YARP
Yet Another Robot Platform
TcpRosCarrier Class Reference

#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...
 
ConnectionReadermodifyIncomingData (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 PortWritermodifyOutgoingData (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...
 
PortReadermodifyReply (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::FacecreateFace () 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
headera 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
srcInitiator of the connection.
destDestination of the connection.
styleOptions for connection.
modeYARP_ENACT_CONNECT / YARP_ENACT_DISCONNECT / YARP_ENACT_EXISTS.
reversedtrue 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
protothe 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
protothe 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
protothe 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
protothe 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
protothe 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
headera 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
protothe 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
protothe 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
protothe 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
protothe 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
headera 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
protothe 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: