calibrate sp3003D compass.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/Deprecated/Maintenance/calibrate_sp3003D_compass.xml:169:9
     | 
 165 |       }
 166 | 
 167 |       behavior Guidance:Wait {
 168 |         run in sequence
 169 |         preemptive ( true )
     |         ^^^^^^^^^^
 170 |         set Guidance:Wait.duration = 0 second
 171 |       }
 172 | 
 173 |       aggregate Auto_Loop {
     | 
Unexpected: `preemptive`
One of the following is possible:
  break
  set
  (second form of behavior setting)
  timeout

Generated TethysL

mission calibrateSpartonCompass {
  """
  This runs a 2D Sparton compass calibration with pitch actuation.
  """

  arguments {
    MassDefault = Control:VerticalControl.massDefault

    Depth = 20.0 meter

    Speed = 1 meter_per_second

    WaitDuration = 20 second

    RudderAngle = 7 degree

    MagNorthHeading = 15 degree

    MinAltitude = 7 meter

    MaxDepth = 35 meter

    MinWaterDepth = 15 meter

    MinOffshore = 2000 meter

    NeedCommsTime = 30 minute

    ManualLoops = 1 count

    AutoLoops = 2 count

    CheckLoops = 2 count

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

    TimeoutDuration = 70 minute

    YoYoMinDepth = 15.0 meter

    YoYoMaxDepth = 30.0 meter

    YoYoUpPitch = 30.0 degree

    YoYoDownPitch = -30.0 degree
  }

  timeout duration=TimeoutDuration

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

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

  behavior Guidance:WaterDepthEnvelope {
    run in parallel
    set Guidance:WaterDepthEnvelope.minWaterDepth = MinWaterDepth
  }

  behavior Guidance:OffshoreEnvelope {
    run in parallel
    set Guidance:OffshoreEnvelope.minOffshore = MinOffshore
  }

  readData strategy="AllDevices" {
    Universal:platform_orientation
  }

  behavior Guidance:Buoyancy {
    run in progression
    set Guidance:Buoyancy.position = BuoyancyNeutral
  }

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

  behavior Guidance:Pitch {
    run in parallel
    set Guidance:Pitch.massPosition = MassDefault
  }

  aggregate MassOff {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.massPosition = MassDefault
    }

    aggregate Initialization {
      run in sequence

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

      behavior Guidance:Point {
        run in progression
        set Guidance:Point.heading = MagNorthHeading
      }

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

    aggregate PreCircles {
      run in sequence

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = RudderAngle
      }

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

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

      behavior Guidance:Point {
        run in sequence
        set Guidance:Point.heading = MagNorthHeading
      }
    }

    aggregate Calibration {
      run in sequence

      aggregate Manual_Loop {
        run in sequence repeat=ManualLoops

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = RudderAngle
        }

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

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

        behavior Guidance:Point {
          run in sequence
          set Guidance:Point.heading = MagNorthHeading
        }
      }

      behavior Guidance:Wait {
        run in sequence
        preemptive ( true )
        set Guidance:Wait.duration = 0 second
      }

      aggregate Auto_Loop {
        run in sequence repeat=AutoLoops

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = RudderAngle
        }

        behavior Guidance:Pitch id="PitchDown" {
          run when (
            Universal:platform_pitch_angle >= YoYoUpPitch
          )
          break if (
            Universal:platform_pitch_angle <= YoYoDownPitch
          )
          set Guidance:Pitch.pitch = YoYoDownPitch
        }

        behavior Guidance:Pitch id="PitchUp" {
          run when (
            Universal:platform_pitch_angle <= YoYoDownPitch
          )
          break if (
            Universal:platform_pitch_angle >= YoYoUpPitch
          )
          set Guidance:Pitch.pitch = YoYoUpPitch
        }

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

        behavior Guidance:Point {
          run in sequence
          set Guidance:Point.heading = MagNorthHeading
        }
      }

      Sensor:CalibrateSparton #! xml2tethysl note: A non-behavior Tethys definition used by itself.

    }

    aggregate PostCircles {
      run in sequence

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = RudderAngle
      }

      behavior Guidance:Pitch id="PitchDown" {
        run when (
          Universal:platform_pitch_angle >= YoYoUpPitch
        )
        break if (
          Universal:platform_pitch_angle <= YoYoDownPitch
        )
        set Guidance:Pitch.pitch = YoYoDownPitch
      }

      behavior Guidance:Pitch id="PitchUp" {
        run when (
          Universal:platform_pitch_angle <= YoYoDownPitch
        )
        break if (
          Universal:platform_pitch_angle >= YoYoUpPitch
        )
        set Guidance:Pitch.pitch = YoYoUpPitch
      }

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

      behavior Guidance:Point {
        run in sequence
        set Guidance:Point.heading = MagNorthHeading
      }
    }
  }

  aggregate PostCirclesMass {
    run in sequence

    behavior Guidance:Point {
      run in parallel
      set Guidance:Point.rudderAngle = RudderAngle
    }

    behavior Guidance:Pitch id="PitchDown" {
      run when (
        Universal:platform_pitch_angle >= YoYoUpPitch
      )
      break if (
        Universal:platform_pitch_angle <= YoYoDownPitch
      )
      set Guidance:Pitch.pitch = YoYoDownPitch
    }

    behavior Guidance:Pitch id="PitchUp" {
      run when (
        Universal:platform_pitch_angle <= YoYoDownPitch
      )
      break if (
        Universal:platform_pitch_angle >= YoYoUpPitch
      )
      set Guidance:Pitch.pitch = YoYoUpPitch
    }

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

    behavior Guidance:Point {
      run in sequence
      set Guidance:Point.heading = MagNorthHeading
    }
  }
}

Source XML

<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys" 
         xmlns:Control="Tethys/Control" 
         xmlns:Guidance="Tethys/Guidance" 
         xmlns:Sensor="Tethys/Sensor"
         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/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="calibrateSpartonCompass">

    <Description>
        This runs a 2D Sparton compass calibration with pitch actuation.
    </Description>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

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

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

    <DefineArg Name="WaitDuration"><Units:second /><Value>20</Value></DefineArg>

    <DefineArg Name="RudderAngle"><Units:degree /><Value>7</Value></DefineArg>

    <DefineArg Name="MagNorthHeading"><Units:degree /><Value>15</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Units:meter/><Value>35</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Units:meter/><Value>15</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="ManualLoops"><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="AutoLoops"><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="CheckLoops"><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="TimeoutDuration"><Units:minute/><Value>70</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Units:meter/><Value>15.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Units:meter/><Value>30.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Units:degree/><Value>30.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Units:degree/><Value>-30.0</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude /><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth /><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <Guidance:Buoyancy>
        <Progression/>
        <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

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

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Aggregate Id="MassOff">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
        </Guidance:Pitch>

        <Aggregate Id="Initialization">

            <Sequence/>

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

            <Guidance:Point>
                <Progression/>
                <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
            </Guidance:Point>

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

        </Aggregate>

        <Aggregate Id="PreCircles" Repeat = "CheckLoops">

            <Sequence/>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle /><Arg Name="RudderAngle" /></Setting>
            </Guidance:Point>

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

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

            <Guidance:Point>
                <Sequence/>
                <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="Calibration">

            <Sequence/>

            <Aggregate Id="Manual_Loop">

                <Sequence Repeat="ManualLoops"/>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle /><Arg Name="RudderAngle" /></Setting>
                </Guidance:Point>

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

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

                <Guidance:Point>
                    <Sequence/>
                    <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
                </Guidance:Point>

            </Aggregate>

            <Guidance:Wait>
                <Sequence/>
                <Preemptive>
                    <True/>
                </Preemptive>
                <Setting><Guidance:Wait.duration /><Units:second/><Value>0</Value></Setting>
            </Guidance:Wait>

            <Aggregate Id="Auto_Loop">

                <Sequence Repeat="AutoLoops"/>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle /><Arg Name="RudderAngle" /></Setting>
                </Guidance:Point>

                <Guidance:Pitch Id="PitchDown">
                    <When>
                        <Universal:platform_pitch_angle/>
                        <Ge><Arg Name="YoYoUpPitch"/></Ge>
                    </When>
                    <Break>
                        <Universal:platform_pitch_angle/>
                        <Le><Arg Name="YoYoDownPitch"/></Le>
                    </Break>
                    <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoDownPitch"/></Setting>
                </Guidance:Pitch>

                <Guidance:Pitch Id="PitchUp">
                    <When>
                        <Universal:platform_pitch_angle/>
                        <Le><Arg Name="YoYoDownPitch"/></Le>
                    </When>
                    <Break>
                        <Universal:platform_pitch_angle/>
                        <Ge><Arg Name="YoYoUpPitch"/></Ge>
                    </Break>
                    <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoUpPitch"/></Setting>
                </Guidance:Pitch>

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

                <Guidance:Point>
                    <Sequence/>
                    <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
                </Guidance:Point>

            </Aggregate>

            <Sensor:CalibrateSparton>
                <Parallel/>
            </Sensor:CalibrateSparton>

        </Aggregate>

        <Aggregate Id="PostCircles" Repeat= "CheckLoops">

            <Sequence/>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle /><Arg Name="RudderAngle" /></Setting>
            </Guidance:Point>

            <Guidance:Pitch Id="PitchDown">
                <When>
                    <Universal:platform_pitch_angle/>
                    <Ge><Arg Name="YoYoUpPitch"/></Ge>
                </When>
                <Break>
                    <Universal:platform_pitch_angle/>
                    <Le><Arg Name="YoYoDownPitch"/></Le>
                </Break>
                <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoDownPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp">
                <When>
                    <Universal:platform_pitch_angle/>
                    <Le><Arg Name="YoYoDownPitch"/></Le>
                </When>
                <Break>
                    <Universal:platform_pitch_angle/>
                    <Ge><Arg Name="YoYoUpPitch"/></Ge>
                </Break>
                <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoUpPitch"/></Setting>
            </Guidance:Pitch>

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

            <Guidance:Point>
                <Sequence/>
                <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
            </Guidance:Point>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="PostCirclesMass" Repeat= "CheckLoops">

        <Sequence/>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle /><Arg Name="RudderAngle" /></Setting>
        </Guidance:Point>

        <Guidance:Pitch Id="PitchDown">
            <When>
                <Universal:platform_pitch_angle/>
                <Ge><Arg Name="YoYoUpPitch"/></Ge>
            </When>
            <Break>
                <Universal:platform_pitch_angle/>
                <Le><Arg Name="YoYoDownPitch"/></Le>
            </Break>
            <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoDownPitch"/></Setting>
        </Guidance:Pitch>

        <Guidance:Pitch Id="PitchUp">
            <When>
                <Universal:platform_pitch_angle/>
                <Le><Arg Name="YoYoDownPitch"/></Le>
            </When>
            <Break>
                <Universal:platform_pitch_angle/>
                <Ge><Arg Name="YoYoUpPitch"/></Ge>
            </Break>
            <Setting><Guidance:Pitch.pitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:Pitch>

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

        <Guidance:Point>
            <Sequence/>
            <Setting><Guidance:Point.heading /><Arg Name="MagNorthHeading" /></Setting>
        </Guidance:Point>

    </Aggregate>

</Mission>