A starter class for implementing simple carriers. More...
#include <yarp/os/AbstractCarrier.h>
Public Member Functions | |
Carrier * | create () const override=0 |
Factory method. | |
std::string | getName () const override=0 |
Get the name of this connection type ("tcp", "mcast", "shmem", ...) | |
bool | checkHeader (const yarp::os::Bytes &header) override=0 |
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 | setParameters (const yarp::os::Bytes &header) override |
Configure this carrier based on the first 8 bytes of the connection. | |
void | getHeader (yarp::os::Bytes &header) const override=0 |
Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. | |
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 | isConnectionless () const override |
Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). | |
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 | requireAck () const override |
Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. | |
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. | |
bool | expectReplyToHeader (ConnectionState &proto) override |
Process reply to header, if one is expected for this carrier. | |
virtual bool | sendIndex (ConnectionState &proto, SizedWriter &writer) |
bool | expectExtraHeader (ConnectionState &proto) override |
Receive any carrier-specific header. | |
bool | respondToHeader (ConnectionState &proto) override=0 |
Respond to the 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. | |
Protected Member Functions | |
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 | |
static int | interpretYarpNumber (const yarp::os::Bytes &b) |
static void | createYarpNumber (int x, yarp::os::Bytes &header) |
A starter class for implementing simple carriers.
It implements reasonable default behavior.
Definition at line 20 of file AbstractCarrier.h.
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overridevirtual |
Check if reading is implemented for this carrier.
Implements yarp::os::Carrier.
Definition at line 40 of file AbstractCarrier.cpp.
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overridevirtual |
Check if carrier can encode administrative messages, as opposed to just user data.
The word escape is used in the sense of escape character or escape sequence here.
Implements yarp::os::Carrier.
Reimplemented in MpiCarrier, yarp::os::impl::LocalCarrier, and yarp::os::impl::NameserCarrier.
Definition at line 60 of file AbstractCarrier.cpp.
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overridevirtual |
Check if writing is implemented for this carrier.
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier.
Definition at line 45 of file AbstractCarrier.cpp.
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overridepure virtual |
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::Carrier.
Implemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiCarrier, ShmemCarrier, UnixSocketCarrier, yarp::os::impl::TcpCarrier, and yarp::os::ModifyingCarrier.
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overridepure virtual |
Factory method.
Get a new object of the same type as this one.
Implements yarp::os::Carrier.
Implemented in BayerCarrier, MpiBcastCarrier, MpiP2PCarrier, PortMonitor, PriorityCarrier, ShmemCarrier, UnixSocketCarrier, WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiCarrier, and yarp::os::ModifyingCarrier.
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protected |
Definition at line 174 of file AbstractCarrier.cpp.
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staticprotected |
Definition at line 372 of file AbstractCarrier.cpp.
bool AbstractCarrier::defaultExpectAck | ( | ConnectionState & | proto | ) |
Default implementation for the expectAck method.
Definition at line 244 of file AbstractCarrier.cpp.
bool AbstractCarrier::defaultExpectIndex | ( | ConnectionState & | proto | ) |
Default implementation for the expectIndex method.
Definition at line 268 of file AbstractCarrier.cpp.
bool AbstractCarrier::defaultSendAck | ( | ConnectionState & | proto | ) |
Default implementation for the sendAck method.
Definition at line 330 of file AbstractCarrier.cpp.
bool AbstractCarrier::defaultSendHeader | ( | ConnectionState & | proto | ) |
Default implementation for the sendHeader method.
Definition at line 190 of file AbstractCarrier.cpp.
bool AbstractCarrier::defaultSendIndex | ( | ConnectionState & | proto, |
SizedWriter & | writer | ||
) |
Default implementation for the sendIndex method.
Definition at line 225 of file AbstractCarrier.cpp.
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overridevirtual |
Receive an acknowledgement, if expected for this carrier.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, MpiCarrier, and UnixSocketCarrier.
Definition at line 145 of file AbstractCarrier.cpp.
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overridevirtual |
Receive any carrier-specific header.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in yarp::os::impl::LocalCarrier, and yarp::os::impl::McastCarrier.
Definition at line 98 of file AbstractCarrier.cpp.
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overridevirtual |
Expect a message header, if there is one for this carrier.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, MpiCarrier, and UnixSocketCarrier.
Definition at line 104 of file AbstractCarrier.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 |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiBcastCarrier, MpiCarrier, ShmemCarrier, UnixSocketCarrier, and yarp::os::impl::TcpCarrier.
Definition at line 87 of file AbstractCarrier.cpp.
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overridevirtual |
Expect the name of the sending port.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, and MpiCarrier.
Definition at line 109 of file AbstractCarrier.cpp.
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overridevirtual |
Get carrier configuration and deliver it by port administrative commands.
params | output carrier properties |
Implements yarp::os::Connection.
Reimplemented in PortMonitor, PriorityCarrier, and yarp::os::ModifyingCarrier.
Definition at line 160 of file AbstractCarrier.cpp.
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overridepure virtual |
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::Carrier.
Implemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiCarrier, ShmemCarrier, UnixSocketCarrier, yarp::os::impl::TcpCarrier, and yarp::os::ModifyingCarrier.
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overridepure virtual |
Get the name of this connection type ("tcp", "mcast", "shmem", ...)
Implements yarp::os::Connection.
Implemented in BayerCarrier, MpiBcastCarrier, MpiP2PCarrier, PortMonitor, PriorityCarrier, ShmemCarrier, UnixSocketCarrier, WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiCarrier, and yarp::os::ModifyingCarrier.
Definition at line 165 of file AbstractCarrier.cpp.
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staticprotected |
Definition at line 359 of file AbstractCarrier.cpp.
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overridevirtual |
Check if carrier is alive and error free.
Implements yarp::os::Carrier.
Reimplemented in BayerCarrier, MpiBcastCarrier, and yarp::os::impl::McastCarrier.
Definition at line 150 of file AbstractCarrier.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.
Implements yarp::os::Carrier.
Reimplemented in MpiCarrier, ShmemCarrier, UnixSocketCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::TcpCarrier, and yarp::os::impl::UdpCarrier.
Definition at line 29 of file AbstractCarrier.cpp.
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overridevirtual |
Check if carrier operates within a single process.
In such a case, YARP connections may get completely reorganized in order to optimize them.
Implements yarp::os::Carrier.
Reimplemented in yarp::os::impl::LocalCarrier.
Definition at line 65 of file AbstractCarrier.cpp.
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overridevirtual |
Check if carrier is textual in nature.
Implements yarp::os::Carrier.
Reimplemented in BayerCarrier, WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, and yarp::os::impl::TextCarrier.
Definition at line 50 of file AbstractCarrier.cpp.
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overridevirtual |
Perform any initialization needed before writing on a connection.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Definition at line 75 of file AbstractCarrier.cpp.
int AbstractCarrier::readYarpInt | ( | ConnectionState & | proto | ) |
Read 8 bytes and interpret them as a YARP number.
Definition at line 339 of file AbstractCarrier.cpp.
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overridevirtual |
Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.
Implements yarp::os::Carrier.
Reimplemented in ShmemCarrier, UnixSocketCarrier, WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::TextCarrier, and yarp::os::impl::UdpCarrier.
Definition at line 55 of file AbstractCarrier.cpp.
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overridepure virtual |
Respond to the header.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Implemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::UdpCarrier, MpiCarrier, ShmemCarrier, UnixSocketCarrier, yarp::os::impl::TcpCarrier, and yarp::os::ModifyingCarrier.
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overridevirtual |
Send an acknowledgement, if needed for this carrier.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, MpiCarrier, and UnixSocketCarrier.
Definition at line 140 of file AbstractCarrier.cpp.
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protected |
Definition at line 199 of file AbstractCarrier.cpp.
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overridevirtual |
Write a header appropriate to the carrier to the connection, followed by any carrier-specific data.
Must communicate at least the name of the originating port, if there is one.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, and MpiCarrier.
Definition at line 81 of file AbstractCarrier.cpp.
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virtual |
Reimplemented in WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::TextCarrier, MpiCarrier, and UnixSocketCarrier.
Definition at line 93 of file AbstractCarrier.cpp.
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protected |
Definition at line 210 of file AbstractCarrier.cpp.
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overridevirtual |
Configure carrier from port administrative commands.
params | carrier properties |
Implements yarp::os::Connection.
Reimplemented in PortMonitor, PriorityCarrier, and yarp::os::ModifyingCarrier.
Definition at line 155 of file AbstractCarrier.cpp.
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overridevirtual |
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 |
Implements yarp::os::Carrier.
Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::UdpCarrier, ShmemCarrier, UnixSocketCarrier, and yarp::os::impl::TcpCarrier.
Definition at line 23 of file AbstractCarrier.cpp.
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overridevirtual |
This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies.
Implements yarp::os::Carrier.
Reimplemented in MpiBcastCarrier, MpiP2PCarrier, WebSocketCarrier, yarp::os::impl::HttpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::TextCarrier, and MpiCarrier.
Definition at line 35 of file AbstractCarrier.cpp.
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overridevirtual |
Get name of carrier.
Implements yarp::os::Carrier.
Reimplemented in BayerCarrier, PortMonitor, and PriorityCarrier.
Definition at line 70 of file AbstractCarrier.cpp.
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overrideprotectedvirtual |
Write a message.
proto | the protocol object, which tracks connection state |
Implements yarp::os::Carrier.
Reimplemented in yarp::os::impl::HttpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::NameserCarrier, WebSocketCarrier, and MpiCarrier.
Definition at line 179 of file AbstractCarrier.cpp.
void AbstractCarrier::writeYarpInt | ( | int | n, |
ConnectionState & | proto | ||
) |
Write n
as an 8 bytes yarp number.
Definition at line 351 of file AbstractCarrier.cpp.