/*
********************************************************
Copyright 2000 MBARI.
MBARI Proprietary Information. All rights reserved.
NOTE: This file is automatically generated.
DO NOT MODIFY.
********************************************************
*/

#ifndef __LayeredControlIF_SK_H
#define __LayeredControlIF_SK_H

#include "TaskServer.h"
#include "LayeredControlIF.h"

class LayeredControlIF_SK : public TaskServer {

  public:

  // Constructor for server with default name
  LayeredControlIF_SK();

  // Constructor for server with specific name
  LayeredControlIF_SK(const char *serverName);

  virtual ~LayeredControlIF_SK();
  
  protected:

  // These methods must be defined in subclass
  virtual double elapsedMissionTime() = 0;
  virtual void abortMission() = 0;
  virtual Boolean abortingMission() = 0;
  virtual void state(double *elapsedTime, LayeredControlIF::MissionState *state, LayeredControlIF::Name behaviorName, short *behaviorIndex) = 0;
  
  // Declare callbacks corresponding to each method
  Boolean elapsedMissionTimeCallback(Request *request, int nReqBytes,
                 Reply **reply, int *nReplyBytes);

  Boolean abortMissionCallback(Request *request, int nReqBytes,
                 Reply **reply, int *nReplyBytes);

  Boolean abortingMissionCallback(Request *request, int nReqBytes,
                 Reply **reply, int *nReplyBytes);

  Boolean stateCallback(Request *request, int nReqBytes,
                 Reply **reply, int *nReplyBytes);

  
  // Message structure pointer for each method
  LayeredControlIF::ElapsedMissionTimeMsg *_elapsedMissionTimeMsg;
  LayeredControlIF::AbortMissionMsg *_abortMissionMsg;
  LayeredControlIF::AbortingMissionMsg *_abortingMissionMsg;
  LayeredControlIF::StateMsg *_stateMsg;
  
  // Determine max bytes required for message buffer
  virtual size_t maxRequestBytes();

  // Allocate buffer for messages, set pointers, etc
  virtual void allocateBuffers();

  private:

  // Initializer method called by constructors
  int init();

};

#endif