ping_handler.cpp

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/*
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* Copyright (c) 2011, Southwest Research Institute
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#ifdef ROS
#include "simple_message/ping_handler.h"
#include "simple_message/ping_message.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "ping_handler.h"
#include "ping_message.h"
#include "log_wrapper.h"
#endif



using namespace industrial::ping_message;
using namespace industrial::simple_message;

namespace industrial
{
namespace ping_handler
{


bool PingHandler::init(industrial::smpl_msg_connection::SmplMsgConnection* connection)
{
  return this->init(StandardMsgTypes::PING, connection);
}

bool PingHandler::internalCB(industrial::simple_message::SimpleMessage & in)
{
  bool rtn = false;
  PingMessage ping;
  SimpleMessage msg;

  if (ping.init(in))
  {
    if (ping.toReply(msg, ReplyTypes::SUCCESS))
    {
      if(this->getConnection()->sendMsg(msg))
      {
        LOG_INFO("Ping return sent");
        rtn = true;
      }
      else
      {
        LOG_ERROR("Failed to send ping return");
        rtn = false;
      }
    }
    else
    {
      LOG_ERROR("Failed to generate ping reply message");
      rtn = false;
    }
  }
  else
  {
    LOG_ERROR("Failed to initialize ping message");
    rtn = false;
  }


  return rtn;
}



}//namespace ping_handler
}//namespace industrial