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_examples/grid_survey_yoyo.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.

#! 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..
      """

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

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    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.
      """

    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
  }

  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 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
  }

  behavior Guidance:YoYo {
    run in parallel

    set downPitch = YoYoDownPitch
    set upPitch = YoYoUpPitch
  }

  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
      }
    }
  }
}