AltitudeEnvelope.h

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#ifndef ALTITUDEENVELOPE_H_
#define ALTITUDEENVELOPE_H_

#include "component/Behavior.h"

class UniversalDataReader;

class AltitudeEnvelope : public Behavior
{
public:

    AltitudeEnvelope( const Str& prefix,  const Module* module );

    virtual ~AltitudeEnvelope();

    void initialize( void );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

    static Behavior* CreateBehavior( const Str& prefix, const Module* module );

protected:

    ConfigReader* pitchLimitCfgReader_;
    ConfigReader* maxDiveRateCfgReader_;
    ConfigReader* maxBuoyDiveRateCfgReader_;


    // Current control commands

    DataReader *verticalModeReader_;

    DataReader *speedCmdReader_;

    // Behavior setting readers

    SettingReader *minAltitudeSettingReader_;

    SettingReader *maxAltitudeSettingReader_;

    SettingReader *depthRateSettingReader_;

    SettingReader *upDepthRateSettingReader_;

    SettingReader *downDepthRateSettingReader_;

    SettingReader *pitchSettingReader_;

    SettingReader *upPitchSettingReader_;

    SettingReader *downPitchSettingReader_;

    // Measurements

    UniversalDataReader *altitudeReader_;

    UniversalDataReader *depthReader_;

    // Vertical Control Commands

    DataWriter *verticalModeWriter_;
    DataWriter *elevatorAngleCmdWriter_;
    DataWriter *massPositionCmdWriter_;

    DataWriter *depthRateCmdWriter_;

    DataWriter *pitchCmdWriter_;

    // Initialization variables
    float minAltitude_;

    float maxAltitude_;

    float downDepthRateSetting_;

    float upDepthRateSetting_;

    float downPitchSetting_;

    float upPitchSetting_;

    float maxDiveRate_;

    float maxBuoyDiveRate_;

    float speedCmd_;

    int inactiveAltitudeCount_;

    bool readParams( float& altitude );

    bool calcSatisfied( const float& altitude );

    // Reads in configuration settings
    void readConfig();

    // Reads in behavior settings
    void readSettings( bool force );

    // If depthRate is nan, set to appropriate max dive rate.
    float adjustDepthRate( float depthRate, bool goDown );

private:
    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    AltitudeEnvelope( const AltitudeEnvelope& old ); // disallow copy constructor

};



#endif /*ALTITUDEENVELOPE_H_*/