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/* Copyright (c) 2008 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : StartSurvey.h                                                 */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 08/23/2008                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
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/* Modification History:                                                    */
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#ifndef _STARTSURVEY_H_
#define _STARTSURVEY_H_

#include "ourTypes.h"
#include "Behavior.h"
#include "AcousticModemIF.h"

#define StartSurveyBehaviorName "StartSurvey"

/*
CLASS 
StartSurvey

DESCRIPTION
This behavior causes the vehicle to hover with zero speed for the specified
duration, waiting for the StartSurvey command over the acoustic modem. If the
StartSurvey command isn't received during the specified duration, then the
mission is aborted.

Attribute       Type               Meaning
---------       ----               -------
duration                                  each leg
AUTHOR
Hans Thomas
*/
class StartSurvey: public Behavior {

public:

  StartSurvey();

  virtual ~StartSurvey();

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

protected:
  double _timeout;

};



#endif