-module(rose). -export([decode/1, invoke/2, dispatch/1]). -include("opcodes.hrl"). -include("Remote-Operations-Generic-ROS-PDUs.hrl"). decode(Data) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Data). return(Id, Op, {ok, Data}) -> 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', {returnResult, #'ReturnResult'{invokeId = Id, result = #'ReturnResult_result'{opcode = Op, result = Data}}}). invoke(Op, {ok, Data}) -> Id = counter:next(), 'Remote-Operations-Generic-ROS-PDUs':encode('ROS', {invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Data}}). dispatch({invoke, #'Invoke'{invokeId = Id, opcode = Op, argument = Data}}) -> counter:set(Id), case Op of ?EVENT -> ok; ?ESCAPE -> escape:privateData(escape:decode(Data)); ?MONITOR -> ok; ?SNAPSHOT -> ok; ?STATUS -> io:format("Status: ~p~n", [status:value(Data)]), tda:send(return(Id, Op, status:encode())); _ -> error end; dispatch({returnResult, #'ReturnResult'{invokeId = Id, result = Data}}) -> counter:set(Id), dispatch(Data); dispatch({returnError, #'ReturnError'{invokeId = Id, errcode = Code, parameter = Par}}) -> counter:set(Id), io:format("Err: ~p ~p~n", [Code, Par]), error; dispatch({reject, #'Reject'{invokeId = Id, problem = Problem}}) -> counter:set(Id), io:format("Problem: ~p~n", [Problem]), error; dispatch(#'ReturnResult_result'{opcode = Op, result = Data}) -> case Op of ?SNAPSHOT -> {ok, Status} = snapshot:decode(Data), io:format("Result: ~p~n", [Status]); _ -> io:format("Result: ~p~n", [Data]) end, ok.