/****************************************************************************/
/* Copyright (c) 2015 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : Trn.h                                                         */
/* Author   :                                                               */
/* Project  : Henthorn                                                      */
/* Version  : 1.0                                                           */
/* Created  : 12/04/2015                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#ifndef _TRN_H
#define _TRN_H

#include "Behavior.h"
#include "TerrainAidIF.h"

#define TrnBehaviorName "trn"

#define NullLegDuration -1.0

/*
CLASS 
Trn

DESCRIPTION
This behavior commands TerrainAidDriver to start sending nav info to trn


AUTHOR
Henthorn
*/
class Trn : public Behavior {

public:

  Trn();

  virtual ~Trn();

  virtual Boolean validInput();

  void test() { shouldBehaviorStart(); execute(); }

protected:

  virtual void execute();
  Boolean shouldBehaviorStart( void );

  TerrainAidIF *_server;
  long _updates;    // Start/stop updates

};

#endif