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_examples/grid_survey.tl

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#! 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.xml {
    """
    Run the science sensors.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.xml
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.xml
  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
      }
    }
  }
}