#define EXECUTION_HANDLE_TYPE_NATIVE long

namespace RTC
{
  typedef EXECUTION_HANDLE_TYPE_NATIVE ExecutionContextHandle_t;
  typedef char * UniqueIdentifier;
  typedef SDOPackage::NVList NVList;
  
  enum ReturnCode_t
  {
    RTC_OK,
    RTC_ERROR,
    BAD_PARAMETER,
    UNSUPPORTED,
    OUT_OF_RESOURCES,
    PRECONDITION_NOT_MET
  };
  
  enum LifeCycleState
  {
    CREATED_STATE,
    INACTIVE_STATE,
    ACTIVE_STATE,
    ERROR_STATE
  };
  
  class ExecutionContext;

  class  ExecutionContextList
  {
  public:
    ExecutionContextList (void);
    ExecutionContextList (RTC::UnsignedLong max);
    ExecutionContextList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContext** buffer, 
        RTC::Boolean release = 0
      );
    ExecutionContextList (const ExecutionContextList &);
    ~ExecutionContextList (void);

    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    ExecutionContext& operator[](RTC::UnsignedLong index);
    const ExecutionContext& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContext* data,
        Boolean release = FALSE
      );
    ExecutionContext* get_buffer(RTC::Boolean orphan = FALSE);
    const ExecutionContext* get_buffer() const;
  };

  class  ComponentAction
  {
  public:
    virtual ReturnCode_t on_initialize (
      ) = 0;
    virtual ReturnCode_t on_finalize (
      ) = 0;
    virtual ReturnCode_t on_startup (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_shutdown (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_activated (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_deactivated (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_aborting (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_error (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_reset (
        ExecutionContextHandle_t exec_context
      ) = 0;
    
  protected:
    ComponentAction (void);
    virtual ~ComponentAction (void);
  
  private:
    ComponentAction (const ComponentAction &);
    void operator= (const ComponentAction &);
  };

  class  LightweightRTObject
    : public virtual ComponentAction
  {
  public:
    virtual ReturnCode_t initialize (
      ) = 0;
    virtual ReturnCode_t finalize (
      ) = 0;
    virtual RTC::Boolean is_alive (
        ExecutionContext* exec_context
      ) = 0;
    virtual ReturnCode_t exit (
      ) = 0;
    virtual ExecutionContextHandle_t attach_context(
        ExecutionContext* exec_context
      ) = 0;
    virtual ReturnCode_t detach_context(
        ExecutionContextHandle_t exec_handle
      ) = 0;
    virtual ExecutionContext* get_context(
        ExecutionContextHandle_t exec_handle
      ) = 0;
    virtual ExecutionContextList* get_owned_contexts(
      ) = 0;
    virtual ExecutionContextList* get_participating_contexts(
      ) = 0;
    virtual ExecutionContextHandle_t get_context_handle(
        ExecutionContext cxt
      ) = 0;

  protected:
    LightweightRTObject (void);
    virtual ~LightweightRTObject (void);

  private:
    LightweightRTObject (const LightweightRTObject &);
    void operator= (const LightweightRTObject &);
  };

  enum ExecutionKind
  {
    PERIODIC,
    EVENT_DRIVEN,
    OTHER
  };

  class  ExecutionContext
  {
  public:
    virtual RTC::Boolean is_running (
      ) = 0;
    virtual ReturnCode_t start (
      ) = 0;
    virtual ReturnCode_t stop (
      ) = 0;
    virtual RTC::Double get_rate (
      ) = 0;
    virtual ReturnCode_t set_rate (
        RTC::Double rate
      ) = 0;
    virtual ReturnCode_t add_component(
        LightweightRTObject* comp
      ) = 0;
    virtual ReturnCode_t remove_component(
        LightweightRTObject* comp
      ) = 0;
    virtual ReturnCode_t activate_component (
        LightweightRTObject* comp
      ) = 0;
    virtual ReturnCode_t deactivate_component (
        LightweightRTObject* comp
      ) = 0;
    virtual ReturnCode_t reset_component(
      LightweightRTObject* comp
      ) = 0;
    virtual LifeCycleState get_component_state (
        LightweightRTObject* comp
      ) = 0;
    virtual ExecutionKind get_kind (
      ) = 0;
    
  protected:
    ExecutionContext (void);
    virtual ~ExecutionContext (void);
  
  private:
    ExecutionContext (const ExecutionContext &);
    void operator= (const ExecutionContext &);
  };

  class  DataFlowComponentAction
  {
  public:
    virtual ReturnCode_t on_execute (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_state_update (
        ExecutionContextHandle_t exec_context
      ) = 0;
    virtual ReturnCode_t on_rate_changed (
        ExecutionContextHandle_t* exec_context
      ) = 0;
  
  protected:
    DataFlowComponentAction (void);
    virtual ~DataFlowComponentAction (void);
  
  private:
    DataFlowComponentAction (const DataFlowComponentAction &);
    void operator= (const DataFlowComponentAction &);
  };

  class  DataFlowComponent
    : public virtual LightweightRTObject, public virtual DataFlowComponentAction
  {
  public:
  
  protected:
    DataFlowParticipant (void);
    virtual ~DataFlowParticipant (void);
  
  private:
    DataFlowParticipant (const DataFlowParticipant &);
    void operator= (const DataFlowParticipant &);
  };

  class  Fsm
    : public virtual LightweightRTObject
  {
  public:
  
  protected:
    Fsm (void);
    virtual ~Fsm (void);
  
  private:
    Fsm (const Fsm &);
    void operator= (const Fsm &);
  };

  class  FsmParticipantAction
  {
  public:
    virtual ReturnCode_t on_action (
        ExecutionContextHandle_t exec_context
      ) = 0;
  
  protected:
    FsmComponentAction (void);
    virtual ~FsmComponentAction (void);
  
  private:
    FsmComponentAction (const FsmComponentAction &);
    void operator= (const FsmComponentAction &);
  };

  class  FsmParticipant
    : public virtual LightweightRTObject, public virtual FsmComponentAction
  {
  public:
  
  protected:
    FsmParticipant (void);
    virtual ~FsmParticipant (void);
  
  private:
    FsmParticipant (const FsmParticipant &);
    void operator= (const FsmParticipant &);
  };

  class FsmObject
  {
  public:
    virtual ReturnCode_t send_stimulus(
        const char* message,
        ExecutionContextHandle_t exec_context
      ) = 0;
    
  protected:
    FsmObject (void);
    virtual ~FsmObject (void);
  
  private:
    FsmObject (const FsmObject &);
    void operator= (const FsmObject &);
  };

  struct FsmBehaviorProfile {
    FsmParticipantAction* comp;
    UniqueIdentifier id;
  };

  class  FsmBehaviorProfileList
  {
  public:
    FsmBehaviorProfileListList (void);
    FsmBehaviorProfileListList (RTC::UnsignedLong max);
    FsmBehaviorProfileListList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        FsmBehaviorProfileList** buffer, 
        RTC::Boolean release = 0
      );
    FsmBehaviorProfileList (const FsmBehaviorProfileList &);
    ~FsmBehaviorProfileList (void);

    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    FsmBehaviorProfile& operator[](RTC::UnsignedLong index);
    const FsmBehaviorProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        FsmBehaviorProfile* data,
        Boolean release = FALSE
      );
    FsmBehaviorProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const FsmBehaviorProfile* get_buffer() const;
  };

  struct FsmProfile {
    FsmBehaviorProfileList behavior_profiles;
  };

  class  Mode
  {
  public:
  
  protected:
    Mode (void);
    virtual ~Mode (void);
  
  private:
    Mode (const Mode &);
    void operator= (const Mode &);
  };

  class  ModeCapable
  {
  public:
    virtual Mode* get_default_mode (
      ) = 0;
    virtual Mode* get_current_mode (
      ) = 0;
    virtual Mode* get_current_mode_in_context (
        ExecutionContext* exec_context
      ) = 0;
    virtual Mode* get_pending_mode (
      ) = 0;
    virtual Mode* get_pending_mode_in_context (
        ExecutionContext* exec_context
      ) = 0;
    virtual ReturnCode_t set_mode (
        Mode* new_mode,
        RTC::Boolean immediate
      ) = 0;
    
  protected:
    ModeCapable (void);
    virtual ~ModeCapable (void);
  
  private:
    ModeCapable (const ModeCapable &);
    void operator= (const ModeCapable &);
  };

  class  MultiModeComponentAction
  {
  public:
    virtual ReturnCode_t on_mode_changed (
        ExecutionContextHandle_t exec_context
      ) = 0;
  
  protected:
    MultiModeComponentAction (void);
    virtual ~MultiModeComponentAction (void);
  
  private:
    MultiModeComponentAction (const MultiModeComponentAction &);
    void operator= (const MultiModeComponentAction &);
  };

  class  MultiModeObject
    : public virtual LightweightRTObject,
      public virtual ModeCapable,
      public virtual MultiModeComponentAction
  {
  public:
  
  protected:
    MultiModeObject (void);
    virtual ~MultiModeObject (void);
  
  private:
    MultiModeObject (const MultiModeObject &);
    void operator= (const MultiModeObject &);
  };

  class RTObject;

  enum PortInterfacePolarity
  {
    PROVIDED,
    REQUIRED
  };
  
  struct  PortInterfaceProfile
  {
    char* instance_name;
    char* type_name;
    PortInterfacePolarity polarity;
  };
  
  class  PortInterfaceProfileList
  {
  public:
    PortInterfaceProfileList (void);
    PortInterfaceProfileList (RTC::UnsignedLong max);
    PortInterfaceProfileList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortInterfaceProfile* buffer, 
        RTC::Boolean release = 0
      );
    PortInterfaceProfileList (const PortInterfaceProfileList &);
    ~PortInterfaceProfileList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    PortInterfaceProfile& operator[](RTC::UnsignedLong index);
    const PortInterfaceProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortInterfaceProfile* data,
        Boolean release = FALSE
      );
    PortInterfaceProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const PortInterfaceProfile* get_buffer() const;
  };

  class PortService;
  
  class  PortServiceList
  {
  public:
    PortServiceList (void);
    PortServiceList (RTC::UnsignedLong max);
    PortServiceList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortService** buffer, 
        RTC::Boolean release = 0
      );
    PortServiceList (const PortServiceList &);
    ~PortServiceList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    PortService& operator[](RTC::UnsignedLong index);
    const PortService& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortService* data,
        Boolean release = FALSE
      );
    PortService* get_buffer(RTC::Boolean orphan = FALSE);
    const PortService* get_buffer() const;
  };

  class  RTCList
  {
  public:
    RTCList (void);
    RTCList (RTC::UnsignedLong max);
    RTCList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        RTObject** buffer, 
        RTC::Boolean release = 0
      );
    RTCList (const RTCList &);
    ~RTCList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    RTObject& operator[](RTC::UnsignedLong index);
    const RTObject& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        RTObject* data,
        Boolean release = FALSE
      );
    RTObject* get_buffer(RTC::Boolean orphan = FALSE);
    const RTObject* get_buffer() const;
  };

  struct  ConnectorProfile
  {
    char* name;
    UniqueIdentifier connector_id;
    RTC::PortServiceList ports;
    RTC::NVList properties;
  };
  
  class  ConnectorProfileList
  {
  public:
    ConnectorProfileList (void);
    ConnectorProfileList (RTC::UnsignedLong max);
    ConnectorProfileList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ConnectorProfile* buffer, 
        RTC::Boolean release = 0
      );
    ConnectorProfileList (const ConnectorProfileList &);
    ~ConnectorProfileList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    ConnectorProfile& operator[](RTC::UnsignedLong index);
    const ConnectorProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ConnectorProfile* data,
        Boolean release = FALSE
      );
    ConnectorProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const ConnectorProfile* get_buffer() const;
  };

  struct  PortProfile
  {
    char* name;
    PortInterfaceProfileList interfaces;
    PortService* port_ref;
    ConnectorProfileList connector_profiles;
    RTObject* owner;
    NVList properties;
  };
  
  class  PortProfileList
  {
  public:
    PortProfileList (void);
    PortProfileList (RTC::UnsignedLong max);
    PortProfileList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortProfile* buffer, 
        RTC::Boolean release = 0
      );
    PortProfileList (const PortProfileList &);
    ~PortProfileList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    PortProfile& operator[](RTC::UnsignedLong index);
    const PortProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        PortProfile* data,
        Boolean release = FALSE
      );
    PortProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const PortProfile* get_buffer() const;
  };

  struct  ExecutionContextProfile
  {
    ExecutionKind kind;
    RTC::Double rate;
    RTObject* owner;
    RTCList participants;
    NVList properties;
  };
  
  class  ExecutionContextProfileList
  {
  public:
    ExecutionContextProfileList (void);
    ExecutionContextProfileList (RTC::UnsignedLong max);
    ExecutionContextProfileList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContextProfile* buffer, 
        RTC::Boolean release = 0
      );
    ExecutionContextProfileList (const ExecutionContextProfileList &);
    ~ExecutionContextProfileList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    ExecutionContextProfile& operator[](RTC::UnsignedLong index);
    const ExecutionContextProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContextProfile* data,
        Boolean release = FALSE
      );
    ExecutionContextProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const ExecutionContextProfile* get_buffer() const;
  };

  struct  ComponentProfile
  {
    char* instance_name;
    char* type_name;
    char* description;
    char* version;
    char* vendor;
    char* category;
    PortProfileList port_profiles;
    RTObject* parent;
    NVList properties;
  };
  
  class  ComponentProfileList
  {
  public:
    ComponentProfileList (void);
    ComponentProfileList (RTC::UnsignedLong max);
    ComponentProfileList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ComponentProfile* buffer, 
        RTC::Boolean release = 0
      );
    ComponentProfileList (const ComponentProfileList &);
    ~ComponentProfileList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    ComponentProfile& operator[](RTC::UnsignedLong index);
    const ComponentProfile& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ComponentProfile* data,
        Boolean release = FALSE
      );
    ComponentProfile* get_buffer(RTC::Boolean orphan = FALSE);
    const ComponentProfile* get_buffer() const;
  };

  class  PortService
    : public virtual ::SDOPackage::SDOService
  {
  public:
    virtual PortProfile * get_port_profile (
      ) = 0;
    virtual ConnectorProfileList * get_connector_profiles (
      ) = 0;
    virtual ConnectorProfile * get_connector_profile (
        const UniqueIdentifier connector_id
      ) = 0;
    virtual ReturnCode_t connect (
        ConnectorProfile& connector_profile
      ) = 0;
    virtual ReturnCode_t disconnect (
        const UniqueIdentifier connector_id
      ) = 0;
    virtual ReturnCode_t notify_connect(
        ConnectorProfile& connector_profile
      ) = 0;
    virtual ReturnCode_t notify_disconnect(
        const UniqueIdentifier connector_id
      ) = 0;
    virtual ReturnCode_t disconnect_all (
      ) = 0;
    
  protected:
    PortService (void);
    virtual ~PortService (void);
  
  private:
    PortService (const PortService &);
    void operator= (const PortService &);
  };

  class  ExecutionContextService
    : public virtual ExecutionContext,
      public virtual ::SDOPackage::SDOService
  {
  public:
    virtual ExecutionContextProfile * get_profile (
      ) = 0;
  
  protected:
    ExecutionContextService (void);
    virtual ~ExecutionContextService (void);
  
  private:
    ExecutionContextService (const ExecutionContextService &);
    void operator= (const ExecutionContextService &);
  };

  class  ExecutionContextServiceList
  {
  public:
    ExecutionContextServiceList (void);
    ExecutionContextServiceList (RTC::UnsignedLong max);
    ExecutionContextServiceList (
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContextService** buffer, 
        RTC::Boolean release = 0
      );
    ExecutionContextServiceList (const ExecutionContextServiceList &);
    ~ExecutionContextServiceList (void);
    
    RTC::UnsignedLong maximum() const;
    void length(RTC::UnsignedLong);
    RTC::UnsignedLong length() const;
    ExecutionContextService& operator[](RTC::UnsignedLong index);
    const ExecutionContextService& operator[](RTC::UnsignedLong index) const;
    RTC::Boolean release() const;
    void replace(
        RTC::UnsignedLong max,
        RTC::UnsignedLong length,
        ExecutionContextService* data,
        Boolean release = FALSE
      );
    ExecutionContextService* get_buffer(RTC::Boolean orphan = FALSE);
    const ExecutionContextService* get_buffer() const;
  };

  class  RTObject
    : public virtual LightweightRTObject,
      public virtual ::SDOPackage::SDO
  {
  public:
    virtual ComponentProfile * get_component_profile (
      ) = 0;
    virtual PortServiceList * get_ports (
      ) = 0;
  
  protected:
    RTObject (void);
    virtual ~RTObject (void);
  
  private:
    RTObject (const RTObject &);
    void operator= (const RTObject &);
  };

  class FsmService :
    public virtual SDOPackage::SDOService
  {
  public:
    virtual FsmProfile* get_fsm_profile(
      ) = 0;
    virtual ReturnCode_t set_fsm_profile(
        const FsmProfile& fsm_profile
    ) = 0;
    
  protected:
    FsmService (void);
    virtual ~FsmService (void);
  
  private:
    FsmService (const FsmService &);
    void operator= (const FsmService &);
  };

};