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authorDimitri Sokolyuk <demon@dim13.org>2015-10-27 20:59:43 +0100
committerDimitri Sokolyuk <demon@dim13.org>2015-10-27 20:59:43 +0100
commitc471a45bd62883dc8788233228776c3cf52f9daf (patch)
tree766bcef22a229d2045bbe65ec03b07fc6f519479 /rose.erl
parentd4b3c570e2f10208912e16209a7759d860af178c (diff)
Generalize
Diffstat (limited to 'rose.erl')
-rw-r--r--rose.erl10
1 files changed, 4 insertions, 6 deletions
diff --git a/rose.erl b/rose.erl
index 093b372..7bd5764 100644
--- a/rose.erl
+++ b/rose.erl
@@ -6,18 +6,16 @@
decode(Msg) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Msg).
-return(Id, Op, Msg) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
+return(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
{returnResult, #'ReturnResult'{invokeId = Id,
result = #'ReturnResult_result'{opcode = Op, result = Msg}}}).
-invoke(Id, Op, Msg) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
+invoke(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS',
{invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Msg}}).
dispatch({invoke, #'Invoke'{invokeId = Id, opcode = Op}}) ->
case Op of
- {local, 211} ->
- {ok, Status} = status:status(),
- return(Id, Op, Status);
+ {local, 211} -> return(Id, Op, status:status());
{local, 51} -> ok
end;
-dispatch({returnResult, #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}.
+dispatch({returnResult, result = #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}.