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/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : LayeredControlIF.idl                                          */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
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/* Modification History:                                                    */
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/*  
CLASS LayeredControlIF 
this is just
a comment!
*/


interface LayeredControlIF {

  enum EventCode {
    OutputGenerated
  };

  enum DepthMode { DmInitial = -1, Elevator, Depth, Pitch };
  enum HeadingMode { HmInitial = -1, Rudder, Heading, Waypoint };
  enum SpeedMode { SmInitial = -1, Current, Speed };

  // Describes command output of LayeredControl
  struct OutputCommand {

    double depth;
    double heading;
    double speed;

    DepthMode depthMode;
    HeadingMode headingMode;
    SpeedMode speedMode;
  };


  void getCommand(out OutputCommand command);
  void speedMode(out SpeedMode mode);	
};