hotBunk.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/Engineering/hotBunk.xml:173:5
     | 
 169 |     """
 170 |     Head towards the target.
 171 |     """
 172 | 
 173 |     break if (
     |     ^^^^^
 174 |       Universal:acoustic_contact_range < ContactDistance
 175 |     )
 176 | 
 177 |     behavior Guidance:Pitch {
     | 
Unexpected: `break`
One of the following is possible:
  arguments
  output
  run

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
mission hotBunk {
  """
  Home to target and, when within ContactDistance, perform a hockey stop (rudder hard over, speed 0) and
  wait for settle time to expire at ContactDepth. Ideally this mission would be used in conjunction with
  the scheduler in order to kick off another mission underwater once the settle time has expired.
  """

  arguments {
    # Define mission arguments

    MissionTimeout = 2 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for commumications
      """

    ContactLabel = 9 count
      """
      The acoustic address of the asset to be tracked
      """

    ContactDepth = 10 meter
      """
      The depth of the asset to be tracked
      """

    ContactDistance = 50 meter
      """
      How close to get before stopping
      """

    TrackingUpdatePeriod = 5 second
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    Speed = 1 meter_per_second
      """
      Vehicle speed.
      """

    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    SettleTime = 10 minute
      """
      Wait this long to settle after stopping the prop
      """

    CenterLatitude = 36.797 degree
      """
      The latitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    CenterLongitude = -121.847 degree
      """
      The longitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    CircleRadius = 25 meter
      """
      Radius of circle around acoustic contact during wait time
      """

    CircleMaxError = 10 meter
      """
      If this distance away from the circle, drive straight towards (or away
      from the center). Otherwise, try to reduce distance from the ideal
      circle.
      """

    CircleTurnToPort = false
      """
      If true, vehicle turns to the left around the center point. If false,
      vehicle turns to the right.
      """
  }

  output {
    # Internal variables that you should not change

    CenterTouched = false
      """
      Flag to indicate center lon/lat was updated.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }



  # 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 Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Add track acoustic contact directive high in the stack.
  behavior Estimation:TrackAcousticContact {
    run in parallel
    set Estimation:TrackAcousticContact.contactLabelSetting = ContactLabel
    set Estimation:TrackAcousticContact.contactDepthSetting = ContactDepth
    set Estimation:TrackAcousticContact.numberOfSamplesSetting = NumberOfPings
    set Estimation:TrackAcousticContact.updatePeriodSetting = TrackingUpdatePeriod
  }

  aggregate UpdateCenter {
    run when (
      elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < ( elapsed ( CenterTouched ) )
    )

    assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude

    assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude

    assign in sequence CenterTouched = true
  }

  # Start mission sequence.

  aggregate Home {
    """
    Head towards the target.
    """

    break if (
      Universal:acoustic_contact_range < ContactDistance
    )

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
    }

    behavior Guidance:Buoyancy {
      run in parallel
      set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
    }

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

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

    behavior Guidance:Circle {
      run in parallel
      set Guidance:Circle.latitude = CenterLatitude
      set Guidance:Circle.longitude = CenterLongitude
      set Guidance:Circle.radius = CircleRadius
      set Guidance:Circle.maxError = CircleMaxError
      set Guidance:Circle.turnToPort = CircleTurnToPort
    }
  }

  aggregate Hockey_Stop {
    syslog important "Hockey stop! Range: "
         + Universal:acoustic_contact_range ~ meter

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

    behavior Guidance:Point {
      run in parallel
      set Guidance:Point.rudderAngle = 13 degree
    }

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

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

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="hotBunk">

    <Description>
        Home to target and, when within ContactDistance, perform a hockey stop (rudder hard over, speed 0) and
        wait for settle time to expire at ContactDepth. Ideally this mission would be used in conjunction with
        the scheduler in order to kick off another mission underwater once the settle time has expired. 
    </Description>

<!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>9</Value></DefineArg>

    <DefineArg Name="ContactDepth"><Description>
        The depth of the asset to be tracked
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="ContactDistance"><Description>
        How close to get before stopping 
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        Wait this long to settle after stopping the prop
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>36.797</Value></DefineArg>

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>-121.847</Value></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around acoustic contact during wait time
    </Description><Units:meter/><Value>25</Value></DefineArg>

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

<!-- Internal variables that you should not change -->

    <DefineOutput Name="CenterTouched"><Description>
        Flag to indicate center lon/lat was updated.
    </Description><False/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.tl">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
    </Insert>

<!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.tl"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.tl" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>


    <!-- Add track acoustic contact directive high in the stack. -->
    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:TrackAcousticContact.contactDepthSetting/><Arg Name="ContactDepth"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:TrackAcousticContact.range_to_contact/></Elapsed>
            <Lt><Elapsed><Arg Name="CenterTouched"/></Elapsed></Lt>
        </When>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Estimation:TrackAcousticContact.contact_latitude/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Estimation:TrackAcousticContact.contact_longitude/></Assign>

        <Assign><Sequence/><Arg Name="CenterTouched"/><True/></Assign>

    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Home">
       <Description>
           Head towards the target.
       </Description>

        <Break>
            <Universal:acoustic_contact_range/>
            <Lt><Arg Name="ContactDistance"/></Lt>
        </Break>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

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

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

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

        <Guidance:Circle>
            <Parallel/>
            <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
            <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
            <Setting><Guidance:Circle.radius/><Arg Name="CircleRadius"/></Setting>
            <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
            <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
        </Guidance:Circle>

    </Aggregate>


    <Aggregate Id="Hockey Stop">

        <Syslog Severity="Important">Hockey stop! Range: <Universal:acoustic_contact_range/><Units:meter/></Syslog>

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

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>

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

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

    </Aggregate>

</Mission>