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/Deprecated/Engineering/compact_model_planned_transit.xml:177:5
|
173 | run in parallel
174 | set Guidance:SetSpeed.speed = Speed
175 | }
176 |
177 | Estimation:HFRadarModelPoint #! xml2tethysl note: A non-behavior Tethys definition used by itself.
| ^^^^^^^^^^
178 |
179 | }
180 | }
181 | # Unless otherwise directed, vehicle will enter Default mission and go to the surface to call home.
|
Unexpected: `Estimation`
One of the following is possible (total 12):
aggregate
assign
behavior
call
insert
readData
readDatum
sendData
syslog
touch
macro
}
missiontransit{""" Vehicle plans a path using surface currents forecast by compact model, then transits to desired waypoint. Can be commanded to use/hold mass or buoyancy. """arguments{Depth=5meter""" Depth of flat and level flight during the mission. """MaxDepth=20meter""" Maximum depth for the entire mission. """Wpt1Lat=NaNdegree""" Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """Wpt1Lon=NaNdegree""" Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """Northings=0meter""" Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """Eastings=0meter""" Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """Speed=0.75meter_per_second""" Speed of vehicle (relative to water) during the mission. """MassHold=true""" Set to True in order to hold mass at user defined position, False to allow mass to run on its own. """BuoyancyHold=true""" Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """BuoyancyNeutral=Control:VerticalControl.buoyancyNeutral""" Buoyancy bladder position while performing the transit. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. """MassDefault=Control:VerticalControl.massDefault""" Static setting for mass during the mission. """MinOffshore=1kilometer""" Minimum distance offshore for the entire mission. """NeedCommsTime=60minute""" Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """MinAltitude=7.0meter""" Minimum height above the sea floor for the entire mission. """TimeoutDuration=12hour""" Maximum length of mission """HFRadarModelGridDivide=16count""" If UseHFRadarModel is true, when calculating fine grid, divide coarse grid by this number along each axis """}timeoutduration=TimeoutDurationbehaviorGuidance:AltitudeEnvelope{runinparallelsetGuidance:AltitudeEnvelope.minAltitude=MinAltitude}behaviorGuidance:DepthEnvelope{runinparallelsetGuidance:DepthEnvelope.maxDepth=MaxDepth}behaviorGuidance:OffshoreEnvelope{runinparallelsetGuidance:OffshoreEnvelope.minOffshore=MinOffshore}# The assigns that follow are temporary equivalents to:# configSet HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy 0.0001 m/s;# configSet DeadReckonUsingCompactModelForecast.accuracyPremultiplier 0.01 none;# configSet DeadReckonWithRespectToWater.accuracyPremultiplier 1000000 none;# configSet DeadReckonWithRespectToSeafloor.accuracyPremultiplier 1000000 none;# configSet DeadReckonUsingDVLWaterTrack.accuracyPremultiplier 1000000 none;# configSet DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier 1000000 none;# configSet SpeedCalculator.speedAccuracy 0.0000001 m/s;# <Assign><Parallel/><Estimation:HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign>assigninparallelEstimation:HFRadarModelCalc.velocityAccuracy=0.0001meter_per_secondassigninparallelNavigation:DeadReckonUsingCompactModelForecast.accuracyPremultiplier=0.01noneassigninparallelNavigation:DeadReckonWithRespectToWater.accuracyPremultiplier=1000000noneassigninparallelNavigation:DeadReckonWithRespectToSeafloor.accuracyPremultiplier=1000000noneassigninparallelNavigation:DeadReckonUsingDVLWaterTrack.accuracyPremultiplier=1000000noneassigninparallelNavigation:DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier=1000000noneassigninparallelDerivation:SpeedCalculator.speedAccuracy=0.0000001meter_per_secondinsertInsert/NeedComms.tlid="NeedComms"# NOTE: The <Assign> clause below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission.assigninsequenceNeedComms:DiveInterval=NeedCommsTime# Use the default NeedComms:SurfaceSpeed of 1 m/s, regardless of the commanded speed during the mission.behaviorGuidance:Buoyancyid="BuoyancyHold"{runwhile(BuoyancyHold)setGuidance:Buoyancy.position=BuoyancyNeutral}behaviorGuidance:Pitchid="MassHold"{runwhile(MassHold)setGuidance:Pitch.massPosition=MassDefault}aggregateWaypointOne{runinsequence# Go to Wpt1behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.depth=Depth}behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=Speed}Estimation:HFRadarModelPoint#! xml2tethysl note: A non-behavior Tethys definition used by itself.}}# Unless otherwise directed, vehicle will enter Default mission and go to the surface to call home.
<?xml version="1.0" encoding="utf-8"?><Missionxmlns="Tethys"xmlns:Control="Tethys/Control"xmlns:Derivation="Tethys/Derivation"xmlns:Estimation="Tethys/Estimation"xmlns:Guidance="Tethys/Guidance"xmlns:Navigation="Tethys/Navigation"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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd Tethys/Navigation http://okeanids.mbari.org/tethys/Xml/Navigation.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"Id="transit"><Description>
Vehicle plans a path using surface currents forecast by compact model,
then transits to desired waypoint. Can be commanded to use/hold mass or
buoyancy.
</Description><DefineArgName="Depth"><Description>
Depth of flat and level flight during the mission.
</Description><Units:meter/><Value>5</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>20</Value></DefineArg><DefineArgName="Wpt1Lat"><Description>
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Wpt1Lon"><Description>
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Northings"><Description>
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="Eastings"><Description>
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="Speed"><Description>
Speed of vehicle (relative to water) during the mission.
</Description><Units:meter_per_second/><Value>0.75</Value></DefineArg><DefineArgName="MassHold"><Description>
Set to True in order to hold mass at user defined position, False to
allow mass to run on its own.
</Description><True/></DefineArg><DefineArgName="BuoyancyHold"><Description>
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
</Description><True/></DefineArg><DefineArgName="BuoyancyNeutral"><Description>
Buoyancy bladder position while performing the transit. Defaults to
buoyancyNeutral setting in the Config/Control.cfg file.
</Description><Control:VerticalControl.buoyancyNeutral/></DefineArg><DefineArgName="MassDefault"><Description>
Static setting for mass during the mission.
</Description><Control:VerticalControl.massDefault/></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum distance offshore for the entire mission.
</Description><Units:kilometer/><Value>1</Value></DefineArg><DefineArgName="NeedCommsTime"><Description>
Elapsed time after previous surface communications when vehicle will
begin to ascend for additional surface communications
</Description><Units:minute/><Value>60</Value></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum height above the sea floor for the entire mission.
</Description><Units:meter/><Value>7.0</Value></DefineArg><DefineArgName="TimeoutDuration"><Description>
Maximum length of mission
</Description><Units:hour/><Value>12</Value></DefineArg><DefineArgName="HFRadarModelGridDivide"><Description>
If UseHFRadarModel is true, when calculating fine grid, divide coarse
grid by this number along each axis
</Description><Units:count/><Value>16</Value></DefineArg><TimeoutDuration="TimeoutDuration"/><Guidance:AltitudeEnvelope><Parallel/><Setting><Guidance:AltitudeEnvelope.minAltitude/><ArgName="MinAltitude"/></Setting></Guidance:AltitudeEnvelope><Guidance:DepthEnvelope><Parallel/><Setting><Guidance:DepthEnvelope.maxDepth/><ArgName="MaxDepth"/></Setting></Guidance:DepthEnvelope><Guidance:OffshoreEnvelope><Parallel/><Setting><Guidance:OffshoreEnvelope.minOffshore/><ArgName="MinOffshore"/></Setting></Guidance:OffshoreEnvelope><!-- The assigns that follow are temporary equivalents to:configSet HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy 0.0001 m/s;configSet DeadReckonUsingCompactModelForecast.accuracyPremultiplier 0.01 none;configSet DeadReckonWithRespectToWater.accuracyPremultiplier 1000000 none;configSet DeadReckonWithRespectToSeafloor.accuracyPremultiplier 1000000 none;configSet DeadReckonUsingDVLWaterTrack.accuracyPremultiplier 1000000 none;configSet DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier 1000000 none;configSet SpeedCalculator.speedAccuracy 0.0000001 m/s; --><!-- <Assign><Parallel/><Estimation:HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign> --><Assign><Parallel/><Estimation:HFRadarModelCalc.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign><Assign><Parallel/><Navigation:DeadReckonUsingCompactModelForecast.accuracyPremultiplier/><Units:none/><Value>0.01</Value></Assign><Assign><Parallel/><Navigation:DeadReckonWithRespectToWater.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign><Assign><Parallel/><Navigation:DeadReckonWithRespectToSeafloor.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign><Assign><Parallel/><Navigation:DeadReckonUsingDVLWaterTrack.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign><Assign><Parallel/><Navigation:DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign><Assign><Parallel/><Derivation:SpeedCalculator.speedAccuracy/><Units:meter_per_second/><Value>0.0000001</Value></Assign><InsertFilename="Insert/NeedComms.tl"Id="NeedComms"/><!-- NOTE: The <Assign> clause below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission. --><Assign><Sequence/><ArgName="NeedComms:DiveInterval"/><ArgName="NeedCommsTime"/></Assign><!-- Use the default NeedComms:SurfaceSpeed of 1 m/s, regardless of the commanded speed during the mission. --><Guidance:BuoyancyId="BuoyancyHold"><While><ArgName="BuoyancyHold"/></While><Setting><Guidance:Buoyancy.position/><ArgName="BuoyancyNeutral"/></Setting></Guidance:Buoyancy><Guidance:PitchId="MassHold"><While><ArgName="MassHold"/></While><Setting><Guidance:Pitch.massPosition/><ArgName="MassDefault"/></Setting></Guidance:Pitch><AggregateId="WaypointOne"><Sequence/><!-- Go to Wpt1 --><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.depth/><ArgName="Depth"/></Setting></Guidance:Pitch><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="Speed"/></Setting></Guidance:SetSpeed><Estimation:HFRadarModelPointId="HFRadarModelPointW1"><Sequence/><Setting><Estimation:HFRadarModelPoint.latitude/><ArgName="Wpt1Lat"/></Setting><Setting><Estimation:HFRadarModelPoint.longitude/><ArgName="Wpt1Lon"/></Setting><Setting><Estimation:HFRadarModelPoint.northingsDelta/><ArgName="Northings"/></Setting><Setting><Estimation:HFRadarModelPoint.eastingsDelta/><ArgName="Eastings"/></Setting><Setting><Estimation:HFRadarModelPoint.speed/><ArgName="Speed"/></Setting><Setting><Estimation:HFRadarModelPoint.gridDivide/><ArgName="HFRadarModelGridDivide"/></Setting></Estimation:HFRadarModelPoint></Aggregate></Mission><!-- Unless otherwise directed, vehicle will enter Default mission and go to the surface to call home. -->