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178 | # Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission {
"""
Wait on dock, communicating when possible
"""
arguments {
DockedTime = 8 hour
"""
Time to stay on dock. Mission timeout will be five minutes longer.
"""
DetachedTimeout = Dock:Docked.detachTimeout
"""
Time duration limit for determining if the vehicle is detached from the
dock.
"""
RangeTimeout = Dock:Docked.rangeTimeout
"""
Maximum allowed time without acoustic range.
"""
TrackingUpdatePeriod = 2 minute
"""
How long to wait between acoustic queries.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
MaxDepth = BIT:CBIT.stopDepth
"""
Maximum depth while docked.
"""
MinAltitude = 5 meter
"""
Minimum altitude
"""
MinOffshore = 2 km
"""
Minimum offshore
"""
StayOnDock = false
"""
If true, don't detach from dock at end of mission
"""
IfconfigInterval = 30 minute
"""
How long to wait between ifconfig runs
"""
# Mission variables (do not change)
MissionTimeout = DockedTime
"""
Mission timeout (local variable, do not change)
"""
}
timeout duration=MissionTimeout
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# End docking 5 minutes before end of mission to allow clean undock
assign in sequence MissionTimeout = DockedTime + 5 minute
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# Send data when connection exists
readData {
while (
Sensor:DataOverHttps.connectionStatus == true
)
Universal:platform_communications
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
aggregate restartDHCP {
run when ( called )
syslog important "Restarting DHCP..."
behavior Guidance:Execute {
run in sequence
set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
}
}
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
# Kick DHCP again, in case it took us a while to close the arm in Docked
call refId="restartDHCP"
aggregate PeriodicCheck {
run in parallel
aggregate CheckIP {
run in sequence
behavior Guidance:Execute {
run in sequence
set command = "! ifconfig"
}
behavior Guidance:Wait {
run in sequence
set duration = IfconfigInterval
}
}
}
behavior Dock:Docked {
run in sequence
timeout duration=DockedTime
set detachTimeout = DetachedTimeout
set rangeTimeout = RangeTimeout
}
# Undock cleanly, instead of relying on DefaultWithUndock to come next
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Mission ending, breaking off. Range: "
+ Estimation:TrackAcousticContact.range_to_contact~meter + "."
behavior Dock:Undock {
run in sequence
}
# Get our 10.89 IP back once we're on the surface
call refId="restartDHCP"
}
}
|