<?xml version="1.0" encoding="UTF-8"?>
<Stack xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="TestMission">

<!-- some high priority behaviors -->

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Set><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>20</Value></Set>
    </Guidance:AltitudeEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1</Value></Set>
        <Set><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>50</Value></Set>
    </Guidance:OffshoreEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>300</Value></Set>
    </Guidance:DepthEnvelope>

<!-- Initial GPS (and Iridium) Update -->

    <Stack Id="SurfaceOps" >

        <Guidance:GoToSurface RunIn="Parallel"/>

        <Guidance:GoToSurface RunIn="Sequence"/>

        <Guidance:ReadSensor RunIn="Sequence">
            <SetUri><Guidance:ReadSensor.uri/><Universal:latitude_fix/></SetUri>
        </Guidance:ReadSensor>

    </Stack>

    <Stack Id="LawnMowerStack" Repeat="4">

        <Guidance:SetSpeed RunIn="Parallel">
            <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Set>
        </Guidance:SetSpeed>

        <CustomCommand Name="LawnMower" RunIn="Sequence">
            <Initialize>
                <Input Name="latitude"><Universal:latitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Input Name="longitude"><Universal:longitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Test InputValue="36.0 -122"/>
                <Script Language="Lua"><![CDATA[
                 		h = 0.005
                 		w = 0.005						
	                 	origLat = latitude;
	                 	origLon = longitude;
	                 	
	                 	step = 1;
	                 	goalLat = origLat - h;
	                 	goalLon = origLon;
                    ]]></Script>
            </Initialize>
            <Run>
                <Input Name="latitude"><Universal:latitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Input Name="longitude"><Universal:longitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Output><Control:HorizontalControl.horizontalMode/><Units:enum/></Output>
                <Output><Control:HorizontalControl.latitudeCmd/><Units:degree/></Output>
                <Output><Control:HorizontalControl.longitudeCmd/><Units:degree/></Output>
                <Test OutputValue="1.0 36.0 -122.0"/>
                <Script Language="Lua"><![CDATA[
                 		diffLat = math.abs(goalLat - latitude);
                 		diffLon = math.abs(goalLon - longitude);
                 		if diffLat <= 0.0005 and diffLon <= 0.0005 then
                 			
                 			step = step + 1;
                 			if step == 2 then
                 				goalLon = origLon + w;                 				
                 			end
                 			if step == 3 then
                 				goalLat = origLat;
                 			end
                 			if step == 4 then
                 				goalLon = origLon + w * 2;
                 			end
							                 			
                 		end
                 		
						-- tell it its next waypoint		
	                    return 1.0, goalLat, goalLon;
                     ]]></Script>
            </Run>
            <IsSatisfied>
                <Test InputValue="1.0 36.01 -122.01" OutputValue="true"/>
                <Test InputValue="1.0 36.001 -122.001" OutputValue="false"/>
                <Script Language="Lua"><![CDATA[
                        if step > 4 then
                        	return true;
                        end
                        return false;
                        ]]></Script>
            </IsSatisfied>
        </CustomCommand>

    </Stack>

</Stack>
