A carrier for communicating locally within a process. More...

#include <yarp/os/impl/LocalCarrier.h>

Inheritance diagram for yarp::os::impl::LocalCarrier:

Public Member Functions
	LocalCarrier ()

virtual	~LocalCarrier ()

Carrier *	create () const override
	Factory method. More...

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

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

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

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

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

virtual std::string	getSpecifierName () const

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

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

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

bool	expectExtraHeader (ConnectionState &proto) override
	Receive any carrier-specific header. More...

virtual bool	becomeLocal (ConnectionState &proto, bool sender)

bool	write (ConnectionState &proto, SizedWriter &writer) override
	Write a message. More...

bool	respondToHeader (ConnectionState &proto) override
	Respond to the header. More...

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

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

void	removePeer ()

void	shutdown ()

void	accept (yarp::os::Portable *ref)

Public Member Functions inherited from yarp::os::AbstractCarrier
void	setCarrierParams (const yarp::os::Property &params) override
	Configure carrier from port administrative commands. More...

void	getCarrierParams (yarp::os::Property &params) const override
	Get carrier configuration and deliver it by port administrative commands. 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	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...

std::string	toString () const override
	Get name of carrier. More...

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

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

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

bool	expectSenderSpecifier (ConnectionState &proto) override
	Expect the name of the sending port. More...

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

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

bool	defaultSendHeader (ConnectionState &proto)
	Default implementation for the sendHeader method. More...

bool	defaultExpectIndex (ConnectionState &proto)
	Default implementation for the expectIndex method. More...

bool	defaultSendIndex (ConnectionState &proto, SizedWriter &writer)
	Default implementation for the sendIndex method. More...

bool	defaultExpectAck (ConnectionState &proto)
	Default implementation for the expectAck method. More...

bool	defaultSendAck (ConnectionState &proto)
	Default implementation for the sendAck method. More...

int	readYarpInt (ConnectionState &proto)
	Read 8 bytes and interpret them as a YARP number. More...

void	writeYarpInt (int n, ConnectionState &proto)
	Write `n` as an 8 bytes yarp number. 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...

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

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

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...

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...

Protected Attributes
bool	doomed

yarp::os::Portable *	ref

LocalCarrier *	peer

std::mutex	peerMutex

yarp::os::Semaphore	sent

yarp::os::Semaphore	received

std::string	portName

Static Protected Attributes
static LocalCarrierManager	manager

Additional Inherited Members
Protected Member Functions inherited from yarp::os::AbstractCarrier
int	getSpecifier (const Bytes &b) const

void	createStandardHeader (int specifier, yarp::os::Bytes &header) const

bool	sendConnectionStateSpecifier (ConnectionState &proto)

bool	sendSenderSpecifier (ConnectionState &proto)

Static Protected Member Functions inherited from yarp::os::AbstractCarrier
static int	interpretYarpNumber (const yarp::os::Bytes &b)

static void	createYarpNumber (int x, yarp::os::Bytes &header)

Detailed Description

A carrier for communicating locally within a process.

Definition at line 89 of file LocalCarrier.h.

Constructor & Destructor Documentation

◆ LocalCarrier()

yarp::os::impl::LocalCarrier::LocalCarrier ( )

Definition at line 147 of file LocalCarrier.cpp.

◆ ~LocalCarrier()

yarp::os::impl::LocalCarrier::~LocalCarrier ( )

virtual

Definition at line 155 of file LocalCarrier.cpp.

Member Function Documentation

◆ accept()

void yarp::os::impl::LocalCarrier::accept ( yarp::os::Portable * ref )

Definition at line 348 of file LocalCarrier.cpp.

◆ becomeLocal()

bool yarp::os::impl::LocalCarrier::becomeLocal	(	ConnectionState &	proto,
		bool	sender
	)

virtual

Definition at line 287 of file LocalCarrier.cpp.

◆ canEscape()

bool yarp::os::impl::LocalCarrier::canEscape ( ) const

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 204 of file LocalCarrier.cpp.

◆ checkHeader()

bool yarp::os::impl::LocalCarrier::checkHeader ( const 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

header a buffer holding the first 8 bytes received on the connection

Returns: true if this is the carrier to use.

Implements yarp::os::AbstractCarrier.

Definition at line 219 of file LocalCarrier.cpp.

◆ create()

yarp::os::Carrier * yarp::os::impl::LocalCarrier::create ( ) const

overridevirtual

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::AbstractCarrier.

Definition at line 160 of file LocalCarrier.cpp.

◆ expectExtraHeader()

bool yarp::os::impl::LocalCarrier::expectExtraHeader ( ConnectionState & proto )

overridevirtual

Receive any carrier-specific header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 267 of file LocalCarrier.cpp.

◆ expectIndex()

bool yarp::os::impl::LocalCarrier::expectIndex ( ConnectionState & proto )

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 329 of file LocalCarrier.cpp.

◆ expectReplyToHeader()

bool yarp::os::impl::LocalCarrier::expectReplyToHeader ( ConnectionState & proto )

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 323 of file LocalCarrier.cpp.

◆ getHeader()

void yarp::os::impl::LocalCarrier::getHeader ( Bytes & header ) const

overridevirtual

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::AbstractCarrier.

Definition at line 233 of file LocalCarrier.cpp.

◆ getName()

std::string yarp::os::impl::LocalCarrier::getName ( ) const

overridevirtual

Get the name of this connection type ("tcp", "mcast", "shmem", ...)

Returns: the name of this connection type

Implements yarp::os::AbstractCarrier.

Definition at line 189 of file LocalCarrier.cpp.

◆ getSpecifierName()

std::string yarp::os::impl::LocalCarrier::getSpecifierName ( ) const

virtual

Definition at line 214 of file LocalCarrier.cpp.

◆ isConnectionless()

bool yarp::os::impl::LocalCarrier::isConnectionless ( ) const

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 199 of file LocalCarrier.cpp.

◆ isLocal()

bool yarp::os::impl::LocalCarrier::isLocal ( ) const

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 209 of file LocalCarrier.cpp.

◆ removePeer()

void yarp::os::impl::LocalCarrier::removePeer ( )

Definition at line 165 of file LocalCarrier.cpp.

◆ requireAck()

bool yarp::os::impl::LocalCarrier::requireAck ( ) const

overridevirtual

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

Returns: true if carrier requires acknowledgement.

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 194 of file LocalCarrier.cpp.

◆ respondToHeader()

bool yarp::os::impl::LocalCarrier::respondToHeader ( ConnectionState & proto )

overridevirtual

Respond to the header.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Implements yarp::os::AbstractCarrier.

Definition at line 316 of file LocalCarrier.cpp.

◆ sendHeader()

bool yarp::os::impl::LocalCarrier::sendHeader ( 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

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 248 of file LocalCarrier.cpp.

◆ setParameters()

void yarp::os::impl::LocalCarrier::setParameters ( const Bytes & header )

overridevirtual

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

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 243 of file LocalCarrier.cpp.

◆ shutdown()

void yarp::os::impl::LocalCarrier::shutdown ( )

Definition at line 174 of file LocalCarrier.cpp.

◆ write()

bool yarp::os::impl::LocalCarrier::write	(	ConnectionState &	proto,
		SizedWriter &	writer
	)

overridevirtual

Write a message.

Parameters

proto the protocol object, which tracks connection state

Returns: true on success, false on failure

Reimplemented from yarp::os::AbstractCarrier.

Definition at line 297 of file LocalCarrier.cpp.

Member Data Documentation

◆ doomed

bool yarp::os::impl::LocalCarrier::doomed

protected

Definition at line 122 of file LocalCarrier.h.

◆ manager

yarp::os::impl::LocalCarrierManager yarp::os::impl::LocalCarrier::manager

staticprotected

Definition at line 130 of file LocalCarrier.h.

◆ peer

LocalCarrier* yarp::os::impl::LocalCarrier::peer

protected

Definition at line 124 of file LocalCarrier.h.

◆ peerMutex

std::mutex yarp::os::impl::LocalCarrier::peerMutex

protected

Definition at line 125 of file LocalCarrier.h.

◆ portName

std::string yarp::os::impl::LocalCarrier::portName

protected

Definition at line 128 of file LocalCarrier.h.

◆ received

yarp::os::Semaphore yarp::os::impl::LocalCarrier::received

protected

Definition at line 127 of file LocalCarrier.h.

◆ ref

yarp::os::Portable* yarp::os::impl::LocalCarrier::ref

protected

Definition at line 123 of file LocalCarrier.h.

◆ sent

yarp::os::Semaphore yarp::os::impl::LocalCarrier::sent

protected

Definition at line 126 of file LocalCarrier.h.

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

src/libYARP_os/src/yarp/os/impl/LocalCarrier.h
src/libYARP_os/src/yarp/os/impl/LocalCarrier.cpp

Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LocalCarrier()

◆ ~LocalCarrier()

Member Function Documentation

◆ accept()

◆ becomeLocal()

◆ canEscape()

◆ checkHeader()

◆ create()

◆ expectExtraHeader()

◆ expectIndex()

◆ expectReplyToHeader()

◆ getHeader()

◆ getName()

◆ getSpecifierName()

◆ isConnectionless()

◆ isLocal()

◆ removePeer()

◆ requireAck()

◆ respondToHeader()

◆ sendHeader()

◆ setParameters()

◆ shutdown()

◆ write()

Member Data Documentation

◆ doomed

◆ manager

◆ peer

◆ peerMutex

◆ portName

◆ received

◆ ref

◆ sent