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

#ifndef __LayeredControlIF_H
#define __LayeredControlIF_H

#include "TaskInterface.h"


#define LayeredControlIFServerName "LayeredControlIFServer"

/****************************************************************************/
/* 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 :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
/*
CLASS 
LayeredControlIF

DESCRIPTION
TaskInterface to LayeredControl

AUTHOR
Tom O'Reilly

*/
class LayeredControlIF : public TaskInterface {

  friend class LayeredControlIF_SK;

  public:

  
  /////////////////////////////////////////////////////////
  // Events generated by LayeredControl
  enum Event {
    MissionStarted,
    MissionStatusChange,
    BadMissionPlan,
    OutputGenerated
  };

  /////////////////////////////////////////////////////////
  // State of the mission
  ///////////////////////////////////////////////////////////////////
  // Mission state enumerations. 
  enum MissionState {
    Initial,
    Normal,
    Aborting,
    ShuttingDown,
    Done
  };

  enum Status {
    Ok,
    OperationFailed,
    FileNotFound,
    BadBehaviorFormat,
    BehaviorNotFound
  };

  
  typedef char Name[32];
  typedef char BehaviorFilename[144];
  
  LayeredControlIF(const char *name, int timeout = 10);

  LayeredControlIF(const char *name, const char *serverName, int timeout = 10);

  ~LayeredControlIF();

  ///////////////////////////////////////////////////////
  // Elapsed mission time (seconds)
  double elapsedMissionTime();

  ///////////////////////////////////////////////////////
  // Abort mission
  void abortMission();

  ///////////////////////////////////////////////////////
  // Mission has been aborted
  Boolean abortingMission();

  ///////////////////////////////////////////////////////
  // Mission state, name and stack index of current behavior
  void state(double *elapsedTime, LayeredControlIF::MissionState *state, LayeredControlIF::Name behaviorName, short *behaviorIndex, long *behaviorId);

  /* Append behaviors to existing mission script */
  LayeredControlIF::Status appendBehaviors(LayeredControlIF::BehaviorFilename file);

  /* Insert behaviors to existing mission script after the given behavior id */
  LayeredControlIF::Status insertBehaviors(LayeredControlIF::BehaviorFilename file, long behavior_id);

  /* Delete the behavior with the given id from the stack, may involve */
  /* stopping a behavior that is currently running */
  LayeredControlIF::Status deleteBehavior(long behavior_id);

  /* Set the amount of time that LayeredControl will wait around for   */
  /* a new sequential behavior to be added to the stack before jumping */
  /* to the abort sequence (effects DynoLayeredControl only) */
  void setNewBehaviorTimeoutLimit(long limit_in_seconds);

  
  protected:

  // Message codes for each method
  enum LayeredControlIFMsgCode {
    ElapsedMissionTimeMsgCode,
    AbortMissionMsgCode,
    AbortingMissionMsgCode,
    StateMsgCode,
    AppendBehaviorsMsgCode,
    InsertBehaviorsMsgCode,
    DeleteBehaviorMsgCode,
    SetNewBehaviorTimeoutLimitMsgCode
  };

  // Define message structure for each method
  struct ElapsedMissionTimeMsg : Request, Reply {
    double returnVal;
  
  } _elapsedMissionTimeMsg;

  struct AbortMissionMsg : Request, Reply {
  
  } _abortMissionMsg;

  struct AbortingMissionMsg : Request, Reply {
    Boolean returnVal;
  
  } _abortingMissionMsg;

  struct StateMsg : Request, Reply {
    double elapsedTime;
    LayeredControlIF::MissionState state;
    LayeredControlIF::Name behaviorName;
    short behaviorIndex;
    long behaviorId;
  
  } _stateMsg;

  struct AppendBehaviorsMsg : Request, Reply {
    LayeredControlIF::Status returnVal;
    LayeredControlIF::BehaviorFilename file;
  
  } _appendBehaviorsMsg;

  struct InsertBehaviorsMsg : Request, Reply {
    LayeredControlIF::Status returnVal;
    LayeredControlIF::BehaviorFilename file;
    long behavior_id;
  
  } _insertBehaviorsMsg;

  struct DeleteBehaviorMsg : Request, Reply {
    LayeredControlIF::Status returnVal;
    long behavior_id;
  
  } _deleteBehaviorMsg;

  struct SetNewBehaviorTimeoutLimitMsg : Request, Reply {
    long limit_in_seconds;
  
  } _setNewBehaviorTimeoutLimitMsg;

};

#endif