#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-

"""
 @file LeggedRobot_idl_examplefile.py
 @brief Python example implementations generated from LeggedRobot.idl
 @date $Date$

 @author 宮本　信彦　n-miyamoto@aist.go.jp
 産業技術総合研究所　ロボットイノベーション研究センター
 ロボットソフトウエアプラットフォーム研究チーム
"""

import omniORB
from omniORB import CORBA, PortableServer
import OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport OpenHRP, OpenHRP__POAimport RTC, RTC__POAimport RTC, RTC__POA


class ServerObject_i (OpenHRP__POA.ServerObject):
    """
    @class ServerObject_i
    Example class implementing IDL interface OpenHRP.ServerObject
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass

    # void shutdown()
    def shutdown(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: None



class ShapeSetInfo_i (OpenHRP__POA.ShapeSetInfo):
    """
    @class ShapeSetInfo_i
    Example class implementing IDL interface OpenHRP.ShapeSetInfo
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass



class BodyInfo_i (OpenHRP__POA.BodyInfo):
    """
    @class BodyInfo_i
    Example class implementing IDL interface OpenHRP.BodyInfo
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass



class SceneInfo_i (OpenHRP__POA.SceneInfo):
    """
    @class SceneInfo_i
    Example class implementing IDL interface OpenHRP.SceneInfo
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass



class ModelLoader_i (OpenHRP__POA.ModelLoader):
    """
    @class ModelLoader_i
    Example class implementing IDL interface OpenHRP.ModelLoader
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass

    # BodyInfo getBodyInfo(in string url)
    def getBodyInfo(self, url):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # BodyInfo getBodyInfoEx(in string url, in ModelLoadOption option)
    def getBodyInfoEx(self, url, option):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # BodyInfo loadBodyInfo(in string url)
    def loadBodyInfo(self, url):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # BodyInfo loadBodyInfoEx(in string url, in ModelLoadOption option)
    def loadBodyInfoEx(self, url, option):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # SceneInfo loadSceneInfo(in string url)
    def loadSceneInfo(self, url):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # void clearData()
    def clearData(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: None



class LeggedRobotCommonInterface_Servo_i (RTC__POA.LeggedRobotCommonInterface_Servo):
    """
    @class LeggedRobotCommonInterface_Servo_i
    Example class implementing IDL interface RTC.LeggedRobotCommonInterface_Servo
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass

    # boolean setSoftLimitJoint(in JointPos pos)
    def setSoftLimitJoint(self, pos):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # JointPos getSoftLimitjoint()
    def getSoftLimitjoint(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # boolean servoOFF()
    def servoOFF(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # boolean servoON()
    def servoON(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result



class LeggedRobotCommonInterface_Robot_i (RTC__POA.LeggedRobotCommonInterface_Robot):
    """
    @class LeggedRobotCommonInterface_Robot_i
    Example class implementing IDL interface RTC.LeggedRobotCommonInterface_Robot
    """

    def __init__(self):
        """
        @brief standard constructor
        Initialise member variables here
        """
        pass

    # RobotInfo getRobotInfo()
    def getRobotInfo(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result

    # LegList getFeedbackPos()
    def getFeedbackPos(self):
        raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
        # *** Implement me
        # Must return: result


if __name__ == "__main__":
    import sys
    
    # Initialise the ORB
    orb = CORBA.ORB_init(sys.argv)
    
    # As an example, we activate an object in the Root POA
    poa = orb.resolve_initial_references("RootPOA")

    # Create an instance of a servant class
    servant = ServerObject_i()

    # Activate it in the Root POA
    poa.activate_object(servant)

    # Get the object reference to the object
    objref = servant._this()
    
    # Print a stringified IOR for it
    print orb.object_to_string(objref)

    # Activate the Root POA's manager
    poa._get_the_POAManager().activate()

    # Run the ORB, blocking this thread
    orb.run()