ocra_recipes::ClientCommunications Class Reference

#include <ClientCommunications.h>

Inheritance diagram for ocra_recipes::ClientCommunications:

Collaboration diagram for ocra_recipes::ClientCommunications:

Classes
class	InputCallback

Public Member Functions
	ClientCommunications ()
virtual	~ClientCommunications ()
bool	open (double timeout=20.0, bool connectToTasks=true)
bool	close ()
void	close (const std::string &taskName)
virtual bool	read (yarp::os::ConnectionReader &connection)
void	parseMessage (yarp::os::Bottle &input)
std::vector< std::string >	getTaskTypes ()
yarp::os::Bottle	queryController (yarp::os::Bottle &requestBottle)
yarp::os::Bottle	queryController (const SERVER_COMMUNICATIONS_MESSAGE request)
yarp::os::Bottle	queryController (const std::vector< SERVER_COMMUNICATIONS_MESSAGE > requestVector)
std::vector< std::string >	getTaskPortNames ()
std::string	getTaskPortName (const std::string &taskName)
std::vector< std::string >	getTaskNames ()
std::shared_ptr< yarp::os::RpcClient >	getTaskClient (const std::string &taskName)
std::string	getClientPortName ()
bool	parseInput (yarp::os::Bottle &input)

Detailed Description

Definition at line 30 of file ClientCommunications.h.

Constructor & Destructor Documentation

ClientCommunications::ClientCommunications

(

)

Definition at line 9 of file ClientCommunications.cpp.

ClientCommunications::~ClientCommunications ( )

virtual

Definition at line 23 of file ClientCommunications.cpp.

Member Function Documentation

bool ClientCommunications::close

(

)

Closes the RPC and input ports opened by this client.

Returns

True after all ports are closed.

Definition at line 69 of file ClientCommunications.cpp.

void ClientCommunications::close

(

const std::string &

taskName

)

Closes the task-specific RPC ports and deletes this task from the list of current clients.

Parameters

taskName

Name of the task.

Definition at line 82 of file ClientCommunications.cpp.

std::string ocra_recipes::ClientCommunications::getClientPortName ( )

inline

Definition at line 127 of file ClientCommunications.h.

std::shared_ptr< yarp::os::RpcClient > ClientCommunications::getTaskClient

(

const std::string &

taskName

)

Definition at line 178 of file ClientCommunications.cpp.

std::vector< std::string > ClientCommunications::getTaskNames

(

)

Definition at line 165 of file ClientCommunications.cpp.

std::string ClientCommunications::getTaskPortName

(

const std::string &

taskName

)

Definition at line 151 of file ClientCommunications.cpp.

std::vector< std::string > ClientCommunications::getTaskPortNames

(

)

Definition at line 138 of file ClientCommunications.cpp.

std::vector< std::string > ClientCommunications::getTaskTypes

(

)

Queries the server for the task types as strings.

Returns

A vector of strings containint the task types sent by the server.

Definition at line 56 of file ClientCommunications.cpp.

bool ClientCommunications::open	(	double	timeout = 20.0,
		bool	connectToTasks = true
	)

Opens an RPC port for the client with the format /ControllerClient/<client-number>/rpc:o and an input one with the format /ControllerClient/<client-number>/:i

Parameters

[in]

connectToTasks

True to automatically connect to task RPC ports. True by default.

Returns

True when the conection to tasks is successful.

Definition at line 29 of file ClientCommunications.cpp.

bool ClientCommunications::parseInput

(

yarp::os::Bottle &

input

)

Definition at line 285 of file ClientCommunications.cpp.

void ClientCommunications::parseMessage

(

yarp::os::Bottle &

input

)

The method that does the real parsing. The expected messages from the server are: REMOVE_TASK_PORT or HELP.

Parameters

input

A bottle containing the message sent by the server.

Definition at line 237 of file ClientCommunications.cpp.

yarp::os::Bottle ClientCommunications::queryController

(

yarp::os::Bottle &

requestBottle

)

Takes a bottled query from the client and sends it to the server via RPC.

Parameters

requestBottle

Bottled query to be sent to the server.

Returns

A bottled reply from the server.

Definition at line 189 of file ClientCommunications.cpp.

yarp::os::Bottle ClientCommunications::queryController

(

const SERVER_COMMUNICATIONS_MESSAGE

request

)

Sends a request to the server among one of the predefined messages in ocra_recipes::SERVER_COMMUNICATIONS_MESSAGE.

Parameters

request

These could be General indicators, controller requests, controller status indicators or task requests. See ocra_recipes::SERVER_COMMUNICATIONS_MESSAGE for more options.

Returns

The reply of the server.

Definition at line 196 of file ClientCommunications.cpp.

yarp::os::Bottle ClientCommunications::queryController

(

const std::vector< SERVER_COMMUNICATIONS_MESSAGE >

requestVector

)

Allows to send a series of messages from ocra_recipes::SERVER_COMMUNICATIONS_MESSAGE.

Parameters

requestVector

Vector of communication messages to be sent to the server.

Returns

Bottled server reply.

Definition at line 204 of file ClientCommunications.cpp.

bool ClientCommunications::read ( yarp::os::ConnectionReader &  connection )

virtual

Reads and parses (parseMessage()) a message sent by the server.

Parameters

connection

Source of the message.

Returns

True if the message is parsed succesfully, false otherwise.

Definition at line 91 of file ClientCommunications.cpp.

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

• ClientCommunications.h
• ClientCommunications.cpp