yarp::os::Network Class Reference

Utilities for manipulating the YARP network, including initialization and shutdown. More...

#include <yarp/os/Network.h>

Inheritance diagram for yarp::os::Network:

Public Member Functions
	Network ()
	Constructor. More...
	Network (yarp::os::yarpClockType clockType, yarp::os::Clock *custom=nullptr)
	Initialize the YARP network using the specified clock. More...
virtual	~Network ()
	Destructor. More...

Static Public Member Functions
static void	init ()
	Initialization. More...
static void	init (yarp::os::yarpClockType clockType, Clock *custom=nullptr)
	Initialization. More...
static void	fini ()
	Deinitialization. More...
Static Public Member Functions inherited from yarp::os::NetworkBase
static void	initMinimum ()
	Basic system initialization, not including plugins. More...
static void	initMinimum (yarp::os::yarpClockType clockType, yarp::os::Clock *custom=nullptr)
	Basic system initialization, not including plugins, The clock to be initialized can be specified. More...
static void	autoInitMinimum ()
	Basic system initialization, not including plugins. More...
static void	autoInitMinimum (yarp::os::yarpClockType clockType, yarp::os::Clock *custom=nullptr)
	Basic system initialization, not including plugins. More...
static void	yarpClockInit (yarp::os::yarpClockType clockType, Clock *custom=nullptr)
	This function specifically initialize the clock In case clockType is one of the valid cases: YARP_CLOCK_SYSTEM, YARP_CLOCK_NETWORK, YARP_CLOCK_CUSTOM (see yarp::os::Time for more), the corresponding clock will be initialized. More...
static void	finiMinimum ()
	Deinitialization, excluding plugins. More...
static bool	isNetworkInitialized ()
static bool	connect (const std::string &src, const std::string &dest, const std::string &carrier="", bool quiet=true)
	Request that an output port connect to an input port. More...
static bool	connect (const char *src, const char *dest, const char *carrier, bool quiet=true)
static bool	connect (const std::string &src, const std::string &dest, const ContactStyle &style)
	Request that an output port connect to an input port. More...
static bool	disconnect (const std::string &src, const std::string &dest, bool quiet)
	Request that an output port disconnect from an input port. More...
static bool	disconnect (const std::string &src, const std::string &dest, const ContactStyle &style)
	Request that an output port disconnect from an input port. More...
static bool	disconnect (const std::string &src, const std::string &dest, const std::string &carrier="", bool quiet=true)
	Request that an output port disconnect from an input port. More...
static bool	disconnect (const char *src, const char *dest, const char *carrier, bool quiet=true)
static bool	isConnected (const std::string &src, const std::string &dest, bool quiet)
	Check if a connection exists between two ports. More...
static bool	isConnected (const std::string &src, const std::string &dest, const ContactStyle &style)
	Check if a connection exists between two ports. More...
static bool	isConnected (const std::string &src, const std::string &dest, const std::string &carrier="", bool quiet=true)
	Check if a connection exists between two ports. More...
static bool	isConnected (const char *src, const char *dest, const char *carrier, bool quiet=true)
static bool	exists (const std::string &port, bool quiet=true, bool checkVer=true)
	Check for a port to be ready and responsive. More...
static bool	exists (const std::string &port, const ContactStyle &style, bool checkVer=true)
	Check for a port to be ready and responsive. More...
static bool	sync (const std::string &port, bool quiet=true)
	Wait for a port to be ready and responsive. More...
static void	assertion (bool shouldBeTrue)
	An assertion. More...
static Contact	queryName (const std::string &name)
	Find out information about a registered name. More...
static Contact	registerName (const std::string &name)
	Register a name with the name server. More...
static Contact	registerContact (const Contact &contact)
	Register contact information with the name server. More...
static Contact	unregisterName (const std::string &name)
	Removes the registration for a name from the name server. More...
static Contact	unregisterContact (const Contact &contact)
	Removes the registration for a contact from the name server. More...
static bool	setProperty (const char *name, const char *key, const Value &value)
	Names registered with the nameserver can have arbitrary key->value properties associated with them. More...
static Value *	getProperty (const char *name, const char *key)
	Look up the value associated with a particular key for a named entry registered with the nameserver. More...
static std::string	getNameServerName ()
	Get the name of the port associated with the nameserver (usually "/root", but this can be overwritten by the "yarp namespace" command). More...
static Contact	getNameServerContact ()
	Get the contact information for the port associated with the nameserver (usually "/root", but this can be overwritten by the "yarp namespace" command). More...
static bool	setNameServerName (const std::string &name)
	Set the name of the port associated with the nameserver (usually "/root", but this can be overwritten by the "yarp namespace" command). More...
static bool	setLocalMode (bool flag)
	Chooses whether communication is process-local. More...
static bool	getLocalMode ()
	Get current value of flag "localMode", see setLocalMode function. More...
static std::string	readString (bool *eof=nullptr)
	Read a line of arbitrary length from standard input. More...
static bool	write (const Contact &contact, PortWriter &cmd, PortReader &reply, bool admin=false, bool quiet=false, double timeout=-1)
	Send a single command to a port and await a single response. More...
static bool	write (const Contact &contact, PortWriter &cmd, PortReader &reply, const ContactStyle &style)
	Variant write method with options bundled into a yarp::os::ContactStyle (there was getting to be too many of them). More...
static bool	writeToNameServer (PortWriter &cmd, PortReader &reply, const ContactStyle &style)
	Variant write method specialized to name server. More...
static bool	write (const std::string &port_name, PortWriter &cmd, PortReader &reply)
	Variant write method with port name specified directly. More...
static bool	checkNetwork ()
	Check if the YARP Network is up and running. More...
static bool	checkNetwork (double timeout)
	Check if a name server is running and responding. More...
static bool	initialized ()
	Returns true if YARP has been fully initialized. More...
static void	setVerbosity (int verbosity)
	Set level of verbosity of YARP messages. More...
static void	queryBypass (NameStore *store)
	Redirect queries to another source. More...
static NameStore *	getQueryBypass ()
static std::string	getEnvironment (const char *key, bool *found=nullptr)
	Read a variable from the environment. More...
static void	setEnvironment (const std::string &key, const std::string &val)
	Set or change an environment variable. More...
static void	unsetEnvironment (const std::string &key)
	Remove an environment variable. More...
static std::string	getDirectorySeparator ()
	Get an OS-appropriate directory separator (e.g. More...
static std::string	getPathSeparator ()
	Get an OS-appropriate path separator (e.g. More...
static bool	registerCarrier (const char *name, const char *dll)
	Register a carrier to make available at runtime. More...
static void	lock ()
	Call wait() on a global mutual-exclusion semaphore allocated by YARP. More...
static void	unlock ()
	Call post() on a global mutual-exclusion semaphore allocated by YARP. More...
static bool	localNetworkAllocation ()
	Check where the name server in use expects processes to allocate their own network resources. More...
static Contact	detectNameServer (bool useDetectedServer, bool &scanNeeded, bool &serverUsed)
	Scan for an available name server. More...
static bool	setNameServerContact (Contact &nameServerContact)
	Set explicitly the nameserver information. More...
static std::string	getConfigFile (const char *fname)
	Search for a configuration file in YARP's standard config file path. More...
static int	getDefaultPortRange ()
	Under normal operation, YARP has a name server that manages a pool of (socket) ports starting at a point specified by the YARP_PORT_RANGE environment variable (or 10000 if that is not set). More...
static bool	setConnectionQos (const std::string &src, const std::string &dest, const QosStyle &srcStyle, const QosStyle &destStyle, bool quiet=true)
	Adjust the Qos preferences of a connection. More...
static bool	setConnectionQos (const std::string &src, const std::string &dest, const QosStyle &style, bool quiet=true)
	Adjust the Qos preferences of a connection. More...
static bool	getConnectionQos (const std::string &src, const std::string &dest, QosStyle &srcStyle, QosStyle &destStyle, bool quiet=true)
	Gets the Qos preferences of a connection. More...
static bool	isValidPortName (const std::string &portName)
	Checks that the port has a valid name. More...
static bool	waitConnection (const std::string &source, const std::string &destination, bool quiet=false)
	Delays the system until a specified connection is established. More...
static bool	waitPort (const std::string &target, bool quiet=false)
	Delays the system until a specified port is open. More...
static int	sendMessage (const std::string &port, yarp::os::PortWriter &writable, bool silent=false)
	Just a reminder to sendMessage with temporary output parameter that will be discarded. More...
static int	sendMessage (const std::string &port, yarp::os::PortWriter &writable, std::string &output, bool quiet)
	Sends a message to the specified port. More...
static int	disconnectInput (const std::string &src, const std::string &dest, bool silent=false)
	Sends a disconnection command to the specified port. More...
static int	poll (const std::string &target, bool silent=false)
	Sends a 'describe yourself' message to a specified port, in order to receive information about the port and its connections. More...

Detailed Description

Utilities for manipulating the YARP network, including initialization and shutdown.

Examples

carrier/carrier_stub.cpp, dev/fake_motor/fake_motor.cpp, dev/file_grabber/file_grabber.cpp, dev/grabber_client/grabber_client.cpp, dev/motortest/motortest.cpp, framerate/main.cpp, os/buffered_port/buffered_port.cpp, os/database/database.cpp, os/image_process/image_process.cpp, os/image_process_module/image_process_module.cpp, os/image_source/image_source.cpp, os/make_count/make_count.cpp, os/periodicthread/periodicthread.cpp, os/portable_pair/portable_pair.cpp, os/simple_receiver/simple_receiver.cpp, os/simple_sender/simple_sender.cpp, os/summer/summer.cpp, os/threads/threads.cpp, os/view_count/view_count.cpp, port_power/ex0000_receiver.cpp, port_power/ex0001_sender.cpp, port_power/ex0002_connector.cpp, port_power/ex0100_receiver.cpp, port_power/ex0101_sender.cpp, port_power/ex0200_polling.cpp, port_power/ex0300_port_callback.cpp, port_power/ex0301_buffered_callback.cpp, port_power/ex0302_buffered_ext_callback.cpp, port_power/ex0400_expect_reply.cpp, port_power/ex0401_give_reply.cpp, port_power/ex0402_port_callback_reply.cpp, port_power/ex0403_bufferedport_callback_reply.cpp, port_power/ex0500_raw_target_receiver.cpp, port_power/ex0501_raw_target_sender.cpp, port_power/ex0502_raw_target_connector.cpp, port_power/ex0503_serial_target_receiver.cpp, port_power/ex0504_serial_target_sender.cpp, port_power/ex0505_compliant_target_receiver.cpp, port_power/ex0506_compliant_target_sender.cpp, port_power/ex0507_alternative_compliant_target_receiver.cpp, and port_power/ex0508_alternative_compliant_target_sender.cpp.

Definition at line 785 of file Network.h.

Constructor & Destructor Documentation

Network() [1/2]

yarp::os::Network::Network

(

)

Constructor.

Configures process to use the YARP network. Can be more convenient to use than calling Network::init() directly, since it will clean things up with a call to Network::fini() automatically.

Network() [2/2]

yarp::os::Network::Network	(	yarp::os::yarpClockType	clockType,
		yarp::os::Clock *	custom = nullptr
	)

Initialize the YARP network using the specified clock.

This function will take precedence with respect to the environment variable YARP_CLOCK because it is explixitly required by the user.

Calling this function with UNDEFINED_CLOCK is equivalent to use the classic yarp::Network() method and the environment variable will be used.

In case YARP_CLOCK_CUSTOM is used, the Clock pointer must point to a valid Clock object already initialized.

~Network()

virtual yarp::os::Network::~Network ( )

virtual

Destructor.

Disconnects from the YARP network.

Member Function Documentation

fini()

static void yarp::os::Network::fini ( )

static

Deinitialization.

On some operating systems, there are certain shut-down tasks that need to be performed, and this method does them. It is a good idea to call Network::init near the start of your program, and to call this method towards the end.

init() [1/2]

static void yarp::os::Network::init ( )

static

Initialization.

On some operating systems, there are certain start-up tasks that need to be performed, and this method does them. It is a good idea to call this method near the start of your program, and to call Network::fini towards the end.

init() [2/2]

static void yarp::os::Network::init ( yarp::os::yarpClockType  clockType, Clock *  custom = nullptr  )

static

Initialization.

Same as init(), but let the user configure which clock shall be used right from the initialization phase.

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

• src/libYARP_os/src/yarp/os/Network.h