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:170:5
     | 
 166 |   aggregate Home {
 167 |     """
 168 |     Head towards the target.
 169 |     """
 170 |     break if ( Universal:acoustic_contact_range  < ContactDistance )
     |     ^^^^^
 171 |     behavior Guidance:Pitch  {
 172 | 
 173 |       run in parallel
 174 | 
     | 
Unexpected: `break`
One of the following is possible:
  arguments
  output
  run

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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.
  """
  # Define mission arguments

  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.
      """

  }

  # Internal variables that you should not change

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

  }

  # Mission timeout

  timeout duration=MissionTimeout
  insert Insert/Science.xml {

    """
    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.xml

  assign in sequence  StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  insert Insert/NeedComms.xml 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

    }


  }

}

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<?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.xml">
        <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.xml"/>

    <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.xml" 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>