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

#ifndef __OdysseyTailConeIF_SK_H
#define __OdysseyTailConeIF_SK_H

#include "TaskServer.h"
#include "OdysseyTailConeIF.h"
#include "TailConeIF_SK.h"

class OdysseyTailConeIF_SK : public TailConeIF_SK {

  public:

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

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

  virtual ~OdysseyTailConeIF_SK();
  
  protected:

  // These methods must be defined in subclass
  virtual DeviceIF::Status health(long *statusWord, TimeIF::TimeSpec *time) = 0;
  virtual DeviceIF::Status temperatures(float *motor, float *actuator, TimeIF::TimeSpec *time) = 0;
  virtual DeviceIF::Status currents(float *motor, float *actuator, TimeIF::TimeSpec *time) = 0;
  virtual DeviceIF::Status groundFault(float *current) = 0;
  
  // Declare callbacks corresponding to each method
  Boolean healthCallback(Request *request, int nReqBytes,
                 Reply **reply, int *nReplyBytes);

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

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

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

  
  // Message structure pointer for each method
  OdysseyTailConeIF::HealthMsg *_healthMsg;
  OdysseyTailConeIF::TemperaturesMsg *_temperaturesMsg;
  OdysseyTailConeIF::CurrentsMsg *_currentsMsg;
  OdysseyTailConeIF::GroundFaultMsg *_groundFaultMsg;
  
  // 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