#include "rtc_lite.idl"

module sample {
	local interface SpeedDataConsumer;
	local interface BumperDataConsumer;
	local interface RangeScanDataConsumer;
	local interface ServoControl;
	local interface ScanControl;
	local interface LogAndDisplay;

	local interface VehicleController : RTC::LightweightRTObject {
		// receptacles
		RTC::ReturnCode_t connect_LeftWheelControlOut(
					in ServoControl servo);
		RTC::ReturnCode_t connect_RightWheelControlOut(
					in ServoControl servo);
		RTC::ReturnCode_t connect_ScanCommandOut(
					in ScanControl scan);
		RTC::ReturnCode_t connect_StatusOut(
					in LogAndDisplay log);

		// facets
		
		// sinks
		SpeedDataConsumer get_consumer_LeftWheelSpeedDataIn();
		SpeedDataConsumer get_consumer_RightWheelSpeedDataIn();
		BumperDataConsumer get_consumer_FrontBumperDataIn();
		BumperDataConsumer get_consumer_RearBumperDataIn();
		RangeScanDataConsumer get_consumer_RangeScanDataIn();
		
		// emitters
	};

	local interface ServoComponent : RTC::LightweightRTObject {
		// receptacles 

		// facet
		ServoControl provide_Control();

		// sinks

		// emitters
		RTC::ReturnCode_t connect_SpeedDataOut(in SpeedDataConsumer c);
		SpeedDataConsumer disconnect_SpeedDataOut();
	};

	local interface RangeScannerComponent : RTC::LightweightRTObject {
		// receptacles

		// facets
		ScanControl provide_Control();

		// sinks

		// emitters
		RTC::ReturnCode_t connect_RangeScanDataOut(in RangeScanDataConsumer c);
		RangeScanDataConsumer disconnect_RangeScanDataOut();
	};

	local interface BumperSensorComponent : RTC::LightweightRTObject {
		// receptacles, facets, sinks

		// emitters
		RTC::ReturnCode_t connect_SensorDataOut(in BumperDataConsumer c);
		BumperDataConsumer disconnect_SensorDataOut();
	};

	local interface LogAndDisplay : RTC::LightweightRTObject {
		// some operations here
	};

	local interface Named {
		string name();
	};

	local interface ServoControl : Named {
		// some operations here
	};

	local interface ScanControl : Named {
		// some operations here
	};

	local interface SpeedDataConsumer : Named {
		// some operations here
	};

	local interface BumperDataConsumer : Named {
		// some operations here
	};

	local interface RangeScanDataConsumer : Named {
		// some operations here
	};
	
};