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Insert/NeedComms.tl

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# Copyright (c) 2008 Monterey Bay Aquarium Research Institute (MBARI)
# MBARI Proprietary Information. All Rights Reserved
aggregate NeedComms {
  arguments {
    DiveInterval = 1 hour
      """
      Elapsed time after most recent surfacing when vehicle will begin to
      ascend to the surface again. The timing is actually based on the
      variable Universal:time_fix instead of the variable
      Universal:platform_communications because the latter is not toggled
      until the message queue is clear. As a result, there are situations
      where the vehicle might dive for the first half of a yo, then return to
      the surface to continue communications, rendering the communications
      timeout useless. When adjusting this parameter, do not use "set", use
      Assign in a mission, or set NeedComms:DiveInterval from the command
      line.
      """

    WaitForPitchUp = 10 minute
      """
      Extra time to wait for the vehicle to pitch up (avoid truncating a yo).
      """

    SurfacePitch = 20 degree
      """
      Pitch to maintain while ascending
      """

    SurfaceDepthRate = NaN meter_per_second
      """
      Depth rate to maintain while ascending. Set to NaN if using pitch
      """

    SurfaceSpeed = 1 meter_per_second
      """
      Standard speed during surfacing. Don't reduce this too much below 1 m/s
      -- the elevators can stall. (At 0.5 m/s, we have observed evidence of
      stall in the past.)
      """

    SurfacingTimeout = 1000 second
      """
      The maximum time allowed for the ascent to surface.
      """

    GPSTimeout = 7 minute
      """
      Maximum amount of time to spend trying to get each GPS fix.
      """

    CommsTimeout = 30 minute
      """
      Maximum amount of time to spend on the surface trying to communicate
      before giving up, getting another GPS fix, and diving again.
      """
  }

  run when (
    called
    or ( elapsed ( Universal:time_fix ) > ( DiveInterval + WaitForPitchUp ) )
    or (
      elapsed ( Universal:time_fix ) > DiveInterval
      and ( Universal:platform_pitch_angle > 0 degree )
    )
  )

  syslog info "last time_fix was: " + Universal:time_fix~epoch_second

  behavior Guidance:GoToSurface {
    run in progression

    set pitch = SurfacePitch
    set depthRate = SurfaceDepthRate
    set speed = SurfaceSpeed
    set surfaceTimeout = SurfacingTimeout
  }

  readDatum {
    timeout duration=GPSTimeout {
      syslog important "first GPS update timeout"
    }

    Universal:time_fix
  }

  readDatum {
    timeout duration=CommsTimeout {
      syslog important "Comms timed out after " + CommsTimeout~minute + "minutes"
    }

    Universal:platform_communications
  }

  readDatum {
    timeout duration=GPSTimeout {
      syslog important "second GPS update timeout"
    }

    Universal:time_fix
  }
}