A default implementation of an abstract port. More...

#include <yarp/os/AbstractContactable.h>

Inheritance diagram for yarp::os::AbstractContactable:

Public Member Functions
virtual Port &	asPort ()=0
	Get the concrete Port being used for communication. More...

virtual const Port &	asPort () const =0
	Get the concrete Port being used for communication, const version. More...

bool	open (const std::string &name) override
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

bool	open (const Contact &contact, bool registerName=true) override
	Start port operation with user-chosen network parameters. More...

bool	addOutput (const std::string &name) override
	Add an output connection to the specified port. More...

bool	addOutput (const std::string &name, const std::string &carrier) override
	Add an output connection to the specified port, using a specified carrier. More...

bool	addOutput (const Contact &contact) override
	Add an output connection to the specified port, using specified network parameters. More...

void	close () override
	Stop port activity. More...

void	interrupt () override
	Interrupt any current reads or writes attached to the port. More...

void	resume () override
	Put the port back in an operative state after interrupt() has been called. More...

Contact	where () const override
	Returns information about how this port can be reached. More...

std::string	getName () const override
	Get name of port. More...

bool	setEnvelope (PortWriter &envelope) override
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

bool	getEnvelope (PortReader &envelope) override
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

int	getInputCount () override
	Determine how many connections are arriving into this port. More...

int	getOutputCount () override
	Determine how many output connections this port has. More...

void	getReport (PortReport &reporter) override
	Get information on the state of the port - connections etc. More...

void	setReporter (PortReport &reporter) override
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

void	resetReporter () override
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

bool	isWriting () override
	Report whether the port is currently writing data. More...

void	setReader (PortReader &reader) override
	Set an external reader for port data. More...

void	setAdminReader (PortReader &reader) override
	Set an external reader for unrecognized administrative port messages. More...

void	setInputMode (bool expectInput) override
	Configure the port to allow or forbid inputs. More...

void	setOutputMode (bool expectOutput) override
	Configure the port to allow or forbid outputs. More...

void	setRpcMode (bool expectRpc) override
	Configure the port to be RPC only. More...

Type	getType () override
	Get the type of data the port has committed to send/receive. More...

void	promiseType (const Type &typ) override
	Commit the port to a particular type of data. More...

Property *	acquireProperties (bool readOnly) override
	Access unstructured port properties. More...

void	releaseProperties (Property *prop) override
	End access unstructured port properties. More...

bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const override
	Write an object to the port. More...

bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const override
	Write an object to the port, then expect one back. More...

bool	read (PortReader &reader, bool willReply=false) override
	Read an object from the port. More...

bool	reply (PortWriter &writer) override
	Send an object as a reply to an object read from the port. More...

bool	replyAndDrop (PortWriter &writer) override
	Same as reply(), but closes connection after reply. More...

void	includeNodeInName (bool flag) override
	Choose whether to prepend a node name (if one is available) to the port's name. More...

bool	setCallbackLock (yarp::os::Mutex *mutex) override
	Add a lock to use when invoking callbacks. More...

bool	setCallbackLock (std::mutex *mutex=nullptr) override
	Add a lock to use when invoking callbacks. More...

bool	removeCallbackLock () override
	Remove a lock on callbacks added with setCallbackLock() More...

bool	lockCallback () override
	Lock callbacks until unlockCallback() is called. More...

bool	tryLockCallback () override
	Try to lock callbacks until unlockCallback() is called. More...

void	unlockCallback () override
	Unlock callbacks. More...

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

void	setReadOnly ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(false) More...

void	setWriteOnly ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(false) More...

void	setRpcServer ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(true) More...

void	setRpcClient ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(true) More...

Detailed Description

A default implementation of an abstract port.

The class hierarchy for ports is misshapen because we want to keep it SWIG compatible, and SWIG can't yet produce good translations of code that in C++ looks like multiple inheritance but is in fact just implementing multiple interfaces. There's work in SWIG on supporting interfaces, so this can be simplified a lot at that point.

Definition at line 27 of file AbstractContactable.h.

Member Function Documentation

◆ acquireProperties()

yarp::os::Property * yarp::os::AbstractContactable::acquireProperties ( bool readOnly )

overridevirtual

Access unstructured port properties.

Parameters

readOnly set this if you won't be modifying the properties.

Returns: the port properties (or nullptr if readOnly and none have been set)

Warning: Must be called in the same thread as releaseProperties

name	the name of the target port
carrier	the carrier (network protocol) to use, e.g. "tcp", "udp", "mcast", "text", ...

reader	any object that knows how to read itself from a network connection - see for example Bottle
willReply	you must set this to true if you intend to call reply()

writer	any object that knows how to write itself to a network connection - see for example Bottle
callback	object on which to call onCompletion() after write is done (otherwise writer.onCompletion() is called)

Public Member Functions

Detailed Description

Member Function Documentation

◆ acquireProperties()

◆ addOutput() [1/3]

◆ addOutput() [2/3]

◆ addOutput() [3/3]

◆ asPort() [1/2]

◆ asPort() [2/2]

◆ close()

◆ getEnvelope()

◆ getInputCount()

◆ getName()

◆ getOutputCount()

◆ getReport()

◆ getType()

◆ includeNodeInName()

◆ interrupt()

◆ isWriting()

◆ lockCallback()

◆ open() [1/2]

◆ open() [2/2]

◆ promiseType()

◆ read()

◆ releaseProperties()

◆ removeCallbackLock()

◆ reply()

◆ replyAndDrop()

◆ resetReporter()

◆ resume()

◆ setAdminReader()

◆ setCallbackLock() [1/2]

◆ setCallbackLock() [2/2]

◆ setEnvelope()

◆ setInputMode()

◆ setOutputMode()

◆ setReader()

◆ setReporter()

◆ setRpcMode()

◆ tryLockCallback()

◆ unlockCallback()

◆ where()

◆ write() [1/2]

◆ write() [2/2]