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Maintenance/DUSBL.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.

# ====================
#     Generated by TethysL
#     ====================
mission DUSBL {
  """
  This mission is requests a DUSBL arming.
  """

  arguments {
    MissionTimeout = 90 minute
      """
      How long to let the mission run.
      """

    NumberOfRequests = 10 count
      """
      Number of pings to requst.
      """

    TransponderCode = 2 count
      """
      Transponder Address.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    EnabledDUSBL = Sensor:DUSBL_Hydroid.loadAtStartup
      """
      Automatically set to true if the DUSBL is enabled. Set to false to
      disable reading from the DUSBL.
      """
  }

  timeout duration=MissionTimeout

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = 0 meter_per_second
  }

  readData {
    while ( EnabledDUSBL )

    Universal:acoustic_contact_range
    Universal:acoustic_contact_direction_vehicle_frame
  }

  aggregate RequestRepeater {
    run in sequence repeat=NumberOfRequests

    assign in parallel Sensor:DUSBL_Hydroid.transponderCode = TransponderCode

    assign in parallel Sensor:DUSBL_Hydroid.pingRequested = NumberOfPings

    behavior Guidance:Wait {
      run in sequence

      set duration = 90 second
    }
  }
}