YARP
Yet Another Robot Platform
yarp::os::ModifyingCarrier Class Referenceabstract

A starter class for implementing simple modifying carriers. More...

#include <yarp/os/ModifyingCarrier.h>

+ Inheritance diagram for yarp::os::ModifyingCarrier:

Detailed Description

A starter class for implementing simple modifying carriers.

These are not standalone carriers, they just tweak payload data in custom ways.

Definition at line 22 of file ModifyingCarrier.h.

Public Member Functions

Carriercreate () const override=0
 Factory method. More...
 
std::string getName () const override=0
 Get the name of this connection type ("tcp", "mcast", "shmem", ...) More...
 
bool checkHeader (const yarp::os::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 (yarp::os::Bytes &header) const override
 Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. More...
 
bool respondToHeader (yarp::os::ConnectionState &proto) override
 Respond to the header. More...
 
bool modifiesIncomingData () const override
 Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method. More...
 
bool modifiesOutgoingData () const override
 Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method. More...
 
bool modifiesReply () const override
 Check if this carrier modifies outgoing data through the Carrier::modifyReply method. More...
 
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 configureFromProperty (yarp::os::Property &prop) override
 
- Public Member Functions inherited from yarp::os::AbstractCarrier
void setParameters (const yarp::os::Bytes &header) override
 Configure this carrier based on the first 8 bytes of the connection. More...
 
bool isConnectionless () const override
 Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). 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 requireAck () const override
 Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. 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...
 
bool expectReplyToHeader (ConnectionState &proto) override
 Process reply to header, if one is expected for this carrier. 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...
 
ConnectionReadermodifyIncomingData (ConnectionReader &reader) override
 Modify incoming payload data, if appropriate. More...
 
bool acceptIncomingData (ConnectionReader &reader) override
 Determine whether incoming data should be accepted. More...
 
const PortWritermodifyOutgoingData (const PortWriter &writer) override
 Modify outgoing payload data, if appropriate. 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 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)
 

Member Function Documentation

◆ checkHeader()

bool yarp::os::ModifyingCarrier::checkHeader ( const yarp::os::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 13 of file ModifyingCarrier.cpp.

◆ configureFromProperty()

bool yarp::os::ModifyingCarrier::configureFromProperty ( yarp::os::Property prop)
overridevirtual

Reimplemented from yarp::os::Carrier.

Reimplemented in yarp::os::PortMonitor.

Definition at line 62 of file ModifyingCarrier.cpp.

◆ create()

Carrier* yarp::os::ModifyingCarrier::create ( ) const
overridepure virtual

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.

Implemented in yarp::os::PriorityCarrier, yarp::os::BayerCarrier, and yarp::os::PortMonitor.

◆ getCarrierParams()

void yarp::os::ModifyingCarrier::getCarrierParams ( yarp::os::Property params) const
overridevirtual

Get carrier configuration and deliver it by port administrative commands.

Parameters
paramsoutput carrier properties

Reimplemented from yarp::os::AbstractCarrier.

Reimplemented in yarp::os::PriorityCarrier, and yarp::os::PortMonitor.

Definition at line 57 of file ModifyingCarrier.cpp.

◆ getHeader()

void yarp::os::ModifyingCarrier::getHeader ( yarp::os::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 20 of file ModifyingCarrier.cpp.

◆ getName()

std::string yarp::os::ModifyingCarrier::getName ( ) const
overridepure virtual

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

Returns
the name of this connection type

Implements yarp::os::AbstractCarrier.

Implemented in yarp::os::PriorityCarrier, yarp::os::BayerCarrier, and yarp::os::PortMonitor.

◆ modifiesIncomingData()

bool yarp::os::ModifyingCarrier::modifiesIncomingData ( ) const
overridevirtual

Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method.

Returns
true if carrier wants Carrier::modifyIncomingData called.

Reimplemented from yarp::os::Carrier.

Definition at line 36 of file ModifyingCarrier.cpp.

◆ modifiesOutgoingData()

bool yarp::os::ModifyingCarrier::modifiesOutgoingData ( ) const
overridevirtual

Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method.

Returns
true if carrier wants Carrier::modifyOutgoingData called.

Reimplemented from yarp::os::Carrier.

Definition at line 41 of file ModifyingCarrier.cpp.

◆ modifiesReply()

bool yarp::os::ModifyingCarrier::modifiesReply ( ) const
overridevirtual

Check if this carrier modifies outgoing data through the Carrier::modifyReply method.

Returns
true if carrier wants Carrier::modifyReply called.

Reimplemented from yarp::os::Carrier.

Definition at line 46 of file ModifyingCarrier.cpp.

◆ respondToHeader()

bool yarp::os::ModifyingCarrier::respondToHeader ( yarp::os::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 30 of file ModifyingCarrier.cpp.

◆ setCarrierParams()

void yarp::os::ModifyingCarrier::setCarrierParams ( const yarp::os::Property params)
overridevirtual

Configure carrier from port administrative commands.

Parameters
paramscarrier properties

Reimplemented from yarp::os::AbstractCarrier.

Reimplemented in yarp::os::PriorityCarrier, and yarp::os::PortMonitor.

Definition at line 52 of file ModifyingCarrier.cpp.


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