/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : SetRudder.cc                                                  */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#include "SetRudder.h"
#include "FloatAttribute.h"
#include "AngleAttribute.h"

SetRudder::SetRudder()
  : Behavior("setRudder", NonSequential)
{
  attributes.add(new AngleAttribute("rudder", "Commanded rudder angle",
				    &_angle, 0.0) );

  attributes.add(new FloatAttribute("depth", "Commanded depth", &_depth, -1.0  ));

  attributes.add(new FloatAttribute("speed", "Commanded speed", &_speed, -1.0 ));
}


SetRudder::~SetRudder()
{
}

Boolean SetRudder::shouldBehaviorStart()
{
  return horizontalSequence();
}

void SetRudder::execute()
{
  setHorizontal(DynamicControlIF::Rudder, _angle);

  if( _depth >= 0 ) 
       setVertical(DynamicControlIF::Depth, _depth);

  if( _speed >= 0 ) 
       setSpeed(DynamicControlIF::Speed, _speed);
  
}


Boolean SetRudder::validInput()
{
  Boolean valid = True;

//  if (_depth < 0.) {
//    printError("Negative depth");
//    valid = False;
//  }

  return valid;
}