From 5ab97ed6bef0406b68f01b79a702ca9aa88c1912 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Wed, 28 Oct 2015 20:10:53 +0100 Subject: Unify --- rose.erl | 21 ++++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) (limited to 'rose.erl') diff --git a/rose.erl b/rose.erl index 7bd5764..9ac3895 100644 --- a/rose.erl +++ b/rose.erl @@ -4,18 +4,25 @@ -include("Remote-Operations-Generic-ROS-PDUs.hrl"). -decode(Msg) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Msg). +decode(Data) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Data). -return(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', +return(Id, Op, {ok, Data}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', {returnResult, #'ReturnResult'{invokeId = Id, - result = #'ReturnResult_result'{opcode = Op, result = Msg}}}). + result = #'ReturnResult_result'{opcode = Op, result = Data}}}). -invoke(Id, Op, {ok, Msg}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', - {invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Msg}}). +invoke(Id, Op, {ok, Data}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', + {invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Data}}). dispatch({invoke, #'Invoke'{invokeId = Id, opcode = Op}}) -> case Op of {local, 211} -> return(Id, Op, status:status()); - {local, 51} -> ok + {local, 51} -> ok; + _ -> error end; -dispatch({returnResult, result = #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}. + +dispatch({returnResult, #'ReturnResult'{result = Data}}) -> + dispatch(Data); + +dispatch(#'ReturnResult_result'{result = Data}) -> + io:format("Result: ~p~n", [Data]), + ok. -- cgit v1.2.3