ping_handler.cpp
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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 


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