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 #ifdef ROS 00033 #include "simple_message/simple_comms_fault_handler.h" 00034 #include "simple_message/log_wrapper.h" 00035 #endif 00036 00037 #ifdef MOTOPLUS 00038 #include "simple_comms_fault_handler.h" 00039 #include "log_wrapper.h" 00040 #endif 00041 00042 00043 namespace industrial 00044 { 00045 namespace simple_comms_fault_handler 00046 { 00047 00048 SimpleCommsFaultHandler::SimpleCommsFaultHandler() 00049 { 00050 this->connection_ = NULL; 00051 } 00052 00053 00054 SimpleCommsFaultHandler::~SimpleCommsFaultHandler() 00055 { 00056 } 00057 00058 bool SimpleCommsFaultHandler::init(industrial::smpl_msg_connection::SmplMsgConnection* connection) 00059 { 00060 bool rtn = false; 00061 00062 if (NULL != connection) 00063 { 00064 this->setConnection(connection); 00065 LOG_INFO("Default communications fault handler successfully initialized"); 00066 rtn = true; 00067 } 00068 else 00069 { 00070 LOG_ERROR("Failed to initialize default communications fault handler"); 00071 rtn = false; 00072 } 00073 return rtn; 00074 } 00075 00076 void SimpleCommsFaultHandler::connectionFailCB() 00077 { 00078 00079 if (!(this->getConnection()->isConnected())) 00080 { 00081 LOG_INFO("Connection failed, attempting reconnect"); 00082 this->getConnection()->makeConnect(); 00083 } 00084 else 00085 { 00086 LOG_WARN("Connection fail callback called while still connected (Possible bug)"); 00087 } 00088 } 00089 00090 00091 00092 }//namespace default_comms_fault_handler 00093 }//namespace industrial 00094 00095 00096 00097