summaryrefslogtreecommitdiff
path: root/rose.erl
diff options
context:
space:
mode:
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}.