Ping from C code

What is the easiest way (i.e. fewest number of lines) to verify if a certain
IP address is accessable?

This is kind of like a ping from a C routine, HOWEVER, it does not have to
be a ping. If there is a cheaper way to confirm accessability, that will do
too.

But, here’s the wrinkle. It’s actually the return path that is in doubt.
This is an embedded system behind an embedded system. I know that my route
out is correct. I want to detect if the remote host has a route back to me.