// This file is generated by omniidl (C++ backend)- omniORB_4_1. Do not edit.
#ifndef __RefHardCtrlProv_hh__
#define __RefHardCtrlProv_hh__

#ifndef __CORBA_H_EXTERNAL_GUARD__
#include <omniORB4/CORBA.h>
#endif

#ifndef  USE_stub_in_nt_dll
# define USE_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif
#ifndef  USE_core_stub_in_nt_dll
# define USE_core_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif
#ifndef  USE_dyn_stub_in_nt_dll
# define USE_dyn_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif






#ifdef USE_stub_in_nt_dll
# ifndef USE_core_stub_in_nt_dll
#  define USE_core_stub_in_nt_dll
# endif
# ifndef USE_dyn_stub_in_nt_dll
#  define USE_dyn_stub_in_nt_dll
# endif
#endif

#ifdef _core_attr
# error "A local CPP macro _core_attr has already been defined."
#else
# ifdef  USE_core_stub_in_nt_dll
#  define _core_attr _OMNIORB_NTDLL_IMPORT
# else
#  define _core_attr
# endif
#endif

#ifdef _dyn_attr
# error "A local CPP macro _dyn_attr has already been defined."
#else
# ifdef  USE_dyn_stub_in_nt_dll
#  define _dyn_attr _OMNIORB_NTDLL_IMPORT
# else
#  define _dyn_attr
# endif
#endif





struct Frame {
  typedef _CORBA_ConstrType_Fix_Var<Frame> _var_type;

  
  typedef ::CORBA::Double _0RL_mat[3][3];
  typedef ::CORBA::Double _mat_slice[3];

  ::CORBA::Double mat[3][3];

  typedef ::CORBA::Double _0RL_pos[3];
  typedef ::CORBA::Double _pos_slice;

  ::CORBA::Double pos[3];



  void operator>>= (cdrStream &) const;
  void operator<<= (cdrStream &);
};

typedef Frame::_var_type Frame_var;

typedef Frame& Frame_out;

_CORBA_GLOBAL_VAR _dyn_attr const ::CORBA::TypeCode_ptr _tc_Frame;

struct Position2D {
  typedef _CORBA_ConstrType_Fix_Var<Position2D> _var_type;

  
  ::CORBA::Double x;

  ::CORBA::Double y;

  ::CORBA::Double theta;



  void operator>>= (cdrStream &) const;
  void operator<<= (cdrStream &);
};

typedef Position2D::_var_type Position2D_var;

typedef Position2D& Position2D_out;

_CORBA_GLOBAL_VAR _dyn_attr const ::CORBA::TypeCode_ptr _tc_Position2D;

struct Position3D {
  typedef _CORBA_ConstrType_Fix_Var<Position3D> _var_type;

  
  ::CORBA::Double x;

  ::CORBA::Double y;

  ::CORBA::Double z;

  ::CORBA::Double a;

  ::CORBA::Double b;

  ::CORBA::Double c;



  void operator>>= (cdrStream &) const;
  void operator<<= (cdrStream &);
};

typedef Position3D::_var_type Position3D_var;

typedef Position3D& Position3D_out;

_CORBA_GLOBAL_VAR _dyn_attr const ::CORBA::TypeCode_ptr _tc_Position3D;

#ifndef __RefHardCtrl__
#define __RefHardCtrl__

class RefHardCtrl;
class _objref_RefHardCtrl;
class _impl_RefHardCtrl;

typedef _objref_RefHardCtrl* RefHardCtrl_ptr;
typedef RefHardCtrl_ptr RefHardCtrlRef;

class RefHardCtrl_Helper {
public:
  typedef RefHardCtrl_ptr _ptr_type;

  static _ptr_type _nil();
  static _CORBA_Boolean is_nil(_ptr_type);
  static void release(_ptr_type);
  static void duplicate(_ptr_type);
  static void marshalObjRef(_ptr_type, cdrStream&);
  static _ptr_type unmarshalObjRef(cdrStream&);
};

typedef _CORBA_ObjRef_Var<_objref_RefHardCtrl, RefHardCtrl_Helper> RefHardCtrl_var;
typedef _CORBA_ObjRef_OUT_arg<_objref_RefHardCtrl,RefHardCtrl_Helper > RefHardCtrl_out;

#endif

// interface RefHardCtrl
class RefHardCtrl {
public:
  // Declarations for this interface type.
  typedef RefHardCtrl_ptr _ptr_type;
  typedef RefHardCtrl_var _var_type;

  static _ptr_type _duplicate(_ptr_type);
  static _ptr_type _narrow(::CORBA::Object_ptr);
  static _ptr_type _unchecked_narrow(::CORBA::Object_ptr);
  
  static _ptr_type _nil();

  static inline void _marshalObjRef(_ptr_type, cdrStream&);

  static inline _ptr_type _unmarshalObjRef(cdrStream& s) {
    omniObjRef* o = omniObjRef::_unMarshal(_PD_repoId,s);
    if (o)
      return (_ptr_type) o->_ptrToObjRef(_PD_repoId);
    else
      return _nil();
  }

  static _core_attr const char* _PD_repoId;

  // Other IDL defined within this scope.
  
};

class _objref_RefHardCtrl :
  public virtual ::CORBA::Object,
  public virtual omniObjRef
{
public:
  void RHMoveTo(const Position2D& pos, ::CORBA::Short direction);
  void RHStop();
  void RHReturn(const Position2D& base);
  ::CORBA::Long RHGetStatus();
  Position3D RHGetArmPosition();
  Position2D RHGetLocalizePosition();
  void RHGuideReq(const Position2D& entrance, const Position2D& room, const char* name);
  void RHDrinkServeReq(const Position2D& visitor, const Position2D& warehouse, const char* name);
  void RHDrinkTransportReq(const Position2D& dist, const char* name);
  void RHGarbageCollectReq(const Position2D& dist, const char* name);
  void RHGarbageDumpReq(const Position2D& dumpsite, const char* name);

  inline _objref_RefHardCtrl()  { _PR_setobj(0); }  // nil
  _objref_RefHardCtrl(omniIOR*, omniIdentity*);

protected:
  virtual ~_objref_RefHardCtrl();

  
private:
  virtual void* _ptrToObjRef(const char*);

  _objref_RefHardCtrl(const _objref_RefHardCtrl&);
  _objref_RefHardCtrl& operator = (const _objref_RefHardCtrl&);
  // not implemented

  friend class RefHardCtrl;
};

class _pof_RefHardCtrl : public _OMNI_NS(proxyObjectFactory) {
public:
  inline _pof_RefHardCtrl() : _OMNI_NS(proxyObjectFactory)(RefHardCtrl::_PD_repoId) {}
  virtual ~_pof_RefHardCtrl();

  virtual omniObjRef* newObjRef(omniIOR*,omniIdentity*);
  virtual _CORBA_Boolean is_a(const char*) const;
};

class _impl_RefHardCtrl :
  public virtual omniServant
{
public:
  virtual ~_impl_RefHardCtrl();

  virtual void RHMoveTo(const Position2D& pos, ::CORBA::Short direction) = 0;
  virtual void RHStop() = 0;
  virtual void RHReturn(const Position2D& base) = 0;
  virtual ::CORBA::Long RHGetStatus() = 0;
  virtual Position3D RHGetArmPosition() = 0;
  virtual Position2D RHGetLocalizePosition() = 0;
  virtual void RHGuideReq(const Position2D& entrance, const Position2D& room, const char* name) = 0;
  virtual void RHDrinkServeReq(const Position2D& visitor, const Position2D& warehouse, const char* name) = 0;
  virtual void RHDrinkTransportReq(const Position2D& dist, const char* name) = 0;
  virtual void RHGarbageCollectReq(const Position2D& dist, const char* name) = 0;
  virtual void RHGarbageDumpReq(const Position2D& dumpsite, const char* name) = 0;
  
public:  // Really protected, workaround for xlC
  virtual _CORBA_Boolean _dispatch(omniCallHandle&);

private:
  virtual void* _ptrToInterface(const char*);
  virtual const char* _mostDerivedRepoId();
  
};


_CORBA_GLOBAL_VAR _dyn_attr const ::CORBA::TypeCode_ptr _tc_RefHardCtrl;



class POA_RefHardCtrl :
  public virtual _impl_RefHardCtrl,
  public virtual ::PortableServer::ServantBase
{
public:
  virtual ~POA_RefHardCtrl();

  inline ::RefHardCtrl_ptr _this() {
    return (::RefHardCtrl_ptr) _do_this(::RefHardCtrl::_PD_repoId);
  }
};







#undef _core_attr
#undef _dyn_attr

extern void operator<<=(::CORBA::Any& _a, const Frame& _s);
extern void operator<<=(::CORBA::Any& _a, Frame* _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, Frame*& _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, const Frame*& _sp);

extern void operator<<=(::CORBA::Any& _a, const Position2D& _s);
extern void operator<<=(::CORBA::Any& _a, Position2D* _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, Position2D*& _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, const Position2D*& _sp);

extern void operator<<=(::CORBA::Any& _a, const Position3D& _s);
extern void operator<<=(::CORBA::Any& _a, Position3D* _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, Position3D*& _sp);
extern _CORBA_Boolean operator>>=(const ::CORBA::Any& _a, const Position3D*& _sp);

void operator<<=(::CORBA::Any& _a, RefHardCtrl_ptr _s);
void operator<<=(::CORBA::Any& _a, RefHardCtrl_ptr* _s);
_CORBA_Boolean operator>>=(const ::CORBA::Any& _a, RefHardCtrl_ptr& _s);



inline void
RefHardCtrl::_marshalObjRef(::RefHardCtrl_ptr obj, cdrStream& s) {
  omniObjRef::_marshal(obj->_PR_getobj(),s);
}




#ifdef   USE_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
# undef  USE_stub_in_nt_dll
# undef  USE_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif
#ifdef   USE_core_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
# undef  USE_core_stub_in_nt_dll
# undef  USE_core_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif
#ifdef   USE_dyn_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
# undef  USE_dyn_stub_in_nt_dll
# undef  USE_dyn_stub_in_nt_dll_NOT_DEFINED_RefHardCtrlProv
#endif

#endif  // __RefHardCtrlProv_hh__

