KeepStation.h

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#ifndef KEEPSTATION_H_
#define KEEPSTATION_H_

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

class UniversalDataReader;

class KeepStation : public Behavior
{
public:

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

    virtual ~KeepStation();

    void readSettings( void );

    void initialize( void );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    // "Most Recent" variables
    double latitude_;
    double longitude_;

    // Slate input setting variables

    SettingReader *latitudeSettingReader_;

    SettingReader *longitudeSettingReader_;

    SettingReader *radiusSettingReader_;

    SettingReader *speedSettingReader_;


    DataWriter *speedCmdWriter_;

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

    // Sets the bearing cmd for HeadingControl
    DataWriter *headingCmdWriter_;

    double latitudeSetting_;

    double longitudeSetting_;

    float radiusSetting_;

    float speedSetting_;

    typedef enum
    {
        NOT_INITIALIZED = 0,
        REST = 1,
        GOTO_WAYPOINT = 2
    } KeepStationMode;

    KeepStationMode mode_;

    float startLatitude_;

    float startLongitude_;

    double targetLatitude_;

    double targetLongitude_;

    bool initialized_;

    float perpendicularSlope_;

    bool startOverLine_;

    UniversalDataReader *latitudeReader_;
    UniversalDataReader *longitudeReader_;

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

};

#endif /* KEEPSTATION_H_ */