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. | |
void | getHeader (Bytes &header) const override |
Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. | |
void | setParameters (const Bytes &header) override |
Configure this carrier based on the first 8 bytes of the connection. | |
bool | requireAck () const override |
Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. | |
bool | isConnectionless () const override |
Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). | |
bool | respondToHeader (ConnectionState &proto) override |
Respond to the header. | |
bool | expectReplyToHeader (ConnectionState &proto) override |
Process reply to header, if one is expected for this carrier. | |
Public Member Functions inherited from yarp::os::AbstractCarrier | |
void | setCarrierParams (const yarp::os::Property ¶ms) override |
Configure carrier from port administrative commands. | |
void | getCarrierParams (yarp::os::Property ¶ms) const override |
Get carrier configuration and deliver it by port administrative commands. | |
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 | 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. | |
std::string | toString () const override |
Get name of carrier. | |
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. | |
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. | |
bool | modifiesIncomingData () const override |
Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method. | |
ConnectionReader & | modifyIncomingData (ConnectionReader &reader) override |
Modify incoming payload data, if appropriate. | |
bool | acceptIncomingData (ConnectionReader &reader) override |
Determine whether incoming data should be accepted. | |
bool | modifiesOutgoingData () const override |
Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method. | |
const PortWriter & | modifyOutgoingData (const PortWriter &writer) override |
Modify outgoing payload data, if appropriate. | |
bool | modifiesReply () const override |
Check if this carrier modifies outgoing data through the Carrier::modifyReply method. | |
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 bool | configure (ConnectionState &proto) |
Give carrier a shot at looking at how the connection is set up. | |
virtual bool | configureFromProperty (yarp::os::Property &options) |
void | setCarrierParams (const Property ¶ms) override |
Configure carrier from port administrative commands. | |
void | getCarrierParams (Property ¶ms) const override |
Get carrier configuration and deliver it by port administrative commands. | |
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. | |
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) |
Communicating between two ports via UDP.
Definition at line 18 of file UdpCarrier.h.
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default |
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.
header | a buffer holding the first 8 bytes received on the connection |
Implements yarp::os::AbstractCarrier.
Definition at line 34 of file UdpCarrier.cpp.
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overridevirtual |
Factory method.
Get a new object of the same type as this one.
Implements yarp::os::AbstractCarrier.
Definition at line 19 of file UdpCarrier.cpp.
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overridevirtual |
Process reply to header, if one is expected for this carrier.
proto | the protocol object, which tracks connection state |
Reimplemented from yarp::os::AbstractCarrier.
Definition at line 82 of file UdpCarrier.cpp.
Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it.
header | a buffer to hold the first 8 bytes to send on a connection |
Implements yarp::os::AbstractCarrier.
Definition at line 39 of file UdpCarrier.cpp.
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overridevirtual |
Get the name of this connection type ("tcp", "mcast", "shmem", ...)
Implements yarp::os::AbstractCarrier.
Definition at line 24 of file UdpCarrier.cpp.
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virtual |
Reimplemented in yarp::os::impl::McastCarrier.
Definition at line 29 of file UdpCarrier.cpp.
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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.
Reimplemented from yarp::os::AbstractCarrier.
Definition at line 54 of file UdpCarrier.cpp.
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overridevirtual |
Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.
Reimplemented from yarp::os::AbstractCarrier.
Definition at line 49 of file UdpCarrier.cpp.
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overridevirtual |
Respond to the header.
proto | the protocol object, which tracks connection state |
Implements yarp::os::AbstractCarrier.
Definition at line 60 of file UdpCarrier.cpp.
Configure this carrier based on the first 8 bytes of the connection.
This will only be called if checkHeader passed.
header | a buffer holding the first 8 bytes received on the connection |
Reimplemented from yarp::os::AbstractCarrier.
Definition at line 44 of file UdpCarrier.cpp.