text: #!/usr/bin/env python
  
  """
    Functions for working with a CSA "Directive" type message.
    
    Copyright 2021 University of Cincinnati
    All rights reserved. See LICENSE file at:
    https://github.com/MatthewVerbryke/rse_dam
    Additional copyright may be held by others, as reflected in the commit
    history.
  """
  
  
  import rospy
  from std_msgs.msg import Header
  
  from csa_msgs.msg import Directive
  
  
  def create_directive_msg(id_num, name, desc, src, dest, t_resp, priority, params):
      """
      Build a "Directive" message from the input data.
      
      TODO: Figure out how we will handle directives
      """
      
      # Create the message
      msg = Directive()
      
      # Create the header
      msg.header = Header()
      msg.header.seq = id_num
      msg.header.stamp = rospy.Time.now()
      
      # Build message from inputs
      msg.name = name
      msg.description = desc
      msg.source = src
      msg.destination = dest
      msg.response_time = t_resp
      msg.priority = priority
      #msg.params = Params() #TODO: Update this
      
      return msg
  