#include <tcpros_carrier/TcpRosCarrier.h>

Inheritance diagram for TcpRosCarrier:

Public Member Functions
	TcpRosCarrier ()

Carrier *	create () const override
	Factory method. More...

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

bool	isConnectionless () const override
	Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). More...

bool	canAccept () const override
	Check if reading is implemented for this carrier. More...

bool	canOffer () const override
	Check if writing is implemented for this carrier. More...

bool	isTextMode () const override
	Check if carrier is textual in nature. More...

bool	isBareMode () const override
	Check if carrier excludes type information from payload. More...

bool	canEscape () const override
	Check if carrier can encode administrative messages, as opposed to just user data. More...

bool	requireAck () const override
	Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. More...

bool	supportReply () const override
	This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies. More...

bool	isPush () const override
	Check if carrier is "push" or "pull" style. More...

bool	isLocal () const override
	Check if carrier operates within a single process. More...

std::string	toString () const override
	Get name of carrier. More...

void	getHeader (yarp::os::Bytes &header) const override
	Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. More...

bool	checkHeader (const yarp::os::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. More...

void	setParameters (const yarp::os::Bytes &header) override
	Configure this carrier based on the first 8 bytes of the connection. More...

bool	prepareSend (yarp::os::ConnectionState &proto) override
	Perform any initialization needed before writing on a connection. More...

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

bool	expectSenderSpecifier (yarp::os::ConnectionState &proto) override
	Expect the name of the sending port. More...

bool	expectExtraHeader (yarp::os::ConnectionState &proto) override
	Receive any carrier-specific header. More...

bool	respondToHeader (yarp::os::ConnectionState &proto) override
	Respond to the header. More...

bool	expectReplyToHeader (yarp::os::ConnectionState &proto) override
	Process reply to header, if one is expected for this carrier. More...

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

bool	write (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer) override
	Write a message. More...

bool	reply (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer) override

virtual bool	sendIndex (yarp::os::ConnectionState &proto, yarp::os::SizedWriter &writer)

bool	expectIndex (yarp::os::ConnectionState &proto) override
	Expect a message header, if there is one for this carrier. More...

bool	sendAck (yarp::os::ConnectionState &proto) override
	Send an acknowledgement, if needed for this carrier. More...

bool	expectAck (yarp::os::ConnectionState &proto) override
	Receive an acknowledgement, if expected for this carrier. More...

std::string	getBootstrapCarrierName () const override
	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. More...

virtual int	connect (const yarp::os::Contact &src, const yarp::os::Contact &dest, const yarp::os::ContactStyle &style, int mode, bool reversed) override
	Some carrier types may require special connection logic. More...

Public Member Functions inherited from yarp::os::Carrier
bool	isBroadcast () const override
	Check if this carrier uses a broadcast mechanism. More...

void	handleEnvelope (const std::string &envelope) override
	Carriers that do not distinguish data from administrative headers (i.e. More...

void	prepareDisconnect () override
	Do cleanup and preparation for the coming disconnect, if necessary. More...

virtual void	close ()
	Close the carrier. More...

virtual	~Carrier ()
	Destructor. More...

bool	modifiesIncomingData () const override
	Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method. More...

ConnectionReader &	modifyIncomingData (ConnectionReader &reader) override
	Modify incoming payload data, if appropriate. More...

bool	acceptIncomingData (ConnectionReader &reader) override
	Determine whether incoming data should be accepted. More...

bool	modifiesOutgoingData () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method. More...

const PortWriter &	modifyOutgoingData (const PortWriter &writer) override
	Modify outgoing payload data, if appropriate. More...

bool	modifiesReply () const override
	Check if this carrier modifies outgoing data through the Carrier::modifyReply method. More...

PortReader &	modifyReply (PortReader &reader) override
	Modify reply payload data, if appropriate. More...

bool	acceptOutgoingData (const PortWriter &writer) override
	Determine whether outgoing data should be accepted. More...

virtual bool	configure (ConnectionState &proto)
	Give carrier a shot at looking at how the connection is set up. More...

virtual bool	configureFromProperty (yarp::os::Property &options)

void	setCarrierParams (const Property &params) override
	Configure carrier from port administrative commands. More...

void	getCarrierParams (Property &params) const override
	Get carrier configuration and deliver it by port administrative commands. More...

virtual yarp::os::Face *	createFace () const
	Create new Face object that the carrier needs. More...

Public Member Functions inherited from yarp::os::Connection
virtual	~Connection ()
	Destructor. More...

virtual bool	isValid () const
	Check if this object is really a connection, or just an empty placeholder. More...

Protected Attributes
bool	isService

Detailed Description

Definition at line 27 of file TcpRosCarrier.h.

Constructor & Destructor Documentation

◆ TcpRosCarrier()

TcpRosCarrier::TcpRosCarrier ( )

inline

Definition at line 55 of file TcpRosCarrier.h.

Member Function Documentation

◆ canAccept()

bool TcpRosCarrier::canAccept ( ) const

inlineoverridevirtual

Check if reading is implemented for this carrier.

Returns: true if carrier can read messages

Implements yarp::os::Carrier.

Definition at line 79 of file TcpRosCarrier.h.

◆ canEscape()

bool TcpRosCarrier::canEscape ( ) const

inlineoverridevirtual

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.

Returns: true if carrier can encode administrative messages

Implements yarp::os::Carrier.

Definition at line 95 of file TcpRosCarrier.h.

◆ canOffer()

bool TcpRosCarrier::canOffer ( ) const

inlineoverridevirtual

Check if writing is implemented for this carrier.

Returns: true if carrier can write messages

Implements yarp::os::Carrier.

Definition at line 83 of file TcpRosCarrier.h.

◆ checkHeader()

bool TcpRosCarrier::checkHeader ( const yarp::os::Bytes & header )

overridevirtual

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.

Parameters

header a buffer holding the first 8 bytes received on the connection

Returns: true if this is the carrier to use.

Implements yarp::os::Carrier.

Definition at line 36 of file TcpRosCarrier.cpp.

◆ connect()

int TcpRosCarrier::connect	(	const yarp::os::Contact &	src,
		const yarp::os::Contact &	dest,
		const yarp::os::ContactStyle &	style,
		int	mode,
		bool	reversed
	)

overridevirtual

Some carrier types may require special connection logic.

This can be implemented here. Normally this is not necessary.

Parameters

src	Initiator of the connection.
dest	Destination of the connection.
style	Options for connection.
mode	YARP_ENACT_CONNECT / YARP_ENACT_DISCONNECT / YARP_ENACT_EXISTS.
reversed	true for pull connections, false for push connections.

Returns: -1 if no attempt made to connect, 0 on success, 1 on failure.

Reimplemented from yarp::os::Carrier.

Definition at line 451 of file TcpRosCarrier.cpp.

◆ create()

Carrier* TcpRosCarrier::create ( ) const

inlineoverridevirtual

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::Carrier.

Reimplemented in RosSrvCarrier.

Definition at line 67 of file TcpRosCarrier.h.

◆ expectAck()

bool TcpRosCarrier::expectAck ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Receive an acknowledgement, if expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 176 of file TcpRosCarrier.h.

◆ expectExtraHeader()

bool TcpRosCarrier::expectExtraHeader ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 142 of file TcpRosCarrier.h.

◆ expectIndex()

bool TcpRosCarrier::expectIndex ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Expect a message header, if there is one for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 168 of file TcpRosCarrier.h.

◆ expectReplyToHeader()

bool TcpRosCarrier::expectReplyToHeader ( yarp::os::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

Implements yarp::os::Carrier.

Definition at line 157 of file TcpRosCarrier.cpp.

◆ expectSenderSpecifier()

bool TcpRosCarrier::expectSenderSpecifier ( yarp::os::ConnectionState & proto )

overridevirtual

Expect the name of the sending port.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 230 of file TcpRosCarrier.cpp.

◆ getBootstrapCarrierName()

std::string TcpRosCarrier::getBootstrapCarrierName ( ) const

inlineoverridevirtual

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.

Normally, this should be "tcp".

For carriers intended to interoperate with foreign ports not capable of initiating streams, the bootstrap carrier name should be left blank. YARP may use that fact to arrange for alternate methods of initiating a stream.

Returns: the name of the bootstrap carrier.

Reimplemented from yarp::os::Carrier.

Definition at line 180 of file TcpRosCarrier.h.

◆ getHeader()

void TcpRosCarrier::getHeader ( yarp::os::Bytes & header ) const

inlineoverridevirtual

Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it.

Parameters

header a buffer to hold the first 8 bytes to send on a connection

Implements yarp::os::Carrier.

Definition at line 120 of file TcpRosCarrier.h.

◆ getName()

std::string TcpRosCarrier::getName ( ) const

inlineoverridevirtual

Get the name of this connection type ("tcp", "mcast", "shmem", ...)

Returns: the name of this connection type

Implements yarp::os::Connection.

Definition at line 71 of file TcpRosCarrier.h.

◆ isActive()

bool TcpRosCarrier::isActive ( ) const

inlineoverridevirtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Implements yarp::os::Carrier.

Definition at line 153 of file TcpRosCarrier.h.

◆ isBareMode()

bool TcpRosCarrier::isBareMode ( ) const

inlineoverridevirtual

Check if carrier excludes type information from payload.

Returns: true if carrier is bare

Reimplemented from yarp::os::Connection.

Definition at line 91 of file TcpRosCarrier.h.

◆ isConnectionless()

bool TcpRosCarrier::isConnectionless ( ) const

inlineoverridevirtual

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.

Returns: true if carrier is connectionless

Implements yarp::os::Carrier.

Definition at line 75 of file TcpRosCarrier.h.

◆ isLocal()

bool TcpRosCarrier::isLocal ( ) const

inlineoverridevirtual

Check if carrier operates within a single process.

In such a case, YARP connections may get completely reorganized in order to optimize them.

Returns: true if carrier will only operate within a single process

Implements yarp::os::Carrier.

Definition at line 112 of file TcpRosCarrier.h.

◆ isPush()

bool TcpRosCarrier::isPush ( ) const

inlineoverridevirtual

Check if carrier is "push" or "pull" style.

Push means that the side that initiates a connection is also the one that will sending of data or commands. All native YARP connections are like this. A "pull" style is equivalent to automatically sending a "reverse connection" port command at the start of the connection.

Returns: true if carrier is "push" style, false if "pull" style

Reimplemented from yarp::os::Carrier.

Definition at line 107 of file TcpRosCarrier.h.

◆ isTextMode()

bool TcpRosCarrier::isTextMode ( ) const

inlineoverridevirtual

Check if carrier is textual in nature.

Returns: true if carrier is text-based

Implements yarp::os::Carrier.

Definition at line 87 of file TcpRosCarrier.h.

◆ prepareSend()

bool TcpRosCarrier::prepareSend ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Perform any initialization needed before writing on a connection.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 134 of file TcpRosCarrier.h.

◆ reply()

bool TcpRosCarrier::reply	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

overridevirtual

Reimplemented from yarp::os::Carrier.

Definition at line 442 of file TcpRosCarrier.cpp.

◆ requireAck()

bool TcpRosCarrier::requireAck ( ) const

inlineoverridevirtual

Check if carrier has flow control, requiring sent messages to be acknowledged by recipient.

Returns: true if carrier requires acknowledgement.

Implements yarp::os::Carrier.

Definition at line 99 of file TcpRosCarrier.h.

◆ respondToHeader()

bool TcpRosCarrier::respondToHeader ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 146 of file TcpRosCarrier.h.

◆ sendAck()

bool TcpRosCarrier::sendAck ( yarp::os::ConnectionState & proto )

inlineoverridevirtual

Send an acknowledgement, if needed for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 172 of file TcpRosCarrier.h.

◆ sendHeader()

bool TcpRosCarrier::sendHeader ( yarp::os::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

Implements yarp::os::Carrier.

Definition at line 93 of file TcpRosCarrier.cpp.

◆ sendIndex()

virtual bool TcpRosCarrier::sendIndex	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

inlinevirtual

Definition at line 164 of file TcpRosCarrier.h.

◆ setParameters()

void TcpRosCarrier::setParameters ( const yarp::os::Bytes & header )

overridevirtual

Configure this carrier based on the first 8 bytes of the connection.

This will only be called if checkHeader passed.

Parameters

header a buffer holding the first 8 bytes received on the connection

Implements yarp::os::Carrier.

Definition at line 28 of file TcpRosCarrier.cpp.

◆ supportReply()

bool TcpRosCarrier::supportReply ( ) const

inlineoverridevirtual

This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies.

Returns: true if carrier supports replies

Implements yarp::os::Carrier.

Definition at line 103 of file TcpRosCarrier.h.

◆ toString()

std::string TcpRosCarrier::toString ( ) const

inlineoverridevirtual

Get name of carrier.

Returns: name of carrier.

Implements yarp::os::Carrier.

Definition at line 116 of file TcpRosCarrier.h.

◆ write()

bool TcpRosCarrier::write	(	yarp::os::ConnectionState &	proto,
		yarp::os::SizedWriter &	writer
	)

overridevirtual

Write a message.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::Carrier.

Definition at line 337 of file TcpRosCarrier.cpp.

Member Data Documentation

◆ isService

bool TcpRosCarrier::isService

protected

Definition at line 53 of file TcpRosCarrier.h.

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

src/carriers/tcpros_carrier/TcpRosCarrier.h
src/carriers/tcpros_carrier/TcpRosCarrier.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TcpRosCarrier()

Member Function Documentation

◆ canAccept()

◆ canEscape()

◆ canOffer()

◆ checkHeader()

◆ connect()

◆ create()

◆ expectAck()

◆ expectExtraHeader()

◆ expectIndex()

◆ expectReplyToHeader()

◆ expectSenderSpecifier()

◆ getBootstrapCarrierName()

◆ getHeader()

◆ getName()

◆ isActive()

◆ isBareMode()

◆ isConnectionless()

◆ isLocal()

◆ isPush()

◆ isTextMode()

◆ prepareSend()

◆ reply()

◆ requireAck()

◆ respondToHeader()

◆ sendAck()

◆ sendHeader()

◆ sendIndex()

◆ setParameters()

◆ supportReply()

◆ toString()

◆ write()

Member Data Documentation

◆ isService