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-module(rose).

-export([decode/1, return/3, invoke/3, dispatch/1]).

-include("Remote-Operations-Generic-ROS-PDUs.hrl").

decode(Msg) -> 'Remote-Operations-Generic-ROS-PDUs':decode('ROS', Msg).

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, {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} -> return(Id, Op, status:status());
		{local, 51} -> ok
	end;
dispatch({returnResult, result = #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}.