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204 | #! TethysL version here initially based on automated translation from Science/grid_survey.xml
#! and then manually adjusted to take advantage of TethysL array/macro extensions.
#! With the limit of 75 waypoints, the original XML version has almost 2000 lines,
#! while just about 200 lines here.
#! Adding more waypoints here (no matter how many) would only involve adjusting the
#! Lat and Lon definitions, and the range for a macro (but no additional lines).
mission grid_survey {
"""
Vehicle uses grid waypoints generated from the dash to fly at a
specified depth with science turned on. One comms stop upon arrival at
the first waypoint.
"""
arguments {
MissionTimeout = 3 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
How often to surface for commumications
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints..
"""
Depth = 50 meter
"""
Depth of flat and level flight during the mission.
"""
WPTCompleted = false
"""
A waypoint has been reached (initialized to false).
"""
CntWPTS = 1 count
"""
Count of waypoints (initilized to 1).
"""
NumWPTS = 75 count
"""
Total number of waypoints allowed.
"""
Lat[1..75] = {
1..1 : 40.1 degree,
2..75 : NaN degree
}
"""
Latitude of waypoint {$}. If nan, waypoint is skipped.
"""
Lon[1..75] = {
1..1 : -69.9173 degree,
2..75 : NaN degree
}
"""
Longitude of waypoint {$}. If nan, waypoint is skipped.
"""
Speed = 1 meter_per_second
"""
Speed while transiting to waypoints.
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position during the mission. Defaults to
buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy.
"""
MassDefault = Control:VerticalControl.massDefault
"""
Static setting for mass during the mission. Set to NaN mm for active
mass position.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 65 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
LatSet = NaN degree
"""
Latitude of waypoint for mission use. Initialized to NaN.
"""
LonSet = NaN degree
"""
Longitude of waypoint for mission use. Initialized to NaN.
"""
}
# Mission timeout
timeout duration=MissionTimeout
# Science!
insert Insert/Science.tl {
"""
Run the science sensors.
"""
}
# Safety nets and surfacing behaviors
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 0 minute
assign in sequence LatSet = Lat[1]
assign in sequence LonSet = Lon[1]
call id="StartingMission" refId="NeedComms"
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Pitch {
run in parallel
set massPosition = MassDefault
set depth = Depth
}
aggregate Lap {
run in sequence repeat=Repeat
aggregate Grid {
run in parallel
macro $i = 2..75 {
aggregate SetOptionsOfWPT$i {
run when (
( WPTCompleted
and CntWPTS == $i count
)
and CntWPTS <= NumWPTS
)
assign in sequence LatSet = Lat[$i]
assign in sequence LonSet = Lon[$i]
assign in sequence WPTCompleted = false
}
}
aggregate GoToWaypoint {
run in sequence
break if (
isNaN ( LatSet )
or isNaN ( LonSet )
)
syslog important "Driving to location " + LatSet~degree + "," + LonSet~degree
behavior Guidance:Waypoint {
run in sequence
set latitude = LatSet
set longitude = LonSet
}
assign in sequence WPTCompleted = true
}
aggregate IncrementWPTCounter {
run when ( WPTCompleted )
assign in sequence CntWPTS = CntWPTS + 1 count
assign in sequence WPTCompleted = false
}
}
}
}
|