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132 | # 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.
# SURFACE BENCH TEST for the adaptive backseat (strategy 2 = hockey_stop)
mission run_backseat_on_surface_hockey_stop {
arguments {
ElapsedSinceMissionStarted = 0 minute
# --- Backseat mission-driven config ---
# published to the slate as _.bs_* for the backseat to read once at startup
PublishPeriod = 2 second
"""Re-publish period for the _.bs_* config below."""
MinDepth = 10 meter
"""Absolute min of the frontseat-owned safety/search band. Published to the
backseat as _.bs_min_depth_limit (cosmetic here — no diving on surface)."""
MaxDepth = 60 meter
"""Absolute max of the frontseat-owned safety/search band. Published to the
backseat as _.bs_max_depth_limit (cosmetic here — no diving on surface)."""
Strategy = 2 count
"""Backseat strategy id (STRATEGY_IDS): 2=hockey_stop."""
BsDetectionThreshold = 1 count
"""hockey_stop detection_threshold: cumulative counts to trigger a hockey-stop."""
BsDetectionMaxGapSec = 30 second
"""hockey_stop detection_max_gap_sec: max quiet gap before the detection cluster resets."""
BsPostDetectionPattern = 1 count
"""hockey_stop post_detection_pattern: 0=straight, 1=circle, 2=spiral."""
BsLegTimeoutNoDetectionSec = 30 second
"""hockey_stop leg_timeout_no_detection_sec: exit the leg after this long with no detection."""
BsSpiralGrowthMinutes = 5 count
"""hockey_stop spiral_growth_minutes (raw minutes): spiral rudder decay window."""
BsMaxLegMinutes = 0 count
"""hockey_stop max_leg_minutes (raw minutes): hard cap on the leg; 0 = no cap."""
}
# Power the science payload.
insert id="Science" Insert/Science.tl
# Power the Backseat payload.
insert Insert/BackseatDriver.tl
assign in sequence BackseatDriver:EnableBackseat = true
insert Insert/PowerOnly.tl
# Run the backseat guidance so it processes on-surface.
behavior Guidance:BackseatDriver {
run in parallel
}
# --- Publish mission-driven config to the backseat (read once at startup) ---
# Needs BackseatComponent. fullSlateAccess=1 on the frontseat.
aggregate PublishBackseatParams {
run when ( elapsed ( customUri "_.bs_strategy" ) > PublishPeriod )
assign in sequence customUri "_.bs_strategy" = Strategy
assign in sequence customUri "_.bs_min_depth_limit" = MinDepth
assign in sequence customUri "_.bs_max_depth_limit" = MaxDepth
assign in sequence customUri "_.bs_detection_threshold" = BsDetectionThreshold
assign in sequence customUri "_.bs_detection_max_gap_sec" = BsDetectionMaxGapSec
assign in sequence customUri "_.bs_post_detection_pattern" = BsPostDetectionPattern
assign in sequence customUri "_.bs_leg_timeout_no_detection_sec" = BsLegTimeoutNoDetectionSec
assign in sequence customUri "_.bs_spiral_growth_minutes" = BsSpiralGrowthMinutes
assign in sequence customUri "_.bs_max_leg_minutes" = BsMaxLegMinutes
}
behavior Guidance:GoToSurface {
run in progression
}
aggregate CheckIn {
run in sequence repeat=288
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P2H {
behavior Guidance:Execute {
run in sequence
set command = "Burn on"
}
syslog critical "Dropped weight due to communications timeout."
}
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )
syslog important "run_backseat_on_surface mission has been running for "
+ ElapsedSinceMissionStarted~minute
}
syslog important "Restarting logs and run_backseat_on_surface_hockey_stop mission."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
|