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135 | # 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.
# Power lights and camera when recording enabled
aggregate Optim {
arguments {
RunOptim = false
"""
Run Optim camera and Multiray lights if true
"""
LightMode = 2 count
"""
Mode for MultiRay lights at depth. 0 is off, 1 is red, 2 is white
"""
BrightnessWhite = 100 none_int
"""
White MultiRay LED brightness, 0-100
"""
BrightnessRed = 100 none_int
"""
Red MultiRay LED brightness, 0-100
"""
BackseatWait = 30 second
"""
How long to wait for the backseat to power up before attempting to power the Optim
"""
InitialSampleTime = 1 second
"""
PowerOnly sample time for initial record. Will go back to continuous after startup.
"""
}
output {
RecordingEnabled = false
"""
Mission variable (don't change). Reflects intended recording state.
"""
LightsEnabled = false
"""
Mission variable (dont' chage). Reflects intended light state.
"""
}
run in parallel
break if ( not RunOptim )
readData strategy="MinError" {
while ( RecordingEnabled )
Sensor:PowerOnly.sampleLoad1
}
readData strategy="MinError" {
while ( LightsEnabled )
Sensor:MultiRay.lightModeLog
}
aggregate OptimStartup {
run in sequence
syslog info "Waiting " + BackseatWait~s + " for backseat to start up..."
behavior Guidance:Wait {
run in sequence
set duration = BackseatWait
}
# Power-cycle Optim with some rather specific timing requirements to start up
aggregate UseMission {
run in sequence
assign in parallel Sensor:PowerOnly.sampleTime1 = InitialSampleTime
assign in sequence RecordingEnabled = true
syslog info "Disabling Optim recording after " + InitialSampleTime~s
assign in sequence RecordingEnabled = false
behavior Guidance:Wait {
run in sequence
set duration = InitialSampleTime
}
assign in sequence RecordingEnabled = true
syslog info "Powering up Optim to try to tide over gap to handoff..."
}
assign in sequence RecordingEnabled = true
assign in sequence LightsEnabled = true
assign in sequence Sensor:MultiRay.lightModeCommand = LightMode
syslog important "Enabling backseat, camera, and multiray"
aggregate setRed {
run in sequence
break if ( LightMode != 1 count )
assign in sequence Sensor:MultiRay.brightnessRed = BrightnessRed
syslog info "Setting multiray red brightness to" + BrightnessRed~count
}
aggregate setWhite {
run in sequence
break if ( LightMode != 2 count )
assign in sequence Sensor:MultiRay.brightnessWhite = BrightnessWhite
syslog info "Setting muliray white brightness to" + BrightnessWhite~count
}
}
behavior Guidance:Wait {
run in sequence
set duration = 9999 hour
}
}
|