bool JointMotionHandler::internalCB(industrial::simple_message::SimpleMessage & in) { bool rtn = false; JointMessage jMsg; SimpleMessage reply; if (jMsg.init(in)) { this->motionInterface(jMsg); } else { LOG_ERROR("Failed to initialize joint message"); rtn = false; } // Send response if requested if (CommTypes::SERVICE_REQUEST == in.getCommType()) if (jMsg.toReply(reply, ReplyTypes::SUCCESS)) { if(this->getConnection()->sendMsg(reply)) { LOG_INFO("Joint ack sent"); rtn = true; } else { LOG_ERROR("Failed to send joint ack"); rtn = false; } } else { LOG_ERROR("Failed to generate joint ack message"); rtn = false; } return rtn; }
bool internalCB(industrial::simple_message::SimpleMessage & in) { bool rtn = false; JointMessage jm; SimpleMessage msg; if (jm.init(in)) { ROS_INFO_STREAM("Received sequence number: " << jm.getSequence()); if (jm.toReply(msg, ReplyTypes::SUCCESS)) { if (this->getConnection()->sendMsg(msg)) { ROS_INFO_STREAM("Sending reply code: " << msg.getReplyCode()); rtn = true; } else { ROS_ERROR("Failed to send joint message return"); rtn = false; } } else { ROS_ERROR("Failed to generate joint reply message"); rtn = false; } } else { ROS_ERROR("Failed to initialize joint message"); rtn = false; } return rtn; }