30void* Port::needImplementation()
const
32 if (implementation !=
nullptr) {
33 return implementation;
35 Port* self =
const_cast<Port*
>(
this);
39 return self->implementation;
43#define IMPL() (*reinterpret_cast<yarp::os::impl::PortCoreAdapter*>(needImplementation()))
53 if (implementation !=
nullptr) {
58 implementation =
nullptr;
69 implementation = port.implementation;
86 return open(contact, registerName,
nullptr);
94 yCError(
PORT,
"YARP not initialized; create a yarp::os::Network object before using ports");
116 if (
n.empty() &&
contact2.getPort() <= 0) {
118 registerName =
false;
123 if (!nc.getNestedName().empty()) {
124 if (nc.getNodeName().empty()) {
137 if (!
n.empty() && (
n[0] !=
'/' ||
currentCore->includeNode) &&
n[0] !=
'=' &&
n !=
"..." &&
n.substr(0, 3) !=
"...") {
147 if (!
n.empty() &&
n[0] !=
'/' &&
n[0] !=
'=' &&
n !=
"..." &&
n.substr(0, 3) !=
"...") {
149 yCError(
PORT,
"Port name '%s' needs to start with a '/' character",
n.c_str());
153 if (!
n.empty() &&
n !=
"..." &&
n[0] !=
'=' &&
n.substr(0, 3) !=
"...") {
156 if (!prefix.empty()) {
180 yCError(
PORT,
"Error: Port '%s' is not committed to being either an input or output port.",
n.c_str());
181 yCError(
PORT,
"YARP does not mind, but we are trying to register with a name server that does.");
182 yCError(
PORT,
"You can call Port::setWriteOnly() or Port::setReadOnly(), OR rename the port.");
184 nc2.setCategoryWrite();
185 yCError(
PORT,
"For an output port, call it: %s (+ adds data)",
nc2.toString().c_str());
186 nc2.setCategoryRead();
187 yCError(
PORT,
"For an input port, call it: %s (- takes data)",
nc2.toString().c_str());
202 if (
currentCore->checkAdminPortReader() !=
nullptr) {
238 address.setNestedContact(
contact2.getNested());
242 registerName =
false;
266 if (registerName && !local) {
270 core.setControlRegistration(registerName);
271 success = (address.isValid() ||
local) && (
fakeName ==
nullptr);
276 nodes.
prepare(address.getRegName());
290 std::string
blame =
"invalid address";
292 success =
core.listen(address, registerName);
293 blame =
"address conflict";
295 success =
core.start();
296 blame =
"manager did not start";
300 address =
core.getAddress();
301 if (registerName && local) {
302 contact2.setSocket(address.getCarrier(),
305 contact2.setName(address.getRegName());
308 address =
core.getAddress();
309 }
else if (
core.getAddress().getRegName().empty() && !registerName) {
310 core.resetPortName(
core.getAddress().toURI(
false));
311 core.setName(
core.getAddress().getRegName());
314 if (address.getRegName().empty()) {
316 "Anonymous port active at %s",
317 address.toURI().c_str());
320 "Port %s active at %s",
321 address.getRegName().c_str(),
322 address.toURI().c_str());
328 blame =
"unmanaged port failed to start";
334 "Port %s failed to activate%s%s (%s)",
336 (address.
isValid() ?
" at " :
""),
373 core.finishReading();
374 core.finishWriting();
395 if (!
core.isInterrupted()) {
408 return core.getAddress();
415 if (
core.commitToRead) {
418 if (
core.isInterrupted()) {
426 name = contact.
toURI();
428 if (!
core.isListening()) {
439 if (
core.isInterrupted()) {
445 result =
core.send(writer,
nullptr, callback);
448 if (callback !=
nullptr) {
463 if (
core.isInterrupted()) {
469 result =
core.send(writer, &reader, callback);
471 if (callback !=
nullptr) {
491 if (
core.isInterrupted()) {
494 return core.
read(reader, willReply);
501 return core.reply(writer,
false,
core.isInterrupted());
507 return core.reply(writer,
true,
core.isInterrupted());
515 core.configReader(reader);
521 core.configAdminReader(reader);
591 core.resetReportCallback();
607#define SET_FLAG(implementation, mask, val) \
608 IMPL().setFlags((IMPL().getFlags() & (~(mask))) + ((val) ? (mask) : 0))
636 IMPL().setTimeout(timeout);
640#ifndef YARP_NO_DEPRECATED
679 if (implementation ==
nullptr) {
682 return IMPL().active;
687 return IMPL().configCallbackLock(mutex);
692 return IMPL().unconfigCallbackLock();
701 "Cannot do lockCallback() without setCallbackLock() before opening port");
void cat(Vector &a, const Vector &b)
#define PORTCORE_IS_INPUT
#define PORTCORE_IS_OUTPUT
#define SET_FLAG(implementation, mask, val)
RandScalar * implementation(void *t)
A simple collection of objects that can be described and transmitted in a portable way.
A mini-server for performing network communication in the background.
Type getType() override
Get the type of data the port has committed to send/receive.
void promiseType(const Type &typ) override
Commit the port to a particular type of data.
void includeNodeInName(bool flag) override
Choose whether to prepend a node name (if one is available) to the port's name.
Property * acquireProperties(bool readOnly) override
Access unstructured port properties.
std::string getName() const override
Get name of port.
bool tryLockCallback() override
Try to lock callbacks until unlockCallback() is called.
bool getEnvelope(PortReader &envelope) override
Get the envelope information (e.g., a timestamp) from the last message received on the port.
void close() override
Stop port activity.
void releaseProperties(Property *prop) override
End access unstructured port properties.
bool setEnvelope(PortWriter &envelope) override
Set an envelope (e.g., a timestamp) to the next message which will be sent.
void interrupt() override
Interrupt any current reads or writes attached to the port.
int getInputCount() override
Determine how many connections are arriving into this port.
bool isWriting() override
Report whether the port is currently writing data.
T * read(bool shouldWait=true) override
Read an available object from the port.
bool addOutput(const std::string &name) override
Add an output connection to the specified port.
int getOutputCount() override
Determine how many output connections this port has.
void unlockCallback() override
Unlock callbacks.
static bool initialized()
Returns true if YARP has been fully initialized.
static bool connect(const std::string &src, const std::string &dest, const std::string &carrier="", bool quiet=true)
Request that an output port connect to an input port.
static Contact registerContact(const Contact &contact)
Register contact information with the name server.
static bool localNetworkAllocation()
Check where the name server in use expects processes to allocate their own network resources.
void remove(Contactable &contactable) override
remove a Contactable from the Node specified in the contactable's name.
std::string getActiveName()
getActiveName getter for the currently active node's name
bool requireActiveName()
requireActiveName if there is no active node, creates a temporary one.
void add(Contactable &contactable) override
add a Contactable to the Node specified in the contactable name (see NestedContact....
void prepare(const std::string &name)
prepare checks for the existence of the node specified in the name parameter.
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
A base class for objects that want information about port status changes.
Interface implemented by all objects that can write themselves to the network, such as Bottle objects...
virtual void onCompletion() const
This is called when the port has finished all writing operations.
A mini-server for network communication.
void setReaderCreator(PortReaderCreator &creator)
Set a creator for readers for port data.
void enableBackgroundWrite(bool backgroundFlag)
control whether writing from this port is done in the background.
int getOutputCount() override
Determine how many output connections this port has.
bool write(const PortWriter &writer, const PortWriter *callback=nullptr) const override
Write an object to the port.
void setReader(PortReader &reader) override
Set an external reader for port data.
Contact where() const override
Returns information about how this port can be reached.
bool getEnvelope(PortReader &envelope) override
Get the envelope information (e.g., a timestamp) from the last message received on the port.
Type getType() override
Get the type of data the port has committed to send/receive.
void setRpcMode(bool expectRpc) override
Configure the port to be RPC only.
bool removeCallbackLock() override
Remove a lock on callbacks added with setCallbackLock()
bool sharedOpen(Port &port)
Open a port wrapping an existing port.
void setAdminMode(bool adminMode=true)
Turn on/off "admin" mode.
void setAdminReader(PortReader &reader) override
Set an external reader for unrecognized administrative port messages.
int getVerbosity()
Get port verbosity level.
void resume() override
Put the port back in an operative state after interrupt() has been called.
bool tryLockCallback() override
Try to lock callbacks until unlockCallback() is called.
bool addOutput(const std::string &name) override
Add an output connection to the specified port.
bool read(PortReader &reader, bool willReply=false) override
Read an object from the port.
~Port() override
Destructor.
bool replyAndDrop(PortWriter &writer) override
Same as reply(), but closes connection after reply.
void setInputMode(bool expectInput) override
Configure the port to allow or forbid inputs.
int getInputCount() override
Determine how many connections are arriving into this port.
void setReporter(PortReport &reporter) override
Set a callback to be called upon any future connections and disconnections to/from the port.
void setVerbosity(int level)
Set whether the port should issue messages about its operations.
bool setTimeout(float timeout)
Set a timeout on network operations.
void interrupt() override
Interrupt any current reads or writes attached to the port.
bool setCallbackLock(std::mutex *mutex=nullptr) override
Add a lock to use when invoking callbacks.
bool lockCallback() override
Lock callbacks until unlockCallback() is called.
void includeNodeInName(bool flag) override
Choose whether to prepend a node name (if one is available) to the port's name.
bool setEnvelope(PortWriter &envelope) override
Set an envelope (e.g., a timestamp) to the next message which will be sent.
void releaseProperties(Property *prop) override
End access unstructured port properties.
void getReport(PortReport &reporter) override
Get information on the state of the port - connections etc.
bool openFake(const std::string &name)
Start port without making it accessible from the network.
void resetReporter() override
Remove the callback which is called upon any future connections and disconnections to/from the port.
void close() override
Stop port activity.
void promiseType(const Type &typ) override
Commit the port to a particular type of data.
bool reply(PortWriter &writer) override
Send an object as a reply to an object read from the port.
bool open(const std::string &name) override
Start port operation, with a specific name, with automatically-chosen network parameters.
bool isWriting() override
Report whether the port is currently writing data.
Property * acquireProperties(bool readOnly) override
Access unstructured port properties.
void setOutputMode(bool expectOutput) override
Configure the port to allow or forbid outputs.
bool isOpen() const
Check if the port has been opened.
void unlockCallback() override
Unlock callbacks.
A class for storing options and configuration information.
static Type byNameOnWire(const char *name_on_wire)
std::string getNameOnWire() const
std::string getName() const
static NameClient & getNameClient()
Get an instance of the name client.
Small helper class to help deal with legacy YARP configuration files.
std::string getSafeString(const std::string &txt)
#define yCError(component,...)
#define yCAssert(component, x)
#define yCIError(component, id,...)
#define yCDebug(component,...)
#define yCIInfo(component, id,...)
#define YARP_OS_LOG_COMPONENT(name, name_string)
std::string get_string(const std::string &key, bool *found=nullptr)
Read a string from an environment variable.
bool isValid()
Check if time is valid (non-zero).
The components from which ports and connections are built.
An interface to the operating system, including Port based communication.
int rename(const char *oldname, const char *newname)
Portable wrapper for the rename() function.