Circle.h

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#ifndef CIRCLE_H_
#define CIRCLE_H_

#include "component/Behavior.h"
#include "data/Location.h"

class UniversalDataReader;

class Circle : public Behavior
{
public:

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

    virtual ~Circle();

    void initialize( void );

    bool isSatisfied();

    bool runIfUnsatisfied();

    void run();

    void uninitialize( void );

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

protected:

    float startAngle_;

    float thresholdAngle_;

    bool passedThreshold_;

    float angleSetting_;

    float latitudeSetting_;

    float longitudeSetting_;

    float maxErrorSetting_;

    float radiusSetting_;

    bool turnToPortSetting_;

    bool initialized_;

    // Slate input setting variables

    SettingReader *angleSettingReader_;

    SettingReader *eastingsDeltaSettingReader_;

    // Desired waypoint latitude
    SettingReader *latitudeSettingReader_;

    // Desired waypoint latitude delta from the current latitude
    // If specified with latitude, the two are added together
    SettingReader *latitudeDeltaSettingReader_;

    // Desired waypoint longitude
    SettingReader *longitudeSettingReader_;

    // Desired waypoint latitude delta from the current latitude
    // If specified with latitude, the two are added together
    SettingReader *longitudeDeltaSettingReader_;

    // Maximum radial error: if outside this range, drive straight to the
    // circle perimeter
    SettingReader *maxErrorSettingReader_;

    SettingReader *northingsDeltaSettingReader_;

    SettingReader *radiusSettingReader_;

    SettingReader *turnToPortSettingReader_;

    // Slate input measurements

    UniversalDataReader *latitudeReader_;

    UniversalDataReader *longitudeReader_;

    // Slate output variables

    // Sets the heading mode for HorizontalControl
    DataWriter *horizontalModeWriter_;

    // Sets the bearing for HorizontalControl
    DataWriter *bearingCmdWriter_;

    // Sets the latitude for HorizontalControl
    DataWriter *latitudeCmdWriter_;

    // Sets the longitude for HorizontalControl
    DataWriter *longitudeCmdWriter_;


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


};

#endif /*CIRCLE_H_*/