DockingTankTestPitchControl.xml

Page auto-generated from XML file.

Failure

The generated TethysL source could not be parsed, likely due to source XML not being well-formed.

Below is the compile error at the TethysL level, as well as the source XML.

The TethysL file name shown below does not necessarily indicate the file exists, but hints about the actual corresponding .xml file.

Syntax error:
   --> lrauv-application/Missions/Demo/DockingTankTestPitchControl.xml:83:5
    | 
 79 |   timeout duration=P15M
 80 |   aggregate TankDocking {
 81 |     # Be neutral the entire time
 82 | 
 83 |     behavior Guidance:Buoyancy  {
    |     ^^^^^^^^
 84 | 
 85 |       run in parallel
 86 | 
 87 | 
    | 
Unexpected: `behavior`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

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mission DockingTankTestPitchControl {
  """
  1.) Wait timeout for loading in launcher.
  2.) Turn on prop and arm for docking.
  3.) Wait timeout for either cable present or timeout.
  4.) Cable present == latch for timeout then release, back up and end mission.
  5.) No cable present == speed 0 and end mission.
  6.) end mission == float up at 0 speed
  """
  arguments {
    Speed = 1 meter_per_second
      """
      Thruster speed for docking.
      """

    DockingDepth = 1.22 meter
      """
      How deep in the tank do you want to swim?
      """

    WaitForLoadTimeout = 90 second
      """
      Time to wait prior to turning on the prop.
      """

    LaunchTimeout = 60 second
      """
      Time to wait with the prop on driving to the dock.
      """

    LatchTimeout = 15 second
      """
      Time to wait before closing the latch after seeing the cable.
      """

    DetachTimeout = 7 second
      """
      Time to wait for dock detach.
      """

    FloatTimeout = 120 second
      """
      How long to wait for the vehicle to float to the surface.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position
      """

    ElevtorDeadband = 0.1 arcdeg
      """
      Degree of rounding in elevator command output value
      """

    kpPitchElevatorGain = 0.25 none
      """
      proportional gain
      """

    kiPitchElevatorGain = 0.008 reciprocal_second
      """
      integral gain
      """

    kdPitchElevatorGain = 0.05 second
      """
      derivative gain
      """

    RudderDefault = 3.0 degree
      """
      Static setting for rudder.
      """

  }

  timeout duration=P15M
  aggregate TankDocking {
    # Be neutral the entire time

    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral

    }


    behavior Guidance:Pitch  {

      run in parallel


      set Guidance:Pitch.massPosition = MassDefault

      set : = (Guidance:Pitch.pitch 0) degree

      set Guidance:Pitch.depth = DockingDepth

    }


    # Set up the elevator gains and deadband

    assign in parallel Control:VerticalControl.elevDeadband = ElevtorDeadband
    assign in parallel Control:VerticalControl.kpPitchElevator = kpPitchElevatorGain
    assign in parallel Control:VerticalControl.kiPitchElevator = kiPitchElevatorGain
    assign in parallel Control:VerticalControl.kdPitchElevator = kdPitchElevatorGain
    # set up the horizontal control

    behavior Guidance:Point  {

      run in parallel


      set Guidance:Point.rudderAngle = RudderDefault

    }


    # Let's fire up the DockingServo component here just so it's ready to go

    readData strategy="MinError" {

      in parallel

      Dock:Dock.docking_state

    }
    # Start with the arm closed if it isn't already

    assign in sequence  Dock:Dock.docking_state_cmd = 1 enum
    aggregate Wait_for_loading {
      syslog info "Waiting to load for " + WaitForLoadTimeout~second
      behavior Guidance:Wait  {

        run in sequence


        set Guidance:Wait.duration = WaitForLoadTimeout

      }


    }

    aggregate LaunchAndDock {
      timeout duration=LaunchTimeout {

        syslog important "Timed out while driving to the dock."

      }

      syslog info "Prop on and arming!"
      behavior Guidance:SetSpeed  {

        run in parallel


        set Guidance:SetSpeed.speed = Speed

      }


      # Arm the....arm. Hmm....

      assign in sequence  Dock:Dock.docking_state_cmd = 2 enum
      aggregate Latch {
        run when ( Dock:Dock.dock_cable_present == true )
        behavior Guidance:Wait  {

          run in sequence


          set Guidance:Wait.duration = LatchTimeout

        }


        # close the arm cut the prop

        assign in sequence  Dock:Dock.docking_state_cmd = 1 enum
        behavior Guidance:SetSpeed  {

          run in parallel


          set Guidance:SetSpeed.speed = 0 meter_per_second

        }


      }

      behavior Guidance:Wait  {

        run in sequence


        set Guidance:Wait.duration = LaunchTimeout

      }


    }

    aggregate Detach {
      # open to detach

      assign in sequence  Dock:Dock.docking_state_cmd = 2 enum
      # And reverse

      behavior Guidance:SetSpeed  {

        run in parallel


        set Guidance:SetSpeed.speed = -1 meter_per_second

      }


      behavior Guidance:Wait  {

        run in sequence


        set Guidance:Wait.duration = DetachTimeout

      }


    }

  }

  aggregate Float_Up {
    # close

    assign in sequence  Dock:Dock.docking_state_cmd = 1 enum
    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyDefault

    }


    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = 0 meter_per_second

    }


    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = FloatTimeout

    }


  }

}

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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Sensor="Tethys/Sensor" 
       xmlns:Units="Tethys/Units"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Dock="Tethys/Dock"       
       xmlns:Guidance="Tethys/Guidance"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="DockingTankTestPitchControl">

   <Description>
        1.) Wait timeout for loading in launcher.
        2.) Turn on prop and arm for docking.
        3.) Wait timeout for either cable present or timeout. 
        4.) Cable present == latch for timeout then release, back up and end mission.
        5.) No cable present == speed 0 and end mission.
        6.) end mission == float up at 0 speed
    </Description>

    <DefineArg Name="Speed"><Description>
        Thruster speed for docking.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineOutput Name="DockingDepth"><Description>
        How deep in the tank do you want to swim?
    </Description><Units:meter/><Value>1.22</Value></DefineOutput>    

    <DefineArg Name="WaitForLoadTimeout"><Description>
        Time to wait prior to turning on the prop.
    </Description><Units:second/><Value>90</Value></DefineArg>    

    <DefineArg Name="LaunchTimeout"><Description>
        Time to wait with the prop on driving to the dock.
    </Description><Units:second/><Value>60</Value></DefineArg>  

    <DefineArg Name="LatchTimeout"><Description>
        Time to wait before closing the latch after seeing the cable.
    </Description><Units:second/><Value>15</Value></DefineArg> 

    <DefineArg Name="DetachTimeout"><Description>
        Time to wait for dock detach.
    </Description><Units:second/><Value>7</Value></DefineArg>      

    <DefineArg Name="FloatTimeout"><Description>
        How long to wait for the vehicle to float to the surface.
    </Description><Units:second/><Value>120</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="ElevtorDeadband"><Description>
        Degree of rounding in elevator command output value
    </Description><Units:arcdeg/><Value>0.1</Value></DefineArg>

    <DefineArg Name="kpPitchElevatorGain"><Description>
        proportional gain
    </Description><Units:none/><Value>0.25</Value></DefineArg>

    <DefineArg Name="kiPitchElevatorGain"><Description>
        integral gain
    </Description><Units:reciprocal_second/><Value>0.008</Value></DefineArg>

    <DefineArg Name="kdPitchElevatorGain"><Description>
        derivative gain
    </Description><Units:second/><Value>0.05</Value></DefineArg>    

    <DefineArg Name="RudderDefault"><Description>
        Static setting for rudder.
    </Description><Units:degree/><Value>3.0</Value></DefineArg>

    <Timeout Duration="P15M"/>

    <Aggregate Id="TankDocking">

        <!-- Be neutral the entire time -->   
        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            <Setting>:<Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
        </Guidance:Pitch>

        <!-- Set up the elevator gains and deadband -->
        <Assign><Parallel/><Control:VerticalControl.elevDeadband/><Arg Name="ElevtorDeadband"/></Assign>
        <Assign><Parallel/><Control:VerticalControl.kpPitchElevator/><Arg Name="kpPitchElevatorGain"/></Assign>
        <Assign><Parallel/><Control:VerticalControl.kiPitchElevator/><Arg Name="kiPitchElevatorGain"/></Assign>
        <Assign><Parallel/><Control:VerticalControl.kdPitchElevator/><Arg Name="kdPitchElevatorGain"/></Assign>

        <!-- set up the horizontal control -->           
        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderDefault"/></Setting>
        </Guidance:Point>

        <!-- Let's fire up the DockingServo component here just so it's ready to go -->   
        <ReadData Strategy="MinError">
              <Parallel/>
            <Dock:Dock.docking_state/>
        </ReadData>

        <!-- Start with the arm closed if it isn't already -->  
        <Assign><Sequence/><Dock:Dock.docking_state_cmd/><Units:enum/><Value>1</Value></Assign>             


        <Aggregate Id="Wait for loading">
              <Syslog Severity="Info">Waiting to load for <Arg Name="WaitForLoadTimeout"/><Units:second/></Syslog>
            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="WaitForLoadTimeout"/></Setting>
            </Guidance:Wait>             
        </Aggregate>


        <Aggregate Id="LaunchAndDock">
            <Timeout Duration="LaunchTimeout">
                <Syslog Severity="Important">Timed out while driving to the dock.</Syslog>
            </Timeout>

            <Syslog Severity="Info">Prop on and arming!</Syslog>
            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
            </Guidance:SetSpeed>

            <!-- Arm the....arm. Hmm....  --> 
            <Assign><Sequence/><Dock:Dock.docking_state_cmd/><Units:enum/><Value>2</Value></Assign>


                <Aggregate Id="Latch">
                <When>
                    <Dock:Dock.dock_cable_present/>
                    <Eq><True/></Eq>
                </When>

                    <Guidance:Wait>
                        <Sequence/>
                        <Setting><Guidance:Wait.duration/><Arg Name="LatchTimeout"/></Setting>
                    </Guidance:Wait>                

                    <!-- close the arm cut the prop --> 
                    <Assign><Sequence/><Dock:Dock.docking_state_cmd/><Units:enum/><Value>1</Value></Assign>             
                    <Guidance:SetSpeed>
                        <Parallel/>
                        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                    </Guidance:SetSpeed>                
                </Aggregate>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="LaunchTimeout"/></Setting>
            </Guidance:Wait> 

        </Aggregate>


        <Aggregate Id="Detach">
            <!-- open to detach  --> 
            <Assign><Sequence/><Dock:Dock.docking_state_cmd/><Units:enum/><Value>2</Value></Assign>

            <!-- And reverse -->   
            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>-1</Value></Setting>
            </Guidance:SetSpeed>  

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="DetachTimeout"/></Setting>
            </Guidance:Wait> 

        </Aggregate>

    </Aggregate>


    <Aggregate Id="Float Up">    
        <!-- close  --> 
        <Assign><Sequence/><Dock:Dock.docking_state_cmd/><Units:enum/><Value>1</Value></Assign>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyDefault/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>          

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="FloatTimeout"/></Setting>
        </Guidance:Wait>     

    </Aggregate>        

</Mission>