OffshoreEnvelope.h

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#ifndef OFFSHOREENVELOPE_H_
#define OFFSHOREENVELOPE_H_

#include "component/Behavior.h"
#include "controlModule/HorizontalControlIF.h"

class UniversalDataReader;

class OffshoreEnvelope : public Behavior
{
public:

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

    virtual ~OffshoreEnvelope();

    void initialize( void );

    bool readParams( float &minOffshore, float& maxOffshore,
                     HorizontalControlIF::HorizontalMode& horizontalMode, float& speed,
                     float& latitude, float& longitude, float& offshoreDistance );

    bool calcSatisfied( const float minOffshore, const float maxOffshore,
                        const float offshoreDistance );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    Timestamp lastTimeInEnvelope_;

    // Slate input setting variables

    SettingReader *minOffshoreSettingReader_;

    SettingReader *maxOffshoreSettingReader_;

    DataReader *horizontalModeReader_;

    DataReader *latitudeCmdReader_;

    DataReader *longitudeCmdReader_;

    DataReader *bearingCmdReader_;

    DataReader *headingCmdReader_;

    DataReader *speedCmdReader_;

    // Slate input measurements

    UniversalDataReader *latitudeReader_;

    UniversalDataReader *longitudeReader_;

    //  Current distance from shore of vehicle;
    UniversalDataReader *offshoreDistanceReader_;

    //  Current orientation of vehicle;
    UniversalDataReader *orientationReader_;

    // Slate output variables

    DataWriter *horizontalModeWriter_;

    DataWriter *headingCmdWriter_;

    DataWriter *speedCmdWriter_;

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

};

#endif /*OFFSHOREENVELOPE_H_*/