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-rw-r--r--rose.erl10
-rw-r--r--tda.erl4
2 files changed, 6 insertions, 8 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}.
diff --git a/tda.erl b/tda.erl
index 7578bb8..395f516 100644
--- a/tda.erl
+++ b/tda.erl
@@ -43,8 +43,8 @@ loop(Sock) ->
loop(Sock);
{ext} ->
io:format("Request Ext lines~n", []),
- {ok, Ext} = csta:ext_lines(),
- {ok, Rq} = rose:invoke({present, 2}, {local, 51}, Ext),
+ {ok, Rq} = rose:invoke({present, 2},
+ {local, 51}, csta:ext_lines()),
io:format("Send: ~p~n", [Rq]),
gen_tcp:send(Sock, Rq),
loop(Sock);