Tracking.h

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#ifndef TRACKING_H_
#define TRACKING_H_

#include "component/Behavior.h"
#include "data/Location.h"
#include "logger/Logger.h"
#include "data/Matrix3x3.h"
#include "data/Point3D.h"
#include "data/Point6D.h"

class UniversalDataReader;
class UniversalDataWriter;
class BlobReader;

class Tracking : public Behavior
{
public:

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

    virtual ~Tracking();

    void initialize( void );

    void run( void );

    void uninitialize( void );

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

protected:

    // XML input
    SettingReader *contactLabelReader_; // e.g., DAT-0
    SettingReader *numSamplesReader_; // e.g., 20 count
    SettingReader *updatePeriodReader_; // e.g., 5 minutes

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

    // Slate inputs
    DataReader *latitudeReader_;
    DataReader *longitudeReader_;
    DataReader *depthReader_;
    UniversalBlobReader *vehicleOrientationReader_;
    // inputs from DAT
    DataReader *benthosAddressReader_;
    DataReader *rangeToContactReader_;
    BlobReader *directionToContactReader_;
//    DataReader *relPosOfContactReader_;

    // Slate outputs
    DataWriter* contactLabelWriter_;
    DataWriter* contactLatitudeWriter_;
    DataWriter* contactLongitudeWriter_;
    DataWriter* contactDepthWriter_;
    DataWriter* rangeToContactWriter_;
    DataWriter* azimuthToContactWriter_;
    DataWriter* elevationToContactWriter_;
    DataWriter* headingToContactWriter_;
    DataWriter* eastingsToContactWriter_;
    DataWriter* northingsToContactWriter_;
    BlobWriter* vDirectionWriter_;
    BlobWriter* nDirectionWriter_;
    BlobWriter* vRelPosWriter_; // TODO displacement instead of relPos?
    BlobWriter* nRelPosWriter_; // TODO displacement instead of relPos?

    // Parameters to pass to DAT driver
    DataWriter *benthosAddressWriter_;
    DataWriter *onewayModeRequestedWriter_;
    DataWriter *numPingsWriter_;

    int verbosity_;
    Matrix3x3 rotationFromVehicleToNavigationFrame_;
    int contactLabel_, contactLabelSetting_, numberOfSamplesSetting_, queryModeSetting_;
    double rangeToContact_, contactLatitude_, contactLongitude_, contactDepth_;
    float azimuthInFSK_, elevationInFSK_, azimuthInNED_, elevationInNED_;
    Point3D directionInFSK_, relPosInFSK_, directionInNED_, relPosInNED_;

    // Timeouts for for pinging
    Timestamp dataStartTime_;
    Timespan updatePeriod_;

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    void requestVehiclePose( bool req );

    void requestAcousticData( bool req );

    // reads settings from the mission
    void readSettings();

    // Query DAT for observations of contact
    void queryDAT();

    bool readFromDAT();

    bool processFromDAT();

    void writeData();

    void unitVectorToAzimuthAndElevation( Point3D &uhat, float &azimuth, float &elevation );

};

#endif /*TRACKING_H_*/