A base class for connection types (tcp, mcast, shmem, ...) which are called carriers in YARP. More...

#include <yarp/os/Carrier.h>

Inheritance diagram for yarp::os::Carrier:

Public Member Functions
virtual Carrier *	create () const =0
	Factory method. More...

virtual bool	checkHeader (const Bytes &header)=0
	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...

virtual void	setParameters (const Bytes &header)=0
	Configure this carrier based on the first 8 bytes of the connection. More...

void	getHeader (Bytes &header) const override=0
	Provide 8 bytes describing this connection sufficiently to allow the other side of a connection to select it. More...

bool	isConnectionless () const override=0
	Check if this carrier is connectionless (like udp, mcast) or connection based (like tcp). More...

bool	isBroadcast () const override
	Check if this carrier uses a broadcast mechanism. More...

virtual bool	canAccept () const =0
	Check if reading is implemented for this carrier. More...

virtual bool	canOffer () const =0
	Check if writing is implemented for this carrier. More...

bool	isTextMode () const override=0
	Check if carrier is textual in nature. More...

bool	canEscape () const override=0
	Check if carrier can encode administrative messages, as opposed to just user data. More...

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

bool	requireAck () const override=0
	Check if carrier has flow control, requiring sent messages to be acknowledged by recipient. More...

bool	supportReply () const override=0
	This flag is used by YARP to determine whether the connection can carry RPC traffic, that is, messages with replies. More...

bool	isLocal () const override=0
	Check if carrier operates within a single process. More...

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

virtual bool	prepareSend (ConnectionState &proto)=0
	Perform any initialization needed before writing on a connection. More...

virtual bool	sendHeader (ConnectionState &proto)=0
	Write a header appropriate to the carrier to the connection, followed by any carrier-specific data. More...

virtual bool	expectReplyToHeader (ConnectionState &proto)=0
	Process reply to header, if one is expected for this carrier. More...

virtual bool	write (ConnectionState &proto, SizedWriter &writer)=0
	Write a message. More...

virtual bool	reply (ConnectionState &proto, SizedWriter &writer)

virtual bool	expectExtraHeader (ConnectionState &proto)=0
	Receive any carrier-specific header. More...

virtual bool	respondToHeader (ConnectionState &proto)=0
	Respond to the header. More...

virtual bool	expectIndex (ConnectionState &proto)=0
	Expect a message header, if there is one for this carrier. More...

virtual bool	expectSenderSpecifier (ConnectionState &proto)=0
	Expect the name of the sending port. More...

virtual bool	sendAck (ConnectionState &proto)=0
	Send an acknowledgement, if needed for this carrier. More...

virtual bool	expectAck (ConnectionState &proto)=0
	Receive an acknowledgement, if expected for this carrier. More...

bool	isActive () const override=0
	Check if carrier is alive and error free. More...

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

virtual std::string	toString () const =0
	Get name of carrier. More...

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

virtual	~Carrier ()
	Destructor. More...

virtual std::string	getBootstrapCarrierName () const
	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 Contact &src, const Contact &dest, const ContactStyle &style, int mode, bool reversed)
	Some carrier types may require special connection logic. 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...

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

virtual std::string	getName () const =0
	Get the name of this connection type ("tcp", "mcast", "shmem", ...) More...

Detailed Description

A base class for connection types (tcp, mcast, shmem, ...) which are called carriers in YARP.

The methods prepareSend, sendHeader, expectReplyToHeader, sendIndex, expectAck, and write are important on the originating side of a connection.

The methods expectExtraHeader, respondToHeader, expectIndex, expectSenderSpecifier, and sendAck are important on the receiving side of a connection.

To understand the protocol phases involved, see see Port and connection protocols.

Definition at line 47 of file Carrier.h.

Constructor & Destructor Documentation

◆ ~Carrier()

Carrier::~Carrier ( )

virtualdefault

Destructor.

Member Function Documentation

◆ acceptIncomingData()

bool Carrier::acceptIncomingData ( ConnectionReader & reader )

overridevirtual

Determine whether incoming data should be accepted.

Parameters

reader for incoming data.

Returns: true if data should be accepted, false if it should be discarded.

Implements yarp::os::Connection.

Reimplemented in PriorityCarrier, PortMonitor, and ForwardingCarrier.

Definition at line 60 of file Carrier.cpp.

◆ acceptOutgoingData()

bool Carrier::acceptOutgoingData ( const PortWriter & writer )

overridevirtual

Determine whether outgoing data should be accepted.

Parameters

writer for outgoing data.

Returns: true if data should be accepted, false if it should be discarded.

Implements yarp::os::Connection.

Reimplemented in PortMonitor, and ForwardingCarrier.

Definition at line 98 of file Carrier.cpp.

◆ canAccept()

virtual bool yarp::os::Carrier::canAccept ( ) const

pure virtual

Check if reading is implemented for this carrier.

Returns: true if carrier can read messages

Implemented in ForwardingCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ canEscape()

bool yarp::os::Carrier::canEscape ( ) const

overridepure virtual

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::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ canOffer()

virtual bool yarp::os::Carrier::canOffer ( ) const

pure virtual

Check if writing is implemented for this carrier.

Returns: true if carrier can write messages

Implemented in ForwardingCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ checkHeader()

virtual bool yarp::os::Carrier::checkHeader ( const Bytes & header )

pure virtual

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.

Implemented in yarp::os::AbstractCarrier, ForwardingCarrier, yarp::os::ModifyingCarrier, yarp::os::impl::TcpCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MpiCarrier, MjpegCarrier, H264Carrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, and HumanCarrier.

◆ close()

void Carrier::close ( )

virtual

Close the carrier.

Reimplemented in MpiCarrier, ForwardingCarrier, MpiP2PCarrier, MpiBcastCarrier, and BayerCarrier.

Definition at line 87 of file Carrier.cpp.

◆ configure()

bool Carrier::configure ( ConnectionState & proto )

virtual

Give carrier a shot at looking at how the connection is set up.

Returns: true if the carrier was correctly configured.

Reimplemented in UnixSocketCarrier, PriorityCarrier, PortMonitor, and ForwardingCarrier.

Definition at line 105 of file Carrier.cpp.

◆ configureFromProperty()

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

virtual

Reimplemented in yarp::os::ModifyingCarrier, ForwardingCarrier, UnixSocketCarrier, and PortMonitor.

Definition at line 111 of file Carrier.cpp.

◆ connect()

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

virtual

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 in ForwardingCarrier, and TcpRosCarrier.

Definition at line 35 of file Carrier.cpp.

◆ create()

virtual Carrier* yarp::os::Carrier::create ( ) const

pure virtual

Factory method.

Get a new object of the same type as this one.

Returns: a new object of the same type as this one.

Implemented in yarp::os::ModifyingCarrier, yarp::os::AbstractCarrier, MpiCarrier, StubCarrier, ForwardingCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, XmlRpcCarrier, UnixSocketCarrier, RosSrvCarrier, TcpRosCarrier, ShmemCarrier, PriorityCarrier, PortMonitor, MpiP2PCarrier, MpiBcastCarrier, MjpegCarrier, HumanCarrier, H264Carrier, and BayerCarrier.

◆ createFace()

yarp::os::Face * Carrier::createFace ( ) const

virtual

Create new Face object that the carrier needs.

Reimplemented in ForwardingCarrier, and H264Carrier.

Definition at line 128 of file Carrier.cpp.

◆ expectAck()

virtual bool yarp::os::Carrier::expectAck ( ConnectionState & proto )

pure virtual

Receive an acknowledgement, if expected for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ expectExtraHeader()

virtual bool yarp::os::Carrier::expectExtraHeader ( ConnectionState & proto )

pure virtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::LocalCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ expectIndex()

virtual bool yarp::os::Carrier::expectIndex ( ConnectionState & proto )

pure virtual

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

Implemented in XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ expectReplyToHeader()

virtual bool yarp::os::Carrier::expectReplyToHeader ( ConnectionState & proto )

pure virtual

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

Implemented in yarp::os::impl::TcpCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MpiCarrier, MpiBcastCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ expectSenderSpecifier()

virtual bool yarp::os::Carrier::expectSenderSpecifier ( ConnectionState & proto )

pure virtual

Expect the name of the sending port.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in XmlRpcCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ getBootstrapCarrierName()

std::string Carrier::getBootstrapCarrierName ( ) const

virtual

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 in ForwardingCarrier, XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, and H264Carrier.

Definition at line 30 of file Carrier.cpp.

◆ getCarrierParams()

void Carrier::getCarrierParams ( Property & params ) const

overridevirtual

Get carrier configuration and deliver it by port administrative commands.

Parameters

params properties

Implements yarp::os::Connection.

Reimplemented in yarp::os::ModifyingCarrier, PriorityCarrier, PortMonitor, and ForwardingCarrier.

Definition at line 123 of file Carrier.cpp.

◆ getHeader()

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

overridepure virtual

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::Connection.

Implemented in yarp::os::AbstractCarrier, ForwardingCarrier, yarp::os::ModifyingCarrier, yarp::os::impl::TcpCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MpiCarrier, MjpegCarrier, H264Carrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, and HumanCarrier.

◆ handleEnvelope()

void Carrier::handleEnvelope ( const std::string & envelope )

overridevirtual

Carriers that do not distinguish data from administrative headers (i.e.

canEscape returns false), can overload this method to handle the envelope inside the stream. On the receiving side, the InputStream will have to overload the yarp::os::InputStream::setReadEnvelopeCallback method, and execute the callback as soon as the envelope is ready.

Parameters

envelope the envelope to transmit bundled with data.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, MjpegCarrier, and H264Carrier.

Definition at line 20 of file Carrier.cpp.

◆ isActive()

bool yarp::os::Carrier::isActive ( ) const

overridepure virtual

Check if carrier is alive and error free.

Returns: true if carrier is active.

Implements yarp::os::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::McastCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MpiBcastCarrier, MjpegCarrier, HumanCarrier, H264Carrier, and BayerCarrier.

◆ isBroadcast()

bool Carrier::isBroadcast ( ) const

overridevirtual

Check if this carrier uses a broadcast mechanism.

This flag is used to determine whether it is appropriate to send "kill" messages using a carrier or whether they should be sent "out-of-band"

Returns: true if carrier uses a broadcast mechanism.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, yarp::os::impl::McastCarrier, and MpiBcastCarrier.

Definition at line 15 of file Carrier.cpp.

◆ isConnectionless()

bool yarp::os::Carrier::isConnectionless ( ) const

overridepure virtual

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::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::LocalCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MpiCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ isLocal()

bool yarp::os::Carrier::isLocal ( ) const

overridepure virtual

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::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::LocalCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ isPush()

bool Carrier::isPush ( ) const

overridevirtual

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

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, TcpRosCarrier, MjpegCarrier, and H264Carrier.

Definition at line 25 of file Carrier.cpp.

◆ isTextMode()

bool yarp::os::Carrier::isTextMode ( ) const

overridepure virtual

Check if carrier is textual in nature.

Returns: true if carrier is text-based

Implements yarp::os::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, HumanCarrier, H264Carrier, and BayerCarrier.

◆ modifiesIncomingData()

bool Carrier::modifiesIncomingData ( ) const

overridevirtual

Check if this carrier modifies incoming data through the Carrier::modifyIncomingData method.

Returns: true if carrier wants Carrier::modifyIncomingData called.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, and yarp::os::ModifyingCarrier.

Definition at line 49 of file Carrier.cpp.

◆ modifiesOutgoingData()

bool Carrier::modifiesOutgoingData ( ) const

overridevirtual

Check if this carrier modifies outgoing data through the Carrier::modifyOutgoingData method.

Returns: true if carrier wants Carrier::modifyOutgoingData called.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, and yarp::os::ModifyingCarrier.

Definition at line 67 of file Carrier.cpp.

◆ modifiesReply()

bool Carrier::modifiesReply ( ) const

overridevirtual

Check if this carrier modifies outgoing data through the Carrier::modifyReply method.

Returns: true if carrier wants Carrier::modifyReply called.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, and yarp::os::ModifyingCarrier.

Definition at line 78 of file Carrier.cpp.

◆ modifyIncomingData()

ConnectionReader & Carrier::modifyIncomingData ( ConnectionReader & reader )

overridevirtual

Modify incoming payload data, if appropriate.

Doesn't need to be done immediately, it is fine to hold onto a reference to the incoming data reader and use it on demand. This can be handy in order to avoid unnecessary copies.

Parameters

reader for incoming data.

Returns: reader for modified version of incoming data.

Note: If the ConnectionReader returned is not the same as the one in input, the setParentConnectionReader(&reader) should be called for the new one, or the envelope will not be handled correctly.

Implements yarp::os::Connection.

Reimplemented in PortMonitor, BayerCarrier, and ForwardingCarrier.

Definition at line 55 of file Carrier.cpp.

◆ modifyOutgoingData()

const PortWriter & Carrier::modifyOutgoingData ( const PortWriter & writer )

overridevirtual

Modify outgoing payload data, if appropriate.

Doesn't need to be done immediately, it is fine to hold onto a reference to the outgoing data reader and use it on demand. This can be handy in order to avoid unnecessary copies.

Parameters

writer for outgoing data.

Returns: writer for modified version of outgoing data.

Implements yarp::os::Connection.

Reimplemented in PortMonitor, and ForwardingCarrier.

Definition at line 73 of file Carrier.cpp.

◆ modifyReply()

PortReader & Carrier::modifyReply ( PortReader & reader )

overridevirtual

Modify reply payload data, if appropriate.

Parameters

reader for the replied message.

Returns: reader for modified version of the replied message.

Implements yarp::os::Connection.

Reimplemented in PortMonitor, and ForwardingCarrier.

Definition at line 93 of file Carrier.cpp.

◆ prepareDisconnect()

void Carrier::prepareDisconnect ( )

overridevirtual

Do cleanup and preparation for the coming disconnect, if necessary.

Implements yarp::os::Connection.

Reimplemented in ForwardingCarrier, and MpiBcastCarrier.

Definition at line 83 of file Carrier.cpp.

◆ prepareSend()

virtual bool yarp::os::Carrier::prepareSend ( ConnectionState & proto )

pure virtual

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

Implemented in XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ reply()

bool Carrier::reply	(	ConnectionState &	proto,
		SizedWriter &	writer
	)

virtual

Reimplemented in XmlRpcCarrier, TcpRosCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, and yarp::os::impl::HttpCarrier.

Definition at line 313 of file Carriers.cpp.

◆ requireAck()

bool yarp::os::Carrier::requireAck ( ) const

overridepure virtual

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

Returns: true if carrier requires acknowledgement.

Implements yarp::os::Connection.

Implemented in ForwardingCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::TcpCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ respondToHeader()

virtual bool yarp::os::Carrier::respondToHeader ( ConnectionState & proto )

pure virtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in yarp::os::ModifyingCarrier, yarp::os::impl::TcpCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MpiCarrier, MjpegCarrier, H264Carrier, yarp::os::AbstractCarrier, ForwardingCarrier, yarp::os::impl::UdpCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, and HumanCarrier.

◆ sendAck()

virtual bool yarp::os::Carrier::sendAck ( ConnectionState & proto )

pure virtual

Send an acknowledgement, if needed for this carrier.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ sendHeader()

virtual bool yarp::os::Carrier::sendHeader ( ConnectionState & proto )

pure virtual

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

Implemented in XmlRpcCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::McastCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

◆ setCarrierParams()

void Carrier::setCarrierParams ( const Property & params )

overridevirtual

Configure carrier from port administrative commands.

Parameters

params properties

Implements yarp::os::Connection.

Reimplemented in yarp::os::ModifyingCarrier, PriorityCarrier, PortMonitor, and ForwardingCarrier.

Definition at line 118 of file Carrier.cpp.

◆ setParameters()

virtual void yarp::os::Carrier::setParameters ( const Bytes & header )

pure virtual

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

Implemented in ForwardingCarrier, yarp::os::impl::TcpCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, UnixSocketCarrier, TcpRosCarrier, ShmemCarrier, MjpegCarrier, H264Carrier, yarp::os::impl::UdpCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, and HumanCarrier.

◆ supportReply()

bool yarp::os::Carrier::supportReply ( ) const

overridepure virtual

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::Connection.

Implemented in MpiCarrier, ForwardingCarrier, yarp::os::impl::TextCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, MpiP2PCarrier, MpiBcastCarrier, MjpegCarrier, HumanCarrier, and H264Carrier.

◆ toString()

virtual std::string yarp::os::Carrier::toString ( ) const

pure virtual

Get name of carrier.

Returns: name of carrier.

Implemented in ForwardingCarrier, yarp::os::AbstractCarrier, XmlRpcCarrier, TcpRosCarrier, PriorityCarrier, PortMonitor, MjpegCarrier, HumanCarrier, H264Carrier, and BayerCarrier.

◆ write()

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

pure virtual

Write a message.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implemented in XmlRpcCarrier, TcpRosCarrier, MpiCarrier, MjpegCarrier, H264Carrier, ForwardingCarrier, yarp::os::impl::NameserCarrier, yarp::os::impl::LocalCarrier, yarp::os::impl::HttpCarrier, yarp::os::AbstractCarrier, and HumanCarrier.

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

src/libYARP_os/src/yarp/os/Carrier.h
src/libYARP_os/src/yarp/os/Carrier.cpp
src/libYARP_os/src/yarp/os/Carriers.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Carrier()

Member Function Documentation

◆ acceptIncomingData()

◆ acceptOutgoingData()

◆ canAccept()

◆ canEscape()

◆ canOffer()

◆ checkHeader()

◆ close()

◆ configure()

◆ configureFromProperty()

◆ connect()

◆ create()

◆ createFace()

◆ expectAck()

◆ expectExtraHeader()

◆ expectIndex()

◆ expectReplyToHeader()

◆ expectSenderSpecifier()

◆ getBootstrapCarrierName()

◆ getCarrierParams()

◆ getHeader()

◆ handleEnvelope()

◆ isActive()

◆ isBroadcast()

◆ isConnectionless()

◆ isLocal()

◆ isPush()

◆ isTextMode()

◆ modifiesIncomingData()

◆ modifiesOutgoingData()

◆ modifiesReply()

◆ modifyIncomingData()

◆ modifyOutgoingData()

◆ modifyReply()

◆ prepareDisconnect()

◆ prepareSend()

◆ reply()

◆ requireAck()

◆ respondToHeader()

◆ sendAck()

◆ sendHeader()

◆ setCarrierParams()

◆ setParameters()

◆ supportReply()

◆ toString()

◆ write()