Communicating between two ports via MCAST. More...

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

Inheritance diagram for yarp::os::impl::McastCarrier:

Public Member Functions
	McastCarrier ()

virtual	~McastCarrier ()

Carrier *	create () const override
	Factory method.

std::string	getName () const override
	Get the name of this connection type ("tcp", "mcast", "shmem", ...)

int	getSpecifierCode () const override

bool	sendHeader (ConnectionState &proto) override
	Write a header appropriate to the carrier to the connection, followed by any carrier-specific data.

bool	expectExtraHeader (ConnectionState &proto) override
	Receive any carrier-specific header.

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.

bool	becomeMcast (ConnectionState &proto, bool sender)

void	addSender (const std::string &key)

void	removeSender (const std::string &key)

bool	isElect () const

bool	takeElection ()
	takeElection, this function is called when the elect mcast carrier dies and pass the write buffers to another one.

bool	isActive () const override
	Check if carrier is alive and error free.

bool	isBroadcast () const override
	Check if this carrier uses a broadcast mechanism.

Public Member Functions inherited from yarp::os::impl::UdpCarrier
	UdpCarrier ()

Carrier *	create () const override
	Factory method.

std::string	getName () const override
	Get the name of this connection type ("tcp", "mcast", "shmem", ...)

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 &params) override
	Configure carrier from port administrative commands.

void	getCarrierParams (yarp::os::Property &params) 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	prepareSend (ConnectionState &proto) override
	Perform any initialization needed before writing on a connection.

virtual bool	sendIndex (ConnectionState &proto, SizedWriter &writer)

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
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 &params) override
	Configure carrier from port administrative commands.

void	getCarrierParams (Property &params) 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.

Static Protected Member Functions
static ElectionOf< PeerRecord< McastCarrier > > &	getCaster ()

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)

Protected Attributes
Contact	mcastAddress

std::string	mcastName

std::string	key

DgramTwoWayStream *	stream

Contact	local

Static Protected Attributes
static ElectionOf< PeerRecord< McastCarrier > > *	caster = nullptr

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)

Detailed Description

Communicating between two ports via MCAST.

Definition at line 22 of file McastCarrier.h.

Constructor & Destructor Documentation

◆ McastCarrier()

yarp::os::impl::McastCarrier::McastCarrier ( )

Definition at line 46 of file McastCarrier.cpp.

◆ ~McastCarrier()

yarp::os::impl::McastCarrier::~McastCarrier ( )

virtual

Definition at line 52 of file McastCarrier.cpp.

Member Function Documentation

◆ addSender()

void yarp::os::impl::McastCarrier::addSender ( const std::string & key )

Definition at line 237 of file McastCarrier.cpp.

◆ becomeMcast()

bool yarp::os::impl::McastCarrier::becomeMcast	(	ConnectionState &	proto,
		bool	sender
	)

Definition at line 187 of file McastCarrier.cpp.

◆ create()

Carrier * yarp::os::impl::McastCarrier::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 71 of file McastCarrier.cpp.

◆ expectExtraHeader()

bool yarp::os::impl::McastCarrier::expectExtraHeader ( ConnectionState & proto )

overridevirtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 153 of file McastCarrier.cpp.

◆ expectReplyToHeader()

bool yarp::os::impl::McastCarrier::expectReplyToHeader ( ConnectionState & proto )

overridevirtual

Process reply to header, if one is expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 232 of file McastCarrier.cpp.

◆ getCaster()

ElectionOf< PeerRecord< McastCarrier > > & McastCarrier::getCaster ( )

staticprotected

Definition at line 29 of file McastCarrier.cpp.

◆ getName()

std::string yarp::os::impl::McastCarrier::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 76 of file McastCarrier.cpp.

◆ getSpecifierCode()

int yarp::os::impl::McastCarrier::getSpecifierCode ( ) const

overridevirtual

Reimplemented from yarp::os::impl::UdpCarrier.

Definition at line 81 of file McastCarrier.cpp.

◆ isActive()

bool yarp::os::impl::McastCarrier::isActive ( ) const

overridevirtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 263 of file McastCarrier.cpp.

◆ isBroadcast()

bool yarp::os::impl::McastCarrier::isBroadcast ( ) const

overridevirtual

Check if this carrier uses a broadcast mechanism.

This flag is used to determine whether it is appropriate to send "kill" messages using a carrier or whether they should be sent "out-of-band"

Returns: true if carrier uses a broadcast mechanism.

Reimplemented from yarp::os::Carrier.

Definition at line 268 of file McastCarrier.cpp.

◆ isElect()

bool yarp::os::impl::McastCarrier::isElect ( ) const

Definition at line 247 of file McastCarrier.cpp.

◆ removeSender()

void yarp::os::impl::McastCarrier::removeSender ( const std::string & key )

Definition at line 242 of file McastCarrier.cpp.

◆ respondToHeader()

bool yarp::os::impl::McastCarrier::respondToHeader ( ConnectionState & proto )

overridevirtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::AbstractCarrier.

Definition at line 226 of file McastCarrier.cpp.

◆ sendHeader()

bool yarp::os::impl::McastCarrier::sendHeader ( ConnectionState & proto )

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.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 87 of file McastCarrier.cpp.

◆ takeElection()

bool yarp::os::impl::McastCarrier::takeElection ( )

takeElection, this function is called when the elect mcast carrier dies and pass the write buffers to another one.

Returns: true if the join of mcast is successful false otherwise.

Definition at line 254 of file McastCarrier.cpp.

Member Data Documentation

◆ caster

ElectionOf< PeerRecord< McastCarrier > > * McastCarrier::caster = nullptr

staticprotected

Definition at line 32 of file McastCarrier.h.

◆ key

std::string yarp::os::impl::McastCarrier::key

protected

Definition at line 28 of file McastCarrier.h.

◆ local

Contact yarp::os::impl::McastCarrier::local

protected

Definition at line 30 of file McastCarrier.h.

◆ mcastAddress

Contact yarp::os::impl::McastCarrier::mcastAddress

protected

Definition at line 26 of file McastCarrier.h.

◆ mcastName

std::string yarp::os::impl::McastCarrier::mcastName

protected

Definition at line 27 of file McastCarrier.h.

◆ stream

DgramTwoWayStream* yarp::os::impl::McastCarrier::stream

protected

Definition at line 29 of file McastCarrier.h.

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

src/libYARP_os/src/yarp/os/impl/McastCarrier.h
src/libYARP_os/src/yarp/os/impl/McastCarrier.cpp

Public Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ McastCarrier()

◆ ~McastCarrier()

Member Function Documentation

◆ addSender()

◆ becomeMcast()

◆ create()

◆ expectExtraHeader()

◆ expectReplyToHeader()

◆ getCaster()

◆ getName()

◆ getSpecifierCode()

◆ isActive()

◆ isBroadcast()

◆ isElect()

◆ removeSender()

◆ respondToHeader()

◆ sendHeader()

◆ takeElection()

Member Data Documentation

◆ caster

◆ key

◆ local

◆ mcastAddress

◆ mcastName

◆ stream