00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 #ifdef ROS 00032 #include "simple_message/ping_handler.h" 00033 #include "simple_message/ping_message.h" 00034 #include "simple_message/log_wrapper.h" 00035 #endif 00036 00037 #ifdef MOTOPLUS 00038 #include "ping_handler.h" 00039 #include "ping_message.h" 00040 #include "log_wrapper.h" 00041 #endif 00042 00043 00044 00045 using namespace industrial::ping_message; 00046 using namespace industrial::simple_message; 00047 00048 namespace industrial 00049 { 00050 namespace ping_handler 00051 { 00052 00053 00054 bool PingHandler::init(industrial::smpl_msg_connection::SmplMsgConnection* connection) 00055 { 00056 return this->init(StandardMsgTypes::PING, connection); 00057 } 00058 00059 bool PingHandler::internalCB(industrial::simple_message::SimpleMessage & in) 00060 { 00061 bool rtn = false; 00062 PingMessage ping; 00063 SimpleMessage msg; 00064 00065 if (ping.init(in)) 00066 { 00067 if (ping.toReply(msg, ReplyTypes::SUCCESS)) 00068 { 00069 if(this->getConnection()->sendMsg(msg)) 00070 { 00071 LOG_INFO("Ping return sent"); 00072 rtn = true; 00073 } 00074 else 00075 { 00076 LOG_ERROR("Failed to send ping return"); 00077 rtn = false; 00078 } 00079 } 00080 else 00081 { 00082 LOG_ERROR("Failed to generate ping reply message"); 00083 rtn = false; 00084 } 00085 } 00086 else 00087 { 00088 LOG_ERROR("Failed to initialize ping message"); 00089 rtn = false; 00090 } 00091 00092 00093 return rtn; 00094 } 00095 00096 00097 00098 }//namespace ping_handler 00099 }//namespace industrial 00100 00101 00102