Science/front_tracking_2D.tl

#   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.

mission {
  """
  Vehicle nominally yo-yo's zigzagging across an upwelling front, with
  science turned on. Each time a front edge is detected, the vehicle turns
  around and samples across the front again. Front edge is defined by
  difference in temperature between several depths.
  """

  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime.

    MissionTimeout = 14 day
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for commumications
      """

    TimePastFront = 40 minute
      """
      Time to swim past front when tracking.
      """

    # debug
    #     </Description><Units:minute/><Value>5</Value></DefineArg>

    # You probably do not need to change these.

    MassDefault = Control:VerticalControl.massDefault

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy.
      """

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 3 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 50 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 7 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up-pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down-pitch while performing the YoYo behavior.
      """

    HeadingNorth = 0.0 degree

    HeadingSouth = 180.0 degree

    HeadingEast = 90.0 degree

    HeadingWest = 270.0 degree

    HeadingNortheast = 45.0 degree

    HeadingNorthwest = 315.0 degree

    HeadingSoutheast = 135.0 degree

    HeadingSouthwest = 225.0 degree

    SearchHeading = 270.0 degree
      """
      Initialized to the starting heading (default 270.0). Will be updated
      when detecting front or hitting wall.
      """

    ShapeZ = true
      """
      Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z
      shape)? Initialized to True.
      """

    ShapeN = true
      """
      Is the front-tracking in N shape on east-west sweeps (versus reverse-N
      shape)? Initialized to False.
      """

    FlagNorthSouthSweep = true
      """
      Initialized to True.
      """

    # debug
    #     </Description><False/></DefineArg>

    FlagNorthwardSweep = true
      """
      Initialized to True.
      """

    FlagEastwardSweep = false
      """
      Initialized to False.
      """

    #  Tight walls for fast tests of wall bouncing. Don't delete this note.
    # LonEastWall: -121.82
    # LonWestWall: -121.84
    # LatNorthWall: 36.82
    # LatSouthWall: 36.80

    LonEastWall = -121.82 degree

    # debug
    #     <DefineArg Name="LonEastWall"><Units:degree/><Value>-121.82</Value></DefineArg>

    LonWestWall = -122.0 degree

    # debug
    #     <DefineArg Name="LonWestWall"><Units:degree/><Value>-121.84</Value></DefineArg>

    LatNorthWall = 36.9 degree

    # debug
    #     <DefineArg Name="LatNorthWall"><Units:degree/><Value>36.82</Value></DefineArg>

    LatSouthWall = 36.80 degree

    # You are even less likely to need to change these.

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """
  }

  # These are internal variables that should not be changed.

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """

    redefineArg PeakDetectChlActive = true
  }

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Many missions will keep mass position and buoyancy volume fixed at defaults.

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = MassDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

  # Run at constant speed.

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = Speed
  }

  behavior Guidance:DepthEnvelope {
    """
    Another depth envelope for the YoYo behavior. This envelope should
    fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for depth-terminated YoYos.
    """

    run in parallel

    set minDepth = YoYoMinDepth
    set maxDepth = YoYoMaxDepth
    set upPitch = YoYoUpPitch
    set downPitch = YoYoDownPitch
  }

  behavior Guidance:AltitudeEnvelope {
    """
    Another altitude envelope for the YoYo behavior. This envelope
    should fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """

    run in parallel

    set minAltitude = YoYoMinAltitude
    set pitch = YoYoUpPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set upPitch = YoYoUpPitch
    set downPitch = YoYoDownPitch
  }

  call id="StartingMission" refId="NeedComms"

  aggregate TwoDTrackFront {
    run in sequence

    behavior Guidance:FrontTracking id="tracking" {
      run in sequence

      set searchHeading = SearchHeading
      set northHeading = HeadingNorth
      set southHeading = HeadingSouth
      set eastHeading = HeadingEast
      set westHeading = HeadingWest
      set neHeading = HeadingNortheast
      set nwHeading = HeadingNorthwest
      set neHeading = HeadingNortheast
      set swHeading = HeadingSouthwest
      set seHeading = HeadingSoutheast
      set lonEastWall = LonEastWall
      set lonWestWall = LonWestWall
      set latNorthWall = LatNorthWall
      set latSouthWall = LatSouthWall
      set flagNorthSouthSweep = FlagNorthSouthSweep
      set flagNorthwardSweep = FlagNorthwardSweep
      set flagEastwardSweep = FlagEastwardSweep
      set shapeZ = ShapeZ
      set shapeN = ShapeN
      set waitSeconds = TimePastFront
    }

    call id="EndingMission" refId="NeedComms"
  }
}