McastCarrier.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_IMPL_MCASTCARRIER_H
#define YARP_OS_IMPL_MCASTCARRIER_H
 
#include <yarp/os/AbstractCarrier.h>
#include <yarp/os/Election.h>
#include <yarp/os/impl/DgramTwoWayStream.h>
#include <yarp/os/impl/SplitString.h>
#include <yarp/os/impl/UdpCarrier.h>
 
#include <cstdio>
 
namespace yarp {
namespace os {
namespace impl {
 
class McastCarrier :
        public UdpCarrier
{
protected:
    Contact mcastAddress;
    std::string mcastName;
    std::string key;
    DgramTwoWayStream* stream;
    Contact local;
 
    static ElectionOf<PeerRecord<McastCarrier>>* caster;
 
    static ElectionOf<PeerRecord<McastCarrier>>& getCaster();
 
public:
    McastCarrier();
 
    virtual ~McastCarrier();
 
    Carrier* create() const override;
    std::string getName() const override;
 
    int getSpecifierCode() const override;
 
    bool sendHeader(ConnectionState& proto) override;
    bool expectExtraHeader(ConnectionState& proto) override;
    bool respondToHeader(ConnectionState& proto) override;
    bool expectReplyToHeader(ConnectionState& proto) override;
 
    bool becomeMcast(ConnectionState& proto, bool sender);
    void addSender(const std::string& key);
    void removeSender(const std::string& key);
    bool isElect() const;
    bool takeElection();
 
    bool isActive() const override;
    bool isBroadcast() const override;
};
 
} // namespace impl
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_IMPL_MCASTCARRIER_H