message_handler.cpp

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/*
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 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifdef ROS
#include "simple_message/message_handler.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "message_handler.h"
#include "log_wrapper.h"
#endif


namespace industrial
{
namespace message_handler
{

using namespace industrial::smpl_msg_connection;
using namespace industrial::simple_message;

MessageHandler::MessageHandler(void)
{
  this->setConnection(NULL);
  this->setMsgType(StandardMsgTypes::INVALID);
}


MessageHandler::~MessageHandler(void)
{
}


bool MessageHandler::init(int msg_type, SmplMsgConnection* connection)
{
  bool rtn = false;
  
  if (StandardMsgTypes::INVALID != msg_type)
  {
    if (NULL != connection)
    {
      this->setConnection(connection);
      this->setMsgType(msg_type);
      rtn = true;
    }
    else
    {
      LOG_ERROR("Message connection is NULL");
      rtn = false;
    }
    }
  else
  {
    LOG_ERROR("Message handler type: %d, not valid", msg_type);
    rtn = false;
    }
    
  return rtn;
}

    
    
bool MessageHandler::callback(SimpleMessage & in)
{
  bool rtn = false;
  
  if (validateMsg(in))
  {
    this->internalCB(in);
  }
  else
  {
    LOG_ERROR("Invalid message passed to callback");
    rtn = true;
  }
  
  return rtn;
}


bool MessageHandler::validateMsg(SimpleMessage & in)
{
  bool rtn = false;
  
  if (in.validateMessage())
  {
    if (in.getMessageType() == this->getMsgType())
    {
      rtn = true;
    }
    else
    {
      LOG_WARN("Message type: %d, doesn't match handler type: %d",
                  in.getMessageType(), this->getMsgType());
      rtn = false;
    }
  }
  else
  {
    LOG_WARN("Passed in message invalid");
  }

  return rtn;
  
}

} // namespace message_handler
} // namespace industrial