HFRadarModelTest.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/HFRadarModelTest.xml:91:5
    | 
 87 |     run when (
 88 |       true
 89 |     )
 90 | 
 91 |     Derivation:HFRadarModel #! xml2tethysl note: A non-behavior Tethys definition used by itself.
    |     ^^^^^^^^^^
 92 | 
 93 | 
 94 |     sendData service=express (
 95 |       eastwardSurfaceCurrent,
    | 
Unexpected: `Derivation`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

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mission HFRadarModelTest {
  arguments {
    # The following arguments are input arguments

    WpLat = 0 degree

    WpLon = 0 degree

    WpApproachDepth = 20.0 meter

    WpSpeed = 1 meter_per_second

    NeedCommsTime = 60 minute

    Timeout = 2 hour

    Depth = 40 meter

    DepthDeadband = 2.0 meter

    SciencePeriod = 10.0 minute

    BuoyPeriod = 5.0 second
  }

  output {
    eastwardSurfaceCurrent = NaN centimeter_per_second

    northwardSurfaceCurrent = NaN centimeter_per_second
  }

  # The timeout

  timeout duration=Timeout

  # And now the mission

  behavior Guidance:AltitudeEnvelope {
    run in parallel
    set Guidance:AltitudeEnvelope.minAltitude = 7 meter
  }

  behavior Guidance:DepthEnvelope {
    run in parallel
    set Guidance:DepthEnvelope.maxDepth = 70 meter
  }

  behavior Guidance:OffshoreEnvelope {
    run in parallel
    set Guidance:OffshoreEnvelope.minOffshore = 2.0 kilometer
    set Guidance:OffshoreEnvelope.maxOffshore = 30.0 kilometer
  }

  insert Insert/Surface.tl id="SurfaceComms" {
    redefineArg SurfaceSpeed = 0 meter_per_second
  }



  # GPS Update.  Don't go too long w/o a GPS fix.

  aggregate NeedComms {
    run when (
      elapsed ( Universal:time_fix ) > NeedCommsTime
    )

    call refId="SurfaceComms"
  }

  behavior Guidance:SetSpeed {
    run while ( Universal:platform_propeller_rotation_rate == 0 radian_per_second )
    set Guidance:SetSpeed.period = BuoyPeriod
  }

  # If we're executing here or below, lets' get science data!

  readData {
    period ( SciencePeriod )
    Universal:mole_concentration_of_nitrate_in_sea_water
    Universal:sea_water_temperature
    Universal:sea_water_salinity
    Universal:mass_concentration_of_chlorophyll_in_sea_water
    Universal:mass_concentration_of_oxygen_in_sea_water
  }

  aggregate Test {
    run when (
      true
    )

    Derivation:HFRadarModel #! xml2tethysl note: A non-behavior Tethys definition used by itself.


    sendData service=express (
      eastwardSurfaceCurrent,
      northwardSurfaceCurrent
    )


    syslog eastwardSurfaceCurrent ~ centimeter_per_second
         + northwardSurfaceCurrent ~ centimeter_per_second

    behavior Guidance:Wait {
      run in sequence
      set Guidance:Wait.duration = SciencePeriod
    }
  }

  aggregate Waypoint {
    run in sequence

    break if (
      WpLat == 0 degree
      or ( WpLon == 0 degree )
    )

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.depth = WpApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel
      set Guidance:SetSpeed.speed = WpSpeed
    }

    behavior Guidance:Waypoint id="WaypointW1" {
      run in sequence
      set Guidance:Waypoint.latitude = WpLat
      set Guidance:Waypoint.longitude = WpLon
    }

    call refId="SurfaceComms"
  }

  aggregate hold {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel
      set Guidance:SetSpeed.speed = 0 meter_per_second
    }

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.depth = Depth
    }
  }
}

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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="HFRadarModelTest">

<!-- The following arguments are input arguments -->

    <DefineArg Name="WpLat"><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="WpLon"><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="WpApproachDepth"><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="WpSpeed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Timeout"><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="Depth"><Units:meter/><Value>40</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="SciencePeriod"><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>5.0</Value></DefineArg>

    <DefineOutput Name="eastwardSurfaceCurrent"><Units:centimeter_per_second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="northwardSurfaceCurrent"><Units:centimeter_per_second/><Value>NaN</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="Timeout"/>

<!-- And now the mission -->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>70</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.tl" Id="SurfaceComms">
        <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>0</Value></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Arg Name="NeedCommsTime"/></Gt>
        </When>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Guidance:SetSpeed>
        <While>
            <Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

<!-- If we're executing here or below, lets' get science data! -->

    <ReadData>
        <Period><Arg Name="SciencePeriod"/></Period>
        <Universal:mole_concentration_of_nitrate_in_sea_water/>
        <Universal:sea_water_temperature/>
        <Universal:sea_water_salinity/>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water/>
        <Universal:mass_concentration_of_oxygen_in_sea_water/>
    </ReadData>

    <Aggregate Id="Test">

        <When>
            <True/>
        </When>

        <Derivation:HFRadarModel>
            <Sequence/>
            <OutputArg Name="eastwardSurfaceCurrent"><Derivation:HFRadarModel.eastwardSurfaceCurrent/></OutputArg>
            <OutputArg Name="northwardSurfaceCurrent"><Derivation:HFRadarModel.northwardSurfaceCurrent/></OutputArg>
        </Derivation:HFRadarModel>

        <SendData Service="Express"><Arg Name="eastwardSurfaceCurrent"/><Arg Name="northwardSurfaceCurrent"/>
        </SendData>

        <Syslog><Arg Name="eastwardSurfaceCurrent"/><Units:centimeter_per_second/><Arg Name="northwardSurfaceCurrent"/><Units:centimeter_per_second/></Syslog>

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

    </Aggregate>

    <Aggregate Id="Waypoint">

        <Sequence/>

        <Break><Arg Name="WpLat" />
            <Eq><Units:degree/><Value>0</Value></Eq>
            <Or><Arg Name="WpLon" /><Eq><Units:degree/><Value>0</Value></Eq></Or>
        </Break>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth /><Arg Name="WpApproachDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="WpSpeed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Waypoint Id="WaypointW1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude /><Arg Name="WpLat" /></Setting>
            <Setting><Guidance:Waypoint.longitude /><Arg Name="WpLon" /></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceComms" />

    </Aggregate>

    <Aggregate Id="hold">

        <Sequence/>

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

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

    </Aggregate>

</Mission>