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Insert/TerminateMissionByMsg.tl

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#  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.

aggregate TerminateMissionByMsg {
  arguments {
    ListenToMsgTerminateMission = false
      """
      Whether to listen to the _.terminateMission acoustic message.
      """
  }

  output {
    # Internal variables that you should not change

    TerminateMissionMsgReceived = false
      """
      Whether this vehicle has received the _.terminateMission message from the other vehicle.
      """
  }

  run when (
    ListenToMsgTerminateMission
    and ( elapsed ( customUri "_.terminateMission" ) < ( elapsed ( TerminateMissionMsgReceived ) ) )
  )

  syslog info "Received _.terminateMission message. Stopping mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "stop;schedule resume"
  }
}