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diff --git a/lib/Remote-Operations-Generic-ROS-PDUs.asn1 b/lib/Remote-Operations-Generic-ROS-PDUs.asn1
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-Remote-Operations-Generic-ROS-PDUs {joint-iso-itu-t remote-operations(4) generic-ROS-PDUs(6) version1(0)}
-DEFINITIONS IMPLICIT TAGS ::=
-BEGIN
--- exports everything
-IMPORTS OPERATION, ERROR FROM Remote-Operations-Information-Objects{joint-iso-itu-t remote-operations(4) informationObjects(5) version1(0)};
-ROS ::= CHOICE
-{
- invoke [1] Invoke,
- returnResult [2] ReturnResult,
- returnError [3] ReturnError,
- reject [4] Reject
-}
-Invoke ::= SEQUENCE
-{
- invokeId InvokeId,
- linkedId CHOICE {
- present [0] IMPLICIT present < InvokeId,
- absent [1] IMPLICIT NULL
- } OPTIONAL,
- opcode OPERATION.&operationCode,
- argument OPERATION.&ArgumentType OPTIONAL
-}
-(
- WITH COMPONENTS
- {...,
- linkedId ABSENT
- }
-| WITH COMPONENTS
- {...,
- linkedId PRESENT,
- opcode
- }
-)
-
-ReturnResult ::= SEQUENCE
-{
- invokeId InvokeId,
- result SEQUENCE
- {
- opcode OPERATION.&operationCode,
- result OPERATION.&ResultType
- } OPTIONAL
-}
-ReturnError ::= SEQUENCE
-{
- invokeId InvokeId,
- errcode ERROR.&errorCode,
- parameter ERROR.&ParameterType OPTIONAL
-}
-Reject ::= SEQUENCE
-{
- invokeId InvokeId,
- problem CHOICE
- {
- general [0] GeneralProblem,
- invoke [1] InvokeProblem,
- returnResult [2] ReturnResultProblem,
- returnError [3] ReturnErrorProblem
- }
-}
-GeneralProblem ::= INTEGER
-{
- unrecognisedPDU (0),
- mistypedPDU (1),
- badlyStructuredPDU (2)
-}
-InvokeProblem ::= INTEGER
-{
- duplicateInvocation (0),
- unrecognisedOperation (1),
- mistypedArgument (2),
- resourceLimitation (3),
- releaseInProgress (4),
- unrecognisedLinkedId (5),
- linkedResponseUnexpected (6),
- unexpectedLinkedOperation (7)
-}
-ReturnResultProblem ::= INTEGER
-{
- unrecognisedInvocation (0),
- resultResponseUnexpected (1),
- mistypedResult (2)
-}
-ReturnErrorProblem ::= INTEGER
-{
- unrecognisedInvocation (0),
- errorResponseUnexpected (1),
- unrecognisedError (2),
- unexpectedError (3),
- mistypedParameter (4)
-}
-RejectProblem ::= INTEGER
-{
- 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)
-}
-InvokeId ::= CHOICE
-{
- present INTEGER,
- absent NULL
-}
-noInvokeId InvokeId ::= absent:NULL
-NoInvokeId InvokeId ::= {noInvokeId}
-Errors {OPERATION:Operations} ERROR ::= {Operations.&Errors}
-Bind {OPERATION:operation} ::= CHOICE
-{
- bind-invoke [16] OPERATION.&ArgumentType({operation}),
- bind-result [17] OPERATION.&ResultType ({operation}),
- bind-error [18] OPERATION.&Errors.&ParameterType ({operation})
-}
-Unbind {OPERATION:operation} ::= CHOICE
-{
- unbind-invoke [19] OPERATION.&ArgumentType({operation}),
- unbind-result [20] OPERATION.&ResultType ({operation}),
- unbind-error [21] OPERATION.&Errors.&ParameterType ({operation})
-}
-END -- end of generic ROS PDU definitions