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-module(rose).

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

-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(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, argument = Data}}) ->
	case Op of
		{local, 21} ->
			ok;
		{local, 51} ->
			{ok, Esc} = csta:decode(Data),
			io:format("Esc ~p~n", [Esc]),
			ok;
		{local, 71} ->
			ok;
		{local, 211} ->
			return(Id, Op, status:status());
		_ ->
			error
	end;

dispatch({returnResult, #'ReturnResult'{result = Data}}) ->
	dispatch(Data);

dispatch(#'ReturnResult_result'{result = Data}) ->
	io:format("Result: ~p~n", [Data]),
	ok.