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-rw-r--r--Remote-Operations-Generic-ROS-PDUs.erl504
1 files changed, 504 insertions, 0 deletions
diff --git a/Remote-Operations-Generic-ROS-PDUs.erl b/Remote-Operations-Generic-ROS-PDUs.erl
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+++ b/Remote-Operations-Generic-ROS-PDUs.erl
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+%% Generated by the Erlang ASN.1 BER_V2-compiler version, utilizing bit-syntax:4.0
+%% Purpose: encoder and decoder to the types in mod Remote-Operations-Generic-ROS-PDUs
+
+-module('Remote-Operations-Generic-ROS-PDUs').
+-compile(nowarn_unused_vars).
+-include("Remote-Operations-Generic-ROS-PDUs.hrl").
+-asn1_info([{vsn,'4.0'},
+ {module,'Remote-Operations-Generic-ROS-PDUs'},
+ {options,[{i,"/Users/quax/erl"},
+ warnings,ber,errors,
+ {cwd,"/Users/quax/erl"},
+ {outdir,"/Users/quax/erl"},
+ {i,"."},
+ {i,"/Users/quax/erl/rose"}]}]).
+
+-export([encoding_rule/0,bit_string_format/0,
+ legacy_erlang_types/0]).
+-export(['dialyzer-suppressions'/1]).
+-export([
+'enc_Reject'/2,
+'enc_GeneralProblem'/2,
+'enc_InvokeProblem'/2,
+'enc_ReturnResultProblem'/2,
+'enc_ReturnErrorProblem'/2,
+'enc_RejectProblem'/2,
+'enc_InvokeId'/2
+]).
+
+-export([
+'dec_Reject'/2,
+'dec_GeneralProblem'/2,
+'dec_InvokeProblem'/2,
+'dec_ReturnResultProblem'/2,
+'dec_ReturnErrorProblem'/2,
+'dec_RejectProblem'/2,
+'dec_InvokeId'/2
+]).
+
+-export([
+'noInvokeId'/0
+]).
+
+-export([info/0]).
+
+
+-export([encode/2,decode/2]).
+
+encoding_rule() -> ber.
+
+bit_string_format() -> bitstring.
+
+legacy_erlang_types() -> false.
+
+encode(Type, Data) ->
+try iolist_to_binary(element(1, encode_disp(Type, Data))) of
+ Bytes ->
+ {ok,Bytes}
+ catch
+ Class:Exception when Class =:= error; Class =:= exit ->
+ case Exception of
+ {error,Reason}=Error ->
+ Error;
+ Reason ->
+ {error,{asn1,Reason}}
+ end
+end.
+
+decode(Type,Data) ->
+try decode_disp(Type, element(1, ber_decode_nif(Data))) of
+ Result ->
+ {ok,Result}
+ catch
+ Class:Exception when Class =:= error; Class =:= exit ->
+ case Exception of
+ {error,Reason}=Error ->
+ Error;
+ Reason ->
+ {error,{asn1,Reason}}
+ end
+end.
+
+encode_disp('Reject',Data) -> 'enc_Reject'(Data);
+encode_disp('GeneralProblem',Data) -> 'enc_GeneralProblem'(Data);
+encode_disp('InvokeProblem',Data) -> 'enc_InvokeProblem'(Data);
+encode_disp('ReturnResultProblem',Data) -> 'enc_ReturnResultProblem'(Data);
+encode_disp('ReturnErrorProblem',Data) -> 'enc_ReturnErrorProblem'(Data);
+encode_disp('RejectProblem',Data) -> 'enc_RejectProblem'(Data);
+encode_disp('InvokeId',Data) -> 'enc_InvokeId'(Data);
+encode_disp(Type,_Data) -> exit({error,{asn1,{undefined_type,Type}}}).
+
+
+decode_disp('Reject',Data) -> 'dec_Reject'(Data);
+decode_disp('GeneralProblem',Data) -> 'dec_GeneralProblem'(Data);
+decode_disp('InvokeProblem',Data) -> 'dec_InvokeProblem'(Data);
+decode_disp('ReturnResultProblem',Data) -> 'dec_ReturnResultProblem'(Data);
+decode_disp('ReturnErrorProblem',Data) -> 'dec_ReturnErrorProblem'(Data);
+decode_disp('RejectProblem',Data) -> 'dec_RejectProblem'(Data);
+decode_disp('InvokeId',Data) -> 'dec_InvokeId'(Data);
+decode_disp(Type,_Data) -> exit({error,{asn1,{undefined_type,Type}}}).
+
+
+
+
+info() ->
+ case ?MODULE:module_info(attributes) of
+ Attributes when is_list(Attributes) ->
+ case lists:keyfind(asn1_info, 1, Attributes) of
+ {_,Info} when is_list(Info) ->
+ Info;
+ _ ->
+ []
+ end;
+ _ ->
+ []
+ end.
+
+
+%%================================
+%% Reject
+%%================================
+'enc_Reject'(Val) ->
+ 'enc_Reject'(Val, [<<48>>]).
+
+'enc_Reject'(Val, TagIn) ->
+{_,Cindex1, Cindex2} = Val,
+
+%%-------------------------------------------------
+%% attribute invokeId(1) External Remote-Operations-Generic-ROS-PDUs:InvokeId
+%%-------------------------------------------------
+ {EncBytes1,EncLen1} = 'enc_InvokeId'(Cindex1, []),
+
+%%-------------------------------------------------
+%% attribute problem(2) with type CHOICE
+%%-------------------------------------------------
+ {EncBytes2,EncLen2} = 'enc_Reject_problem'(Cindex2, []),
+
+ BytesSoFar = [EncBytes1, EncBytes2],
+LenSoFar = EncLen1 + EncLen2,
+encode_tags(TagIn, BytesSoFar, LenSoFar).
+
+
+
+%%================================
+%% Reject_problem
+%%================================
+'enc_Reject_problem'(Val, TagIn) ->
+ {EncBytes,EncLen} = case element(1,Val) of
+ general ->
+ encode_integer(element(2,Val), [{unrecognisedPDU,0},{mistypedPDU,1},{badlyStructuredPDU,2}], [<<128>>]);
+ invoke ->
+ encode_integer(element(2,Val), [{duplicateInvocation,0},{unrecognisedOperation,1},{mistypedArgument,2},{resourceLimitation,3},{releaseInProgress,4},{unrecognisedLinkedId,5},{linkedResponseUnexpected,6},{unexpectedLinkedOperation,7}], [<<129>>]);
+ returnResult ->
+ encode_integer(element(2,Val), [{unrecognisedInvocation,0},{resultResponseUnexpected,1},{mistypedResult,2}], [<<130>>]);
+ returnError ->
+ encode_integer(element(2,Val), [{unrecognisedInvocation,0},{errorResponseUnexpected,1},{unrecognisedError,2},{unexpectedError,3},{mistypedParameter,4}], [<<131>>]);
+ Else ->
+ exit({error,{asn1,{invalid_choice_type,Else}}})
+ end,
+
+encode_tags(TagIn, EncBytes, EncLen).
+
+
+
+
+'dec_Reject'(Tlv) ->
+ 'dec_Reject'(Tlv, [16]).
+
+'dec_Reject'(Tlv, TagIn) ->
+ %%-------------------------------------------------
+ %% decode tag and length
+ %%-------------------------------------------------
+Tlv1 = match_tags(Tlv, TagIn),
+
+%%-------------------------------------------------
+%% attribute invokeId(1) External Remote-Operations-Generic-ROS-PDUs:InvokeId
+%%-------------------------------------------------
+[V1|Tlv2] = Tlv1,
+Term1 = 'dec_InvokeId'(V1, []),
+
+%%-------------------------------------------------
+%% attribute problem(2) with type CHOICE
+%%-------------------------------------------------
+[V2|Tlv3] = Tlv2,
+Term2 = 'dec_Reject_problem'(V2, []),
+
+case Tlv3 of
+[] -> true;_ -> exit({error,{asn1, {unexpected,Tlv3}}}) % extra fields not allowed
+end,
+ {'Reject', Term1, Term2}.
+
+'dec_Reject_problem'(Tlv, TagIn) ->
+Tlv1 = match_tags(Tlv, TagIn),
+case (case Tlv1 of [CtempTlv1] -> CtempTlv1; _ -> Tlv1 end) of
+
+%% 'general'
+ {131072, V1} ->
+ {general, begin
+Val1 = decode_integer(V1, []),
+number2name(Val1, [{unrecognisedPDU,0},{mistypedPDU,1},{badlyStructuredPDU,2}])
+end
+};
+
+
+%% 'invoke'
+ {131073, V1} ->
+ {invoke, begin
+Val2 = decode_integer(V1, []),
+number2name(Val2, [{duplicateInvocation,0},{unrecognisedOperation,1},{mistypedArgument,2},{resourceLimitation,3},{releaseInProgress,4},{unrecognisedLinkedId,5},{linkedResponseUnexpected,6},{unexpectedLinkedOperation,7}])
+end
+};
+
+
+%% 'returnResult'
+ {131074, V1} ->
+ {returnResult, begin
+Val3 = decode_integer(V1, []),
+number2name(Val3, [{unrecognisedInvocation,0},{resultResponseUnexpected,1},{mistypedResult,2}])
+end
+};
+
+
+%% 'returnError'
+ {131075, V1} ->
+ {returnError, begin
+Val4 = decode_integer(V1, []),
+number2name(Val4, [{unrecognisedInvocation,0},{errorResponseUnexpected,1},{unrecognisedError,2},{unexpectedError,3},{mistypedParameter,4}])
+end
+};
+
+ Else ->
+ exit({error,{asn1,{invalid_choice_tag,Else}}})
+ end
+.
+
+
+%%================================
+%% GeneralProblem
+%%================================
+'enc_GeneralProblem'(Val) ->
+ 'enc_GeneralProblem'(Val, [<<2>>]).
+
+'enc_GeneralProblem'(Val, TagIn) ->
+encode_integer(Val, [{unrecognisedPDU,0},{mistypedPDU,1},{badlyStructuredPDU,2}], TagIn).
+
+
+'dec_GeneralProblem'(Tlv) ->
+ 'dec_GeneralProblem'(Tlv, [2]).
+
+'dec_GeneralProblem'(Tlv, TagIn) ->
+begin
+Val1 = decode_integer(Tlv, TagIn),
+number2name(Val1, [{unrecognisedPDU,0},{mistypedPDU,1},{badlyStructuredPDU,2}])
+end
+.
+
+
+
+%%================================
+%% InvokeProblem
+%%================================
+'enc_InvokeProblem'(Val) ->
+ 'enc_InvokeProblem'(Val, [<<2>>]).
+
+'enc_InvokeProblem'(Val, TagIn) ->
+encode_integer(Val, [{duplicateInvocation,0},{unrecognisedOperation,1},{mistypedArgument,2},{resourceLimitation,3},{releaseInProgress,4},{unrecognisedLinkedId,5},{linkedResponseUnexpected,6},{unexpectedLinkedOperation,7}], TagIn).
+
+
+'dec_InvokeProblem'(Tlv) ->
+ 'dec_InvokeProblem'(Tlv, [2]).
+
+'dec_InvokeProblem'(Tlv, TagIn) ->
+begin
+Val1 = decode_integer(Tlv, TagIn),
+number2name(Val1, [{duplicateInvocation,0},{unrecognisedOperation,1},{mistypedArgument,2},{resourceLimitation,3},{releaseInProgress,4},{unrecognisedLinkedId,5},{linkedResponseUnexpected,6},{unexpectedLinkedOperation,7}])
+end
+.
+
+
+
+%%================================
+%% ReturnResultProblem
+%%================================
+'enc_ReturnResultProblem'(Val) ->
+ 'enc_ReturnResultProblem'(Val, [<<2>>]).
+
+'enc_ReturnResultProblem'(Val, TagIn) ->
+encode_integer(Val, [{unrecognisedInvocation,0},{resultResponseUnexpected,1},{mistypedResult,2}], TagIn).
+
+
+'dec_ReturnResultProblem'(Tlv) ->
+ 'dec_ReturnResultProblem'(Tlv, [2]).
+
+'dec_ReturnResultProblem'(Tlv, TagIn) ->
+begin
+Val1 = decode_integer(Tlv, TagIn),
+number2name(Val1, [{unrecognisedInvocation,0},{resultResponseUnexpected,1},{mistypedResult,2}])
+end
+.
+
+
+
+%%================================
+%% ReturnErrorProblem
+%%================================
+'enc_ReturnErrorProblem'(Val) ->
+ 'enc_ReturnErrorProblem'(Val, [<<2>>]).
+
+'enc_ReturnErrorProblem'(Val, TagIn) ->
+encode_integer(Val, [{unrecognisedInvocation,0},{errorResponseUnexpected,1},{unrecognisedError,2},{unexpectedError,3},{mistypedParameter,4}], TagIn).
+
+
+'dec_ReturnErrorProblem'(Tlv) ->
+ 'dec_ReturnErrorProblem'(Tlv, [2]).
+
+'dec_ReturnErrorProblem'(Tlv, TagIn) ->
+begin
+Val1 = decode_integer(Tlv, TagIn),
+number2name(Val1, [{unrecognisedInvocation,0},{errorResponseUnexpected,1},{unrecognisedError,2},{unexpectedError,3},{mistypedParameter,4}])
+end
+.
+
+
+
+%%================================
+%% RejectProblem
+%%================================
+'enc_RejectProblem'(Val) ->
+ 'enc_RejectProblem'(Val, [<<2>>]).
+
+'enc_RejectProblem'(Val, TagIn) ->
+encode_integer(Val, [{'general-unrecognisedPDU',0},{'general-mistypedPDU',1},{'general-badlyStructuredPDU',2},{'invoke-duplicateInvocation',10},{'invoke-unrecognisedOperation',11},{'invoke-mistypedArgument',12},{'invoke-resourceLimitation',13},{'invoke-releaseInProgress',14},{'invoke-unrecognisedLinkedId',15},{'invoke-linkedResponseUnexpected',16},{'invoke-unexpectedLinkedOperation',17},{'returnResult-unrecognisedInvocation',20},{'returnResult-resultResponseUnexpected',21},{'returnResult-mistypedResult',22},{'returnError-unrecognisedInvocation',30},{'returnError-errorResponseUnexpected',31},{'returnError-unrecognisedError',32},{'returnError-unexpectedError',33},{'returnError-mistypedParameter',34}], TagIn).
+
+
+'dec_RejectProblem'(Tlv) ->
+ 'dec_RejectProblem'(Tlv, [2]).
+
+'dec_RejectProblem'(Tlv, TagIn) ->
+begin
+Val1 = decode_integer(Tlv, TagIn),
+number2name(Val1, [{'general-unrecognisedPDU',0},{'general-mistypedPDU',1},{'general-badlyStructuredPDU',2},{'invoke-duplicateInvocation',10},{'invoke-unrecognisedOperation',11},{'invoke-mistypedArgument',12},{'invoke-resourceLimitation',13},{'invoke-releaseInProgress',14},{'invoke-unrecognisedLinkedId',15},{'invoke-linkedResponseUnexpected',16},{'invoke-unexpectedLinkedOperation',17},{'returnResult-unrecognisedInvocation',20},{'returnResult-resultResponseUnexpected',21},{'returnResult-mistypedResult',22},{'returnError-unrecognisedInvocation',30},{'returnError-errorResponseUnexpected',31},{'returnError-unrecognisedError',32},{'returnError-unexpectedError',33},{'returnError-mistypedParameter',34}])
+end
+.
+
+
+
+%%================================
+%% InvokeId
+%%================================
+'enc_InvokeId'(Val) ->
+ 'enc_InvokeId'(Val, []).
+
+'enc_InvokeId'(Val, TagIn) ->
+ {EncBytes,EncLen} = case element(1,Val) of
+ present ->
+ encode_integer(element(2,Val), [<<2>>]);
+ absent ->
+ encode_null(element(2,Val), [<<5>>]);
+ Else ->
+ exit({error,{asn1,{invalid_choice_type,Else}}})
+ end,
+
+encode_tags(TagIn, EncBytes, EncLen).
+
+
+
+
+'dec_InvokeId'(Tlv) ->
+ 'dec_InvokeId'(Tlv, []).
+
+'dec_InvokeId'(Tlv, TagIn) ->
+Tlv1 = match_tags(Tlv, TagIn),
+case (case Tlv1 of [CtempTlv1] -> CtempTlv1; _ -> Tlv1 end) of
+
+%% 'present'
+ {2, V1} ->
+ {present, decode_integer(V1, [])};
+
+
+%% 'absent'
+ {5, V1} ->
+ {absent, decode_null(V1, [])};
+
+ Else ->
+ exit({error,{asn1,{invalid_choice_tag,Else}}})
+ end
+.
+'noInvokeId'() ->
+{absent,'NULL'}.
+
+
+%%%
+%%% Run-time functions.
+%%%
+
+'dialyzer-suppressions'(Arg) ->
+ ok.
+
+ber_decode_nif(B) ->
+ asn1rt_nif:decode_ber_tlv(B).
+
+decode_integer(Tlv, TagIn) ->
+ Bin = match_tags(Tlv, TagIn),
+ Len = byte_size(Bin),
+ <<Int:Len/signed-unit:8>> = Bin,
+ Int.
+
+decode_null(Tlv, Tags) ->
+ Val = match_tags(Tlv, Tags),
+ case Val of
+ <<>> ->
+ 'NULL';
+ _ ->
+ exit({error,{asn1,{decode_null,Val}}})
+ end.
+
+encode_integer(Val) ->
+ Bytes =
+ if
+ Val >= 0 ->
+ encode_integer_pos(Val, []);
+ true ->
+ encode_integer_neg(Val, [])
+ end,
+ {Bytes,length(Bytes)}.
+
+encode_integer(Val, NamedNumberList, Tag) when is_atom(Val) ->
+ case lists:keyfind(Val, 1, NamedNumberList) of
+ {_,NewVal} ->
+ encode_tags(Tag, encode_integer(NewVal));
+ _ ->
+ exit({error,{asn1,{encode_integer_namednumber,Val}}})
+ end;
+encode_integer(Val, _NamedNumberList, Tag) ->
+ encode_tags(Tag, encode_integer(Val)).
+
+encode_integer(Val, Tag) when is_integer(Val) ->
+ encode_tags(Tag, encode_integer(Val));
+encode_integer(Val, _Tag) ->
+ exit({error,{asn1,{encode_integer,Val}}}).
+
+encode_integer_neg(- 1, [B1|_T] = L) when B1 > 127 ->
+ L;
+encode_integer_neg(N, Acc) ->
+ encode_integer_neg(N bsr 8, [N band 255|Acc]).
+
+encode_integer_pos(0, [B|_Acc] = L) when B < 128 ->
+ L;
+encode_integer_pos(N, Acc) ->
+ encode_integer_pos(N bsr 8, [N band 255|Acc]).
+
+encode_length(L) when L =< 127 ->
+ {[L],1};
+encode_length(L) ->
+ Oct = minimum_octets(L),
+ Len = length(Oct),
+ if
+ Len =< 126 ->
+ {[128 bor Len|Oct],Len + 1};
+ true ->
+ exit({error,{asn1,too_long_length_oct,Len}})
+ end.
+
+encode_null(_Val, TagIn) ->
+ encode_tags(TagIn, [], 0).
+
+encode_tags(TagIn, {BytesSoFar,LenSoFar}) ->
+ encode_tags(TagIn, BytesSoFar, LenSoFar).
+
+encode_tags([Tag|Trest], BytesSoFar, LenSoFar) ->
+ {Bytes2,L2} = encode_length(LenSoFar),
+ encode_tags(Trest,
+ [Tag,Bytes2|BytesSoFar],
+ LenSoFar + byte_size(Tag) + L2);
+encode_tags([], BytesSoFar, LenSoFar) ->
+ {BytesSoFar,LenSoFar}.
+
+match_tags({T,V}, [T]) ->
+ V;
+match_tags({T,V}, [T|Tt]) ->
+ match_tags(V, Tt);
+match_tags([{T,V}], [T|Tt]) ->
+ match_tags(V, Tt);
+match_tags([{T,_V}|_] = Vlist, [T]) ->
+ Vlist;
+match_tags(Tlv, []) ->
+ Tlv;
+match_tags({Tag,_V} = Tlv, [T|_Tt]) ->
+ exit({error,{asn1,{wrong_tag,{{expected,T},{got,Tag,Tlv}}}}}).
+
+minimum_octets(0, Acc) ->
+ Acc;
+minimum_octets(Val, Acc) ->
+ minimum_octets(Val bsr 8, [Val band 255|Acc]).
+
+minimum_octets(Val) ->
+ minimum_octets(Val, []).
+
+number2name(Int, NamedNumberList) ->
+ case lists:keyfind(Int, 2, NamedNumberList) of
+ {NamedVal,_} ->
+ NamedVal;
+ _ ->
+ Int
+ end.