Science/sci2_circle_hotspot.tl

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mission sci2_circle_hotspot {
  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.

    # You probably need to change these.

    MissionTimeout = 1 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      On yo-yo transit to waypoint or yoyo-circling at the hotspot, how often to surface for commumications.
      """

    Speed = 1.0 meter_per_second
      """
      Vehicle speed when transiting or yoyo-circling at the hotspot.
      """

    MaxDepth = 50 meter
      """
      Maximum depth for the entire mission.
      """

    RudderAngleYoyoCircle = 5 degree

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    ValidLegDeepThresh = NaN meter
      """
      Flip-to-ascent depth needs to be deeper than this threshold to be considered a valid leg for peak reporting.
      """

    Lat[1..10] = NaN degree
      """
      Latitude of waypoint {$}. If NaN, skipped.
      """

    Lon[1..10] = NaN degree
      """
      Longitude of waypoint {$}. If NaN, skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>36.803</Value></DefineArg>
    #     </Description><Units:degree/><Value>-121.83</Value></DefineArg>
    #     </Description><Units:degree/><Value>36.81</Value></DefineArg>
    #     </Description><Units:degree/><Value>-121.825</Value></DefineArg>

    ModemIDDestination = 0 enum
      """
      ID of destination modem to send acoustic messages to. Defaults to the same as ContactLabel
      but doesn't have to be the same modem as that being tracked.
      """

    NumProfilesAvgPeakDepth = 1 count
      """
      Number of yoyo profiles for averaging the max-per-profile peak depths.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    SendMessageTransitOrNot = true
      """
      Whether to report this vehicle's maneuver mode (0 = spiral, 1 = transit) to the other LRAUV.
      """

    MsgTransitOrNotPeriod = 10 minute
      """
      Time interval of sending transit-or-not message to the other LRAUV.
      """

    SendPeakDepthAvgProfilesChl = false
      """
      Whether to report profiles-averaged max-per-profile depth of chlorophyll: _.peakdepth.
      """

    ThreshChl = NaN microgram_per_liter
      """
      Threshold for qualifying as a hotspot.
      """

    PeakDetectPlanktivoreLMavgROI = false
      """
      Whether to enable peak PlanktivoreLMavgROI detection on each yo-yo profile
      """

    SendPeakDepthAvgProfilesPlanktivoreLMavgROI = false
      """
      Whether to report profiles-averaged max-per-profile depth of PlanktivoreLMavgROI: _.peakdepth.
      """

    ThreshPlanktivoreLMavgROI = 10 count_per_second
      """
      Threshold for qualifying as a hotspot.
      """

    ThreshHighSignalCounts = 1 count
      """
      When in transit, if CountsHighSignal exceeds this threshold, exit transit to enter yoyo-circle.
      """

    ThreshLowSignalCounts = 1 count
      """
      When in yoyo-circle, if CountsLowSignal exceeds this threshold, exit yoyo-circle to run the transit.
      """

    ListenToTerminateMissionMsg = false
      """
      Whether to listen to the _.terminateMission acoustic message.
      """

    # You probably do not need to change these.

    IntervalRestartLogs = 24 hour

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

    MinAltitude = 7 meter
      """
      Minimum altitude for the entire mission.
      """

    YoYoMinAltitude = 9 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.
      """

    LowPassWindowLengthVertical = 20 count
      """
      Low-pass window length (based on depth sensor sampling interval 0.4
      second) for low-pass filtering.
      """

    MaxNumLaps = 20 count
      """
      Maximum number of laps.
      """
  }

  output {
    PeakDepthAvgOverProfiles = 0 meter
      """
      The peak signal depth averaged over NumProfilesAvgPeakDepth of profiles.
      """

    InTransit = true
      """
      Initialized to true
      """

    InYoyoCircle = false
      """
      Initialized to false
      """

    CountsHighSignal = 0 count

    CountsLowSignal = 0 count

    WaypointReached[1..10] = false
      """
      Initialized to false
      """

    ElapsedSinceLastMsgTransitOrNot = 0 hour
  }

  # Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  # Missions should almost always start with standard safety envelopes

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  insert Insert/TerminateMissionByMsg.tl

  assign in sequence TerminateMissionByMsg:ListenToMsgTerminateMission = ListenToTerminateMissionMsg

  insert id="Science" Insert/Science.tl {
    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg PeakDepthAvgProfilesChlActive = SendPeakDepthAvgProfilesChl
    redefineArg PeakDetectPlanktivoreLMavgROIActive = PeakDetectPlanktivoreLMavgROI
    redefineArg PeakDepthAvgProfilesPlanktivoreLMavgROIActive = SendPeakDepthAvgProfilesPlanktivoreLMavgROI
    redefineArg LowPassWindowLength = LowPassWindowLengthVertical
    redefineArg FilterWidthHorizontal = NumProfilesAvgPeakDepth
    redefineArg ShallowBound = YoYoMinDepth
    redefineArg DeepBound = YoYoMaxDepth
    redefineArg DeepThreshValidLeg = ValidLegDeepThresh
  }

  aggregate SendSignalOfPeakDepthChl {
    run when (
      ( SendPeakDepthAvgProfilesChl
        and (
          not ( isNaN ( Science:PeakChlDepthAvgProfiles ) )
          and (
            ( Science:PeakChlDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakChlDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
        )
      )
    )

    assign in sequence PeakDepthAvgOverProfiles = Science:PeakChlDepthAvgProfiles

    aggregate PeakDepthSignalChl {
      run in sequence

      break if ( Science:PeakChlAvgProfiles < ThreshChl )

      behavior Sensor:SendDirect {
        run in sequence

        set destType = "modem"
        set destId = ModemIDDestination
        set destName = "_.peakdepth"
        set value = Science:PeakChlDepthAvgProfiles
        set unit = "meter"
      }

      syslog info "Set _.peakdepth to " + Science:PeakChlDepthAvgProfiles~meter
    }

    aggregate PeakSignalChl {
      run in sequence

      behavior Sensor:SendDirect {
        run in sequence

        set destType = "modem"
        set destId = ModemIDDestination
        set destName = "_.peakChl"
        set value = Science:PeakChlAvgProfiles
        set unit = "microgram_per_liter"
      }

      syslog info "Set _.peakChl to " + Science:PeakChlAvgProfiles~microgram_per_liter
    }
  }

  aggregate SendSignalOfPeakDepthPlanktivoreLMavgROI {
    run when (
      ( SendPeakDepthAvgProfilesPlanktivoreLMavgROI
        and (
          not ( isNaN ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles ) )
          and (
            ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
        )
      )
    )

    assign in sequence PeakDepthAvgOverProfiles = Science:PeakPlanktivoreLMavgROIDepthAvgProfiles

    aggregate PeakDepthSignalPlanktivoreLMavgROI {
      run in sequence

      break if (
        Science:PeakPlanktivoreLMavgROIAvgProfiles >= ThreshPlanktivoreLMavgROI
      )

      behavior Sensor:SendDirect {
        run in sequence

        set destType = "modem"
        set destId = ModemIDDestination
        set destName = "_.peakdepth"
        set value = Science:PeakPlanktivoreLMavgROIDepthAvgProfiles
        set unit = "meter"
      }

      syslog info "Set _.peakdepth to " + Science:PeakPlanktivoreLMavgROIDepthAvgProfiles~meter
    }

    aggregate PeakSignalPlanktivoreLMavgROI {
      run in sequence

      behavior Sensor:SendDirect {
        run in sequence

        set destType = "modem"
        set destId = ModemIDDestination
        set destName = "_.peakPlanktivoreLM"
        set value = Science:PeakPlanktivoreLMavgROIAvgProfiles
        set unit = "count_per_second"
      }

      syslog info "Set _.peakPlanktivoreLM to "
           + Science:PeakPlanktivoreLMavgROIAvgProfiles~count_per_second
    }
  }

  aggregate IncrementCounterHighSignal {
    run when (
      ( SendPeakDepthAvgProfilesChl
        and (
          ( Science:PeakChlDepthAvgProfiles > PeakDepthAvgOverProfiles )
          or ( Science:PeakChlDepthAvgProfiles < PeakDepthAvgOverProfiles )
        )
        and (
          not ( isNaN ( Science:PeakChlAvgProfiles ) )
          and ( Science:PeakChlAvgProfiles >= ThreshChl )
        )
      )
      or (
        SendPeakDepthAvgProfilesPlanktivoreLMavgROI
        and (
          ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles > PeakDepthAvgOverProfiles )
          or ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles < PeakDepthAvgOverProfiles )
        )
        and (
          not ( isNaN ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles ) )
          and ( Science:PeakPlanktivoreLMavgROIAvgProfiles >= ThreshPlanktivoreLMavgROI )
        )
      )
    )

    assign in sequence CountsHighSignal = CountsHighSignal + 1 count

    syslog info "CountsHighSignal = " + CountsHighSignal~count
  }

  aggregate ResetCounterHighSignal {
    run when (
      ( CountsHighSignal >= 1 count )
      and (
        ( SendPeakDepthAvgProfilesChl
          and (
            ( Science:PeakChlDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakChlDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
          and (
            isNaN ( Science:PeakChlAvgProfiles )
            or ( Science:PeakChlAvgProfiles < ThreshChl )
          )
        )
        or (
          SendPeakDepthAvgProfilesPlanktivoreLMavgROI
          and (
            ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
          and (
            isNaN ( Science:PeakPlanktivoreLMavgROIAvgProfiles )
            or ( Science:PeakPlanktivoreLMavgROIAvgProfiles < ThreshPlanktivoreLMavgROI )
          )
        )
      )
    )

    assign in sequence CountsHighSignal = 0 count

    syslog info "CountsHighSignal = " + CountsHighSignal~count
  }

  aggregate IncrementCounterLowSignal {
    run when (
      ( SendPeakDepthAvgProfilesChl
        and (
          ( Science:PeakChlDepthAvgProfiles > PeakDepthAvgOverProfiles )
          or ( Science:PeakChlDepthAvgProfiles < PeakDepthAvgOverProfiles )
        )
        and (
          isNaN ( Science:PeakChlAvgProfiles )
          or ( Science:PeakChlAvgProfiles < ThreshChl )
        )
      )
      or (
        SendPeakDepthAvgProfilesPlanktivoreLMavgROI
        and (
          ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles > PeakDepthAvgOverProfiles )
          or ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles < PeakDepthAvgOverProfiles )
        )
        and (
          isNaN ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles )
          or ( Science:PeakPlanktivoreLMavgROIAvgProfiles < ThreshPlanktivoreLMavgROI )
        )
      )
    )

    assign in sequence CountsLowSignal = CountsLowSignal + 1 count

    syslog info "CountsLowSignal = " + CountsLowSignal~count
  }

  aggregate ResetCounterLowSignal {
    run when (
      ( CountsLowSignal >= 1 count )
      and (
        ( SendPeakDepthAvgProfilesChl
          and (
            ( Science:PeakChlDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakChlDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
          and (
            not ( isNaN ( Science:PeakChlAvgProfiles ) )
            and ( Science:PeakChlAvgProfiles >= ThreshChl )
          )
        )
        or (
          SendPeakDepthAvgProfilesPlanktivoreLMavgROI
          and (
            ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles > PeakDepthAvgOverProfiles )
            or ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles < PeakDepthAvgOverProfiles )
          )
          and (
            not ( isNaN ( Science:PeakPlanktivoreLMavgROIDepthAvgProfiles ) )
            and ( Science:PeakPlanktivoreLMavgROIAvgProfiles >= ThreshPlanktivoreLMavgROI )
          )
        )
      )
    )

    assign in sequence CountsLowSignal = 0 count

    syslog info "CountsLowSignal = " + CountsLowSignal~count
  }

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

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

  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
  }

  aggregate SendTransitOrNotMessage {
    run when ( called )

    behavior Sensor:SendDirect {
      run in sequence

      set destType = "modem"
      set destId = ModemIDDestination
      set destName = "_.transitOrNot"
      set value = InTransit
      set unit = "bool"
    }

    syslog important "Set _.transitOrNot to " + InTransit~bool + "."
  }

  # Automatically restart logs

  aggregate CycleLogs {
    run in parallel

    aggregate {
      run in sequence

      behavior Guidance:Wait {
        run in sequence

        set duration = IntervalRestartLogs
      }

      syslog important "Restarting logs."

      behavior Guidance:Execute {
        run in sequence

        set command = "restart logs"
      }
    }
  }

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" priorityHere=false refId="NeedComms"
  }

  aggregate Lap {
    run in sequence repeat=MaxNumLaps

    macro $i = 1..10 {
      aggregate Wpt$i {
        run in sequence

        break if (
          isNaN ( Lat[$i] )
          or ( isNaN ( Lon[$i] ) )
          or ( WaypointReached[$i] )
          or (
            InYoyoCircle
            and ( CountsLowSignal < ThreshLowSignalCounts )
          )
          or (
            InTransit
            and ( CountsHighSignal >= ThreshHighSignalCounts )
          )
        )

        assign in sequence InTransit = true

        assign in sequence InYoyoCircle = false

        syslog important "Transit."

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate Transit {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat[$i]
            set longitude = Lon[$i]
          }
        }

        assign in sequence WaypointReached[$i] = true
      }
    }

    aggregate YoyoCircleHotspot {
      run in sequence

      break if (
        ( InYoyoCircle
          and ( CountsLowSignal >= ThreshLowSignalCounts )
        )
        or (
          InTransit
          and ( CountsHighSignal < ThreshHighSignalCounts )
        )
      )

      assign in sequence InTransit = false

      assign in sequence InYoyoCircle = true

      syslog important "Yoyo-circle."

      behavior Guidance:Buoyancy {
        run in parallel

        set position = Control:VerticalControl.buoyancyNeutral
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }

      behavior Guidance:YoYo {
        run in parallel

        set downPitch = YoYoDownPitch
        set upPitch = YoYoUpPitch
      }

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngleYoyoCircle
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = MissionTimeout
      }
    }

    aggregate SendMsgTransitOrNot {
      run when (
        elapsed ( ElapsedSinceLastMsgTransitOrNot ) > MsgTransitOrNotPeriod
      )

      break if ( not ( SendMessageTransitOrNot ) )

      call id="SendTransitOrNotMsg" priorityHere=false refId="SendTransitOrNotMessage"

      assign in sequence ElapsedSinceLastMsgTransitOrNot = 0 hour
    }
  }
}