AbstractCarrier.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_ABSTRACTCARRIER_H
#define YARP_OS_ABSTRACTCARRIER_H
 
#include <yarp/os/Carrier.h>
#include <yarp/os/NetType.h>
 
namespace yarp {
namespace os {
 
class YARP_os_API AbstractCarrier : public Carrier
{
public:
    // Documented in Carrier
    Carrier* create() const override = 0;
 
    // Documented in Carrier
    std::string getName() const override = 0;
 
    // Documented in Carrier
    bool checkHeader(const yarp::os::Bytes& header) override = 0;
 
    // Documented in Carrier
    void setParameters(const yarp::os::Bytes& header) override;
 
    // Documented in Carrier
    void getHeader(yarp::os::Bytes& header) const override = 0;
 
    // Documented in Carrier
    void setCarrierParams(const yarp::os::Property& params) override;
    // Documented in Carrier
    void getCarrierParams(yarp::os::Property& params) const override;
 
    // Documented in Carrier
    bool isConnectionless() const override;
    // Documented in Carrier
    bool supportReply() const override;
    // Documented in Carrier
    bool canAccept() const override;
    // Documented in Carrier
    bool canOffer() const override;
    // Documented in Carrier
    bool isTextMode() const override;
    // Documented in Carrier
    bool requireAck() const override;
    // Documented in Carrier
    bool canEscape() const override;
    // Documented in Carrier
    bool isLocal() const override;
    // Documented in Carrier
    std::string toString() const override;
 
    // Documented in Carrier
    bool isActive() const override;
 
    // Sender methods
 
    // Documented in Carrier
    bool prepareSend(ConnectionState& proto) override;
    // Documented in Carrier
    bool sendHeader(ConnectionState& proto) override;
    // Documented in Carrier
    bool expectReplyToHeader(ConnectionState& proto) override;
    // Documented in Carrier
    virtual bool sendIndex(ConnectionState& proto, SizedWriter& writer);
 
    // Receiver methods
 
    // Documented in Carrier
    bool expectExtraHeader(ConnectionState& proto) override;
    // Documented in Carrier
    bool respondToHeader(ConnectionState& proto) override = 0; // left abstract, no good default
    // Documented in Carrier
    bool expectIndex(ConnectionState& proto) override;
    // Documented in Carrier
    bool expectSenderSpecifier(ConnectionState& proto) override;
    // Documented in Carrier
    bool sendAck(ConnectionState& proto) override;
    // Documented in Carrier
    bool expectAck(ConnectionState& proto) override;
 
    // some default implementations of protocol phases used by
    // certain YARP carriers
 
    bool defaultSendHeader(ConnectionState& proto);
 
    bool defaultExpectIndex(ConnectionState& proto);
 
    bool defaultSendIndex(ConnectionState& proto, SizedWriter& writer);
 
    bool defaultExpectAck(ConnectionState& proto);
 
    bool defaultSendAck(ConnectionState& proto);
 
    int readYarpInt(ConnectionState& proto);
 
    void writeYarpInt(int n, ConnectionState& proto);
 
protected:
    int getSpecifier(const Bytes& b) const;
    void createStandardHeader(int specifier, yarp::os::Bytes& header) const;
 
    // Documented in Carrier
    bool write(ConnectionState& proto, SizedWriter& writer) override;
 
    bool sendConnectionStateSpecifier(ConnectionState& proto);
    bool sendSenderSpecifier(ConnectionState& proto);
 
    static int interpretYarpNumber(const yarp::os::Bytes& b);
    static void createYarpNumber(int x, yarp::os::Bytes& header);
 
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_ABSTRACTCARRIER_H