YARP  2.3.70.1
Yet Another Robot Platform
yarp::os::UnbufferedContactable Class Referenceabstract

An abstract unbuffered port. More...

#include <yarp/os/UnbufferedContactable.h>

+ Inheritance diagram for yarp::os::UnbufferedContactable:

Public Member Functions

virtual bool write (PortWriter &writer, PortWriter *callback=YARP_NULLPTR) const =0
 Write an object to the port. More...
 
virtual bool write (PortWriter &writer, PortReader &reader, PortWriter *callback=YARP_NULLPTR) const =0
 Write an object to the port, then expect one back. More...
 
virtual bool read (PortReader &reader, bool willReply=false)=0
 Read an object from the port. More...
 
virtual bool reply (PortWriter &writer)=0
 Send an object as a reply to an object read from the port. More...
 
virtual bool replyAndDrop (PortWriter &writer)=0
 Same as reply(), but closes connection after reply. More...
 
- Public Member Functions inherited from yarp::os::Contactable
virtual ~Contactable ()
 Destructor. More...
 
bool open ()
 Start port operation, with automatically-chosen network parameters. More...
 
virtual bool open (const ConstString &name)=0
 Start port operation, with a specific name, with automatically-chosen network parameters. More...
 
virtual bool open (const Contact &contact, bool registerName=true)=0
 Start port operation with user-chosen network parameters. More...
 
virtual bool addOutput (const ConstString &name)=0
 Add an output connection to the specified port. More...
 
virtual bool addOutput (const ConstString &name, const ConstString &carrier)=0
 Add an output connection to the specified port, using a specified carrier. More...
 
virtual bool addOutput (const Contact &contact)=0
 Add an output connection to the specified port, using specified network parameters. More...
 
virtual void close ()=0
 Stop port activity. More...
 
virtual void interrupt ()=0
 Interrupt any current reads or writes attached to the port. More...
 
virtual void resume ()=0
 Put the port back in an operative state after interrupt() has been called. More...
 
virtual Contact where () const =0
 Returns information about how this port can be reached. More...
 
virtual ConstString getName () const
 Get name of port. More...
 
virtual bool setEnvelope (PortWriter &envelope)=0
 Set an envelope (e.g., a timestamp) to the next message which will be sent. More...
 
virtual bool getEnvelope (PortReader &envelope)=0
 Get the envelope information (e.g., a timestamp) from the last message received on the port. More...
 
virtual int getInputCount ()=0
 Determine how many connections are arriving into this port. More...
 
virtual int getOutputCount ()=0
 Determine how many output connections this port has. More...
 
virtual void getReport (PortReport &reporter)=0
 Get information on the state of the port - connections etc. More...
 
virtual void setReporter (PortReport &reporter)=0
 Set a callback to be called upon any future connections and disconnections to/from the port. More...
 
virtual void resetReporter ()=0
 Remove the callback which is called upon any future connections and disconnections to/from the port. More...
 
virtual bool isWriting ()=0
 Report whether the port is currently writing data. More...
 
virtual void setReader (PortReader &reader)=0
 Set an external reader for port data. More...
 
virtual void setAdminReader (PortReader &reader)=0
 Set an external reader for unrecognized administrative port messages. More...
 
virtual void setInputMode (bool expectInput)=0
 Configure the port to allow or forbid inputs. More...
 
virtual void setOutputMode (bool expectOutput)=0
 Configure the port to allow or forbid outputs. More...
 
virtual void setRpcMode (bool expectRpc)=0
 Configure the port to be RPC only. More...
 
virtual Type getType ()=0
 Get the type of data the port has committed to send/receive. More...
 
virtual void promiseType (const Type &typ)=0
 Commit the port to a particular type of data. More...
 
virtual PropertyacquireProperties (bool readOnly)=0
 Access unstructured port properties. More...
 
virtual void releaseProperties (Property *prop)=0
 End access unstructured port properties. More...
 
virtual void includeNodeInName (bool flag)=0
 Choose whether to prepend a node name (if one is available) to the port's name. More...
 
void setReadOnly ()
 Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(false) More...
 
void setWriteOnly ()
 Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(false) More...
 
void setRpcServer ()
 Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(true) More...
 
void setRpcClient ()
 Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(true) More...
 
virtual bool setCallbackLock (yarp::os::Mutex *mutex=YARP_NULLPTR)=0
 Add a lock to use when invoking callbacks. More...
 
virtual bool removeCallbackLock ()=0
 Remove a lock on callbacks added with setCallbackLock() More...
 
virtual bool lockCallback ()=0
 Lock callbacks until unlockCallback() is called. More...
 
virtual bool tryLockCallback ()=0
 Try to lock callbacks until unlockCallback() is called. More...
 
virtual void unlockCallback ()=0
 Unlock callbacks. More...
 

Detailed Description

An abstract unbuffered port.

Definition at line 22 of file UnbufferedContactable.h.

Member Function Documentation

◆ read()

virtual bool yarp::os::UnbufferedContactable::read ( PortReader reader,
bool  willReply = false 
)
pure virtual

Read an object from the port.

Parameters
readerany object that knows how to read itself from a network connection - see for example Bottle
willReplyyou must set this to true if you intend to call reply()
Returns
true iff the object is successfully read

Implemented in yarp::os::AbstractContactable, yarp::os::Port, yarp::os::RpcServer, and yarp::os::RpcClient.

◆ reply()

virtual bool yarp::os::UnbufferedContactable::reply ( PortWriter writer)
pure virtual

Send an object as a reply to an object read from the port.

Only call this method if you set the willReply flag to true when you called Port::read.

Parameters
writerany object that knows how to write itself to a network connection - see for example Bottle
Returns
true iff the object is successfully written

Implemented in yarp::os::AbstractContactable, yarp::os::Port, and yarp::os::RpcClient.

◆ replyAndDrop()

virtual bool yarp::os::UnbufferedContactable::replyAndDrop ( PortWriter writer)
pure virtual

Same as reply(), but closes connection after reply.

This is useful for interoperation with XML/RPC clients that do not expect to reuse a connection.

Parameters
writerany object that knows how to write itself to a network connection - see for example Bottle
Returns
true iff the object is successfully written

Implemented in yarp::os::AbstractContactable, yarp::os::Port, and yarp::os::RpcClient.

◆ write() [1/2]

virtual bool yarp::os::UnbufferedContactable::write ( PortWriter writer,
PortWriter callback = YARP_NULLPTR 
) const
pure virtual

Write an object to the port.

Parameters
writerany object that knows how to write itself to a network connection - see for example Bottle
callbackobject on which to call onCompletion() after write is done (otherwise writer.onCompletion() is called)
Returns
true iff the object is successfully written

Implemented in yarp::os::AbstractContactable, yarp::os::Port, and yarp::os::RpcServer.

◆ write() [2/2]

virtual bool yarp::os::UnbufferedContactable::write ( PortWriter writer,
PortReader reader,
PortWriter callback = YARP_NULLPTR 
) const
pure virtual

Write an object to the port, then expect one back.

Parameters
writerany object that knows how to write itself to a network connection - see for example Bottle
readerany object that knows how to read itself from a network connection - see for example Bottle
callbackobject on which to call onCompletion() after write is done (otherwise writer.onCompletion() is called)
Returns
true iff an object is successfully written and read

Implemented in yarp::os::AbstractContactable, yarp::os::Port, and yarp::os::RpcServer.


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