summaryrefslogtreecommitdiff
path: root/rose.erl
blob: 093b372c4cd685781656debaf2e4ec4971afa5c6 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
-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, 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, #'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, 51} -> ok
	end;
dispatch({returnResult, #'ReturnResult'{result = #'ReturnResult_result'{result = Msg}}}) -> {result, Msg}.