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Insert/SetNavAcoustic.tl

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aggregate SetNavAcoustic {
  """
  Reset nav to dock location if the vehicle is within dock range.
  """

  arguments {
    DockLat = Dock:Dock.lat
      """
      Latitude of docking station waypoint (defaults to
      Config/workSite.beaconLat).
      """

    DockLon = Dock:Dock.lon
      """
      Longitude of docking station waypoint (defaults to
      Config/workSite.beaconLon).
      """

    DockRange = Dock:SetNav.dockRange
      """
      Range from dock in which the vehicle resets it's position to dock
      lat/lon .
      """

    RangeTimeout = Dock:SetNav.rangeTimeout
      """
      Time duration after which ranges are considered stagnant.
      """
  }

  run when (
    called
    or ( ( elapsed ( Dock:SetNav.time_fix ) > RangeTimeout )
    and Estimation:TrackAcousticContact.range_to_contact <= DockRange )
    and elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < RangeTimeout
  )

  aggregate UpdateNav {
    run in sequence

    timeout duration=P1M

    syslog info "Reseting nav to dock location at range" + Estimation:TrackAcousticContact.range_to_contact~meter

    behavior Dock:SetNav {
      run in sequence

      set latitude = DockLat

      set longitude = DockLon
    }
  }
}