An abstract unbuffered port. More...

#include <yarp/os/UnbufferedContactable.h>

Inheritance diagram for yarp::os::UnbufferedContactable:

Public Member Functions
virtual bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const =0
	Write an object to the port. More...

virtual bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const =0
	Write an object to the port, then expect one back. More...

virtual bool	read (PortReader &reader, bool willReply=false)=0
	Read an object from the port. More...

virtual bool	reply (PortWriter &writer)=0
	Send an object as a reply to an object read from the port. More...

virtual bool	replyAndDrop (PortWriter &writer)=0
	Same as reply(), but closes connection after reply. More...

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

virtual bool	open (const std::string &name)=0
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

virtual bool	open (const Contact &contact, bool registerName=true)=0
	Start port operation with user-chosen network parameters. More...

virtual bool	addOutput (const std::string &name)=0
	Add an output connection to the specified port. More...

virtual bool	addOutput (const std::string &name, const std::string &carrier)=0
	Add an output connection to the specified port, using a specified carrier. More...

virtual bool	addOutput (const Contact &contact)=0
	Add an output connection to the specified port, using specified network parameters. More...

virtual void	close ()=0
	Stop port activity. More...

virtual void	interrupt ()=0
	Interrupt any current reads or writes attached to the port. More...

virtual void	resume ()=0
	Put the port back in an operative state after interrupt() has been called. More...

virtual Contact	where () const =0
	Returns information about how this port can be reached. More...

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

virtual bool	setEnvelope (PortWriter &envelope)=0
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

virtual bool	getEnvelope (PortReader &envelope)=0
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

virtual int	getInputCount ()=0
	Determine how many connections are arriving into this port. More...

virtual int	getOutputCount ()=0
	Determine how many output connections this port has. More...

virtual void	getReport (PortReport &reporter)=0
	Get information on the state of the port - connections etc. More...

virtual void	setReporter (PortReport &reporter)=0
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

virtual void	resetReporter ()=0
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

virtual bool	isWriting ()=0
	Report whether the port is currently writing data. More...

virtual void	setReader (PortReader &reader)=0
	Set an external reader for port data. More...

virtual void	setAdminReader (PortReader &reader)=0
	Set an external reader for unrecognized administrative port messages. More...

virtual void	setInputMode (bool expectInput)=0
	Configure the port to allow or forbid inputs. More...

virtual void	setOutputMode (bool expectOutput)=0
	Configure the port to allow or forbid outputs. More...

virtual void	setRpcMode (bool expectRpc)=0
	Configure the port to be RPC only. More...

virtual Type	getType ()=0
	Get the type of data the port has committed to send/receive. More...

virtual void	promiseType (const Type &typ)=0
	Commit the port to a particular type of data. More...

virtual Property *	acquireProperties (bool readOnly)=0
	Access unstructured port properties. More...

virtual void	releaseProperties (Property *prop)=0
	End access unstructured port properties. More...

virtual void	includeNodeInName (bool flag)=0
	Choose whether to prepend a node name (if one is available) to the port's name. 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...

virtual bool	setCallbackLock (yarp::os::Mutex *mutex)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	setCallbackLock (std::mutex *mutex=nullptr)=0
	Add a lock to use when invoking callbacks. More...

virtual bool	removeCallbackLock ()=0
	Remove a lock on callbacks added with setCallbackLock() More...

virtual bool	lockCallback ()=0
	Lock callbacks until unlockCallback() is called. More...

virtual bool	tryLockCallback ()=0
	Try to lock callbacks until unlockCallback() is called. More...

virtual void	unlockCallback ()=0
	Unlock callbacks. More...

Detailed Description

An abstract unbuffered port.

Definition at line 21 of file UnbufferedContactable.h.

Member Function Documentation

◆ read()

virtual bool yarp::os::UnbufferedContactable::read	(	PortReader &	reader,
		bool	willReply = `false`
	)

pure virtual

Read an object from the port.

Parameters

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()

Returns: true iff the object is successfully read

Implemented in yarp::os::RpcServer, yarp::os::RpcClient, yarp::os::Port, and yarp::os::AbstractContactable.

◆ reply()

virtual bool yarp::os::UnbufferedContactable::reply ( PortWriter & writer )

pure virtual

Send an object as a reply to an object read from the port.

Only call this method if you set the willReply flag to true when you called Port::read.

Parameters

writer any object that knows how to write itself to a network connection - see for example Bottle

Returns: true iff the object is successfully written

Implemented in yarp::os::RpcClient, yarp::os::Port, and yarp::os::AbstractContactable.

◆ replyAndDrop()

virtual bool yarp::os::UnbufferedContactable::replyAndDrop ( PortWriter & writer )

pure virtual

Same as reply(), but closes connection after reply.

This is useful for interoperation with XML/RPC clients that do not expect to reuse a connection.

Parameters

writer any object that knows how to write itself to a network connection - see for example Bottle

Returns: true iff the object is successfully written

Implemented in yarp::os::RpcClient, yarp::os::Port, and yarp::os::AbstractContactable.

◆ write() [1/2]

virtual bool yarp::os::UnbufferedContactable::write	(	const PortWriter &	writer,
		const PortWriter *	callback = `nullptr`
	)		const

pure virtual

Write an object to the port.

Parameters

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)

Returns: true iff the object is successfully written

Implemented in yarp::os::RpcServer, yarp::os::Port, and yarp::os::AbstractContactable.

◆ write() [2/2]

virtual bool yarp::os::UnbufferedContactable::write	(	const PortWriter &	writer,
		PortReader &	reader,
		const PortWriter *	callback = `nullptr`
	)		const

pure virtual

Write an object to the port, then expect one back.

Parameters

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

Returns: true iff an object is successfully written and read

Implemented in yarp::os::RpcServer, yarp::os::Port, and yarp::os::AbstractContactable.

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

src/libYARP_os/src/yarp/os/UnbufferedContactable.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ read()

◆ reply()

◆ replyAndDrop()

◆ write() [1/2]

◆ write() [2/2]