message_handler.cpp
Go to the documentation of this file.
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/message_handler.h"
00033 #include "simple_message/log_wrapper.h"
00034 #endif
00035 
00036 #ifdef MOTOPLUS
00037 #include "message_handler.h"
00038 #include "log_wrapper.h"
00039 #endif
00040 
00041 
00042 namespace industrial
00043 {
00044 namespace message_handler
00045 {
00046 
00047 using namespace industrial::smpl_msg_connection;
00048 using namespace industrial::simple_message;
00049 
00050 MessageHandler::MessageHandler(void)
00051 {
00052   this->setConnection(NULL);
00053   this->setMsgType(StandardMsgTypes::INVALID);
00054 }
00055 
00056 
00057 MessageHandler::~MessageHandler(void)
00058 {
00059 }
00060 
00061 
00062 bool MessageHandler::init(int msg_type, SmplMsgConnection* connection)
00063 {
00064   bool rtn = false;
00065   
00066   if (StandardMsgTypes::INVALID != msg_type)
00067   {
00068     if (NULL != connection)
00069     {
00070       this->setConnection(connection);
00071       this->setMsgType(msg_type);
00072       rtn = true;
00073     }
00074     else
00075     {
00076       LOG_ERROR("Message connection is NULL");
00077       rtn = false;
00078     }
00079     }
00080   else
00081   {
00082     LOG_ERROR("Message handler type: %d, not valid", msg_type);
00083     rtn = false;
00084     }
00085     
00086   return rtn;
00087 }
00088 
00089     
00090     
00091 bool MessageHandler::callback(SimpleMessage & in)
00092 {
00093   bool rtn = false;
00094   
00095   if (validateMsg(in))
00096   {
00097     this->internalCB(in);
00098   }
00099   else
00100   {
00101     LOG_ERROR("Invalid message passed to callback");
00102     rtn = true;
00103   }
00104   
00105   return rtn;
00106 }
00107 
00108 
00109 bool MessageHandler::validateMsg(SimpleMessage & in)
00110 {
00111   bool rtn = false;
00112   
00113   if (in.validateMessage())
00114   {
00115     if (in.getMessageType() == this->getMsgType())
00116     {
00117       rtn = true;
00118     }
00119     else
00120     {
00121       LOG_WARN("Message type: %d, doesn't match handler type: %d",
00122                   in.getMessageType(), this->getMsgType());
00123       rtn = false;
00124     }
00125   }
00126   else
00127   {
00128     LOG_WARN("Passed in message invalid");
00129   }
00130 
00131   return rtn;
00132   
00133 }
00134 
00135 } // namespace message_handler
00136 } // namespace industrial


simple_message
Author(s): Shaun Edwards
autogenerated on Mon Oct 6 2014 00:54:18