/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : Ascend.h                                                      */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#ifndef _AVOID_H
#define _AVOID_H

#include "ourTypes.h"
#include "Behavior.h"
#include "MathP.h"
#include "EchoSounderIF.h"

#define AvoidBehaviorName "avoid"
#define MEDIANSIZE  11       //Must be an odd number.
#define NRANGES  50

/*
CLASS 
Avoid

DESCRIPTION
Shuts off propulsion of the OA sonar detects an obstacle.


AUTHOR
R. McEwen
*/
class Avoid : public Behavior {

public:

  Avoid();
  virtual ~Avoid();

  virtual void execute( void );
  virtual Boolean validInput( void );

protected:

  double _northing;
  double _easting;
  double _newNorthing;
  double _newEasting;
  double _newBearing;
  double _nList[MEDIANSIZE];
  double _eList[MEDIANSIZE];
  long _nSorted[MEDIANSIZE];
  long _eSorted[MEDIANSIZE];
  double _rangeList[NRANGES];
  double _pitchList[NRANGES];
  Boolean _hitList[NRANGES];
  double _latitude;
  double _longitude;
  double _speed;
  double _depth;
  double _bearing;
  double _gain;
  short  _consecutiveGood;
  long   _ngood;
  int    _nRange;
  long   _maxBad;                    //Maximum OA sonar instrument errors.
  short  _badStatusCntr;
  long   _nSamples;                  //Number of previous ranges to store.
  double _minRange;
  long   _maxTooClose;
  long   _minTooClose;
  long   _lastSeconds;
  long   _lastNanoSeconds;
  double _avoidDepth;
  double _depthOffset;
  double _arclen;
  double _lastNorthing;
  double _lastEasting;
  double _bottomLockOut;
  Boolean _avoidMode;
  Boolean _first;
  Boolean _firstValid;
  Boolean _stopProp;
  DvlIF::Data _dvlData;
  EchoSounderIF *_echo;

};



#endif