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 00032 #include "input_handler.h" 00033 #include "shared_types.h" 00034 #include "log_wrapper.h" 00035 00036 00037 //using namespace industrial::input_message; 00038 using namespace industrial::simple_message; 00039 using namespace industrial::shared_types; 00040 00041 namespace motoman 00042 { 00043 namespace input_handler 00044 { 00045 00046 00047 bool InputHandler::init(industrial::smpl_msg_connection::SmplMsgConnection* connection) 00048 { 00049 return this->init(StandardMsgTypes::READ_INPUT, connection); 00050 } 00051 00052 bool InputHandler::internalCB(industrial::simple_message::SimpleMessage & in) 00053 { 00054 bool rtn = false; 00055 bool unloadStat = false; 00056 shared_int temp; 00057 int i = 0; 00058 SimpleMessage msg; 00059 00060 do 00061 { 00062 unloadStat = in.getData().unload(temp); 00063 LOG_DEBUG("Message data item[%d] = %d", i, temp); 00064 i++; 00065 } 00066 while(unloadStat); 00067 00068 //msg.init(StandardMsgTypes::READ_INPUT, CommTypes::SERVICE_REPLY, ReplyTypes::SUCCESS); 00069 //rtn = this->getConnection()->sendMsg(msg); 00070 rtn = true; 00071 00072 return rtn; 00073 } 00074 00075 00076 00077 }//namespace ping_handler 00078 }//namespace motoman 00079 00080