PrepareToDive.h

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#ifndef PREPARETODIVE_H_
#define PREPARETODIVE_H_

#include "component/Behavior.h"

class ConfigReader;
class UniversalDataReader;

class PrepareToDive : public Behavior
{
public:

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

    virtual ~PrepareToDive();

    void initialize( void );

    bool readParams( float& massPosition );

    bool calcSatisfied( const float massPosition );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    // Configuration
    ConfigReader* massDefaultConfigReader_;
    ConfigReader* massDeviationCfgReader_;

    UniversalDataReader* massPositionReader_;

    // Slate output variables

    DataWriter* verticalModeWriter_;

    DataWriter* massPositionCmdWriter_;

    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.
    PrepareToDive( const PrepareToDive& old ); // disallow copy constructor

    // indicates whether things are ok to run
    bool ok_;

    float massDefault_;
    float massDeviation_;

    // initialize vehicle config variables
    bool readConfig( void );

};

#endif /*PREPARETODIVE_H_*/