/*****************************************************************/
/*    NAME: Michael Benjamin, Henrik Schmidt, and John Leonard   */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: BHV_PeriodicSpeed.h                                  */
/*    DATE: June 9th 2006                                        */
/*                                                               */
/* This file is part of MOOS-IvP                                 */
/*                                                               */
/* MOOS-IvP is free software: you can redistribute it and/or     */
/* modify it under the terms of the GNU General Public License   */
/* as published by the Free Software Foundation, either version  */
/* 3 of the License, or (at your option) any later version.      */
/*                                                               */
/* MOOS-IvP is distributed in the hope that it will be useful,   */
/* but WITHOUT ANY WARRANTY; without even the implied warranty   */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See  */
/* the GNU General Public License for more details.              */
/*                                                               */
/* You should have received a copy of the GNU General Public     */
/* License along with MOOS-IvP.  If not, see                     */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/
 
#ifndef BHV_PERIODIC_SPEED_HEADER
#define BHV_PERIODIC_SPEED_HEADER

#include <string>
#include "IvPBehavior.h"

class IvPDomain;
class BHV_PeriodicSpeed : public IvPBehavior {
public:
  BHV_PeriodicSpeed(IvPDomain);
  ~BHV_PeriodicSpeed() {}
  
  IvPFunction* onRunState();
  void         onIdleState();
  void         onIdleToRunState();
  bool         setParam(std::string, std::string);
  void         onSetParamComplete();

 protected:
  void         updateInfoIn();
  void         postStatusReport();

private: // Configuration Parameters

  double  m_period_lazy;
  double  m_period_busy;
  double  m_period_speed;
  double  m_zaic_basewidth;
  double  m_zaic_peakwidth;
  double  m_zaic_summit_delta;
  bool    m_reset_upon_running;

  std::string m_var_busy_count;
  std::string m_var_pending_busy;
  std::string m_var_pending_lazy;

private: // State Variables
  bool    m_mode_busy;
  bool    m_mark_needed;
  double  m_mark_time;
  int     m_busy_count;

  double  m_time_to_busy;
  double  m_time_to_lazy;
};
#endif