ZigZag.h

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#ifndef ZIGZAG_H_
#define ZIGZAG_H_

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

class UniversalDataReader;

class ZigZag : public Behavior
{
public:

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

    virtual ~ZigZag();

    void initialize( void );

    bool isSatisfied();

    bool runIfUnsatisfied();

    void run();

    void uninitialize( void );

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

protected:

    float bearingSetting_;

    float angleSetting_;

    double headingRead_;

    double headingCmd_;

    bool initialized_;

    bool goingRight_;

    // True when we turn
    bool satisfied_;

    // True once we run once
    bool ranOnce_;

    // Slate input setting variables

    // Desired bearing
    SettingReader *bearingSettingReader_;

    // Desired angle
    SettingReader *angleSettingReader_;

    // Slate input measurements

    // Gets the horizontal mode for HorizontalControl
    DataReader *horizontalModeReader_;

    // Gets the heading for HorizontalControl
    DataReader *headingCmdReader_;

    // Gets the bearing for HorizontalControl
    DataReader *bearingCmdReader_;

    // Slate output variables

    // Sets the horizontal mode for HorizontalControl
    DataWriter *horizontalModeWriter_;

    // Sets the heading for HorizontalControl
    DataWriter *headingCmdWriter_;

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

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

    // Reads in behavior settings
    void readSettings( bool force );

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

    // Sets value of going right
    // Returns true if changed, and ranOnce_ is true
    void setGoingRight( bool goingRight );

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


};

#endif /*ZIGZAG_H_*/