SetSpeed.h

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#ifndef SETSPEED_H_
#define SETSPEED_H_

#include "component/Behavior.h"

class UniversalDataReader;

class SetSpeed : public Behavior
{
public:

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

    virtual ~SetSpeed();

    void initialize( void );

    bool readParams( float& speed );

    bool calcSatisfied( const float speed );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    // Slate input setting variables

    SettingReader *speedSettingReader_;

    SettingReader *periodSettingReader_;

    // Slate input measurements

    UniversalDataReader *speedReader_;

    // Slate output variables

    DataWriter *speedCmdWriter_;

    DataWriter *periodCmdWriter_;

    float speedSetting_;

    float periodSetting_;

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

};

#endif /*SETSPEED_H_*/