YoYo.h

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#ifndef YOYO_H_
#define YOYO_H_

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

class UniversalDataReader;

class YoYo : public Behavior
{
public:

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

    virtual ~YoYo();

    void initialize( void );

    bool isSatisfied();

    bool runIfUnsatisfied();

    void run();

    void uninitialize( void );

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

protected:

    // Configuration readers
    ConfigReader* pitchLimitCfgReader_;
    ConfigReader* maxDiveRateCfgReader_;
    ConfigReader* maxBuoyDiveRateCfgReader_;

    // Current control commands

    DataReader *verticalModeReader_;

    DataReader *depthRateCmdReader_;

    DataReader *pitchCmdReader_;

    DataReader *speedCmdReader_;

    // Behavior settings

    SettingReader *pitchSettingReader_;
    SettingReader *downPitchSettingReader_;
    SettingReader *upPitchSettingReader_;

    // Behavior depth rate setting
    SettingReader *depthRateSettingReader_;
    SettingReader *downDepthRateSettingReader_;
    SettingReader *upDepthRateSettingReader_;

    SettingReader *satisfiedThresholdSettingReader_;

    UniversalDataReader *depthReader_;

    UniversalDataReader *depthRateReader_;

    UniversalDataReader *pitchReader_;

    // Vertical Control settings

    DataWriter *verticalModeWriter_;

    DataWriter *depthRateCmdWriter_;

    DataWriter *pitchCmdWriter_;

    float downPitchSetting_;

    float upPitchSetting_;

    float downDepthRateSetting_;

    float upDepthRateSetting_;

    float satisfiedThresholdSetting_;

    float maxDiveRate_;

    float maxBuoyDiveRate_;

    float speedCmd_;

    bool initialized_;

    bool goingDown_;

    // True when we inflect
    bool satisfied_;

    // True once we run once
    bool ranOnce_;

    // Depth of start of yo
    float startDepth_;

    VerticalControlIF::VerticalMode verticalMode_;

    float pitchCmd_;

    float depthRateCmd_;

    // Carries out behavior on parameters
    void writeCmds();

    // Determines if behavior is satisfied
    bool calcSatisfied();

    // Reads in configuration
    void readConfig();

    // Reads in behavior settings
    void readSettings();

    // Reads in parameters used by writeCmds and calcSatisfied
    bool calculate();

    // If depthRate is nan, set to appropriate max dive rate.
    float adjustDepthRate( float depthRate, bool goDown );

    // Sets value of going down
    // Sets satified true if changed, and ranOnce_ is true
    void setGoingDown( bool goingDown );

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

};

#endif /*YOYO_H_*/