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authorDimitri Sokolyuk <demon@dim13.org>2015-10-28 20:10:53 +0100
committerDimitri Sokolyuk <demon@dim13.org>2015-10-28 20:10:53 +0100
commit5ab97ed6bef0406b68f01b79a702ca9aa88c1912 (patch)
tree60fc45dd857b94f64e45f65afe69700f88c8b502 /rose.erl
parentbc998d4dd2f030f5ed6c3e65d222a70f9edd15f2 (diff)
Unify
Diffstat (limited to 'rose.erl')
-rw-r--r--rose.erl21
1 files changed, 14 insertions, 7 deletions
diff --git a/rose.erl b/rose.erl
index 7bd5764..9ac3895 100644
--- a/rose.erl
+++ b/rose.erl
@@ -4,18 +4,25 @@
-include("Remote-Operations-Generic-ROS-PDUs.hrl").
-decode(Msg) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Msg).
+decode(Data) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Data).
-return(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
+return(Id, Op, {ok, Data}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
{returnResult, #'ReturnResult'{invokeId = Id,
- result = #'ReturnResult_result'{opcode = Op, result = Msg}}}).
+ result = #'ReturnResult_result'{opcode = Op, result = Data}}}).
-invoke(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
- {invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Msg}}).
+invoke(Id, Op, {ok, Data}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
+ {invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Data}}).
dispatch({invoke, #'Invoke'{invokeId = Id, opcode = Op}}) ->
case Op of
{local, 211} -> return(Id, Op, status:status());
- {local, 51} -> ok
+ {local, 51} -> ok;
+ _ -> error
end;
-dispatch({returnResult, result = #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}.
+
+dispatch({returnResult, #'ReturnResult'{result = Data}}) ->
+ dispatch(Data);
+
+dispatch(#'ReturnResult_result'{result = Data}) ->
+ io:format("Result: ~p~n", [Data]),
+ ok.