Tow passive.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/tow_passive.xml:130:5
     | 
 126 |     Sensor:PowerOnly.samplePowerOnly
 127 |   }
 128 | 
 129 |   aggregate Towing {
 130 |     aggregate WaitingForTow {
     |     ^^^^^^^^^
 131 |       run while (
 132 |         not ( UnderTow )
 133 |         and ( not ( UnderTowTimerArmed ) )
 134 |         and ( Universal:depth < TowBoundUp )
     | 
Unexpected: `aggregate`
One of the following is possible:
  """
  arguments
  output
  run
  test_code
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mission tow_passive {
  """
  Vehicle gets towed underwater at a fairly consistent depth and released
  without the vehicle knowing. Depth limits trigger the end of the
  mission.
  """

  arguments {
    MissionTimeout = 30 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    TowBoundUp = 2 meter
      """
      Once the vehicle reaches this depth for the timeout, it's no longer
      considered in tow.
      """

    TowBoundDown = 8 meter
      """
      Once the vehicle reaches this depth for the timeout, it's no longer
      considered in tow.
      """

    MaxDepth = 15 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during. Defaults to massDefault setting.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position. Defaults to buoyancyNeutral setting.
      """

    UnderTow = false
      """
      Sets true when we've been under long enough that we think we're under
      tow.
      """

    UnderTowTimerArmed = false
      """
      Sets true when we hit the top depth and want to arm the clock.
      """

    TowTimeout = 3 minute
      """
      How long to wait until we're probably not being towed anymore
      """

    ArmingInterval = 60 second
      """
      Used to measure elapsed time
      """

    TowTimer = NaN minute
      """
      Elapsed time tow.
      """
  }

  timeout duration=MissionTimeout

  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:WaitForPitchUp = 0 minute

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    call refId="NeedComms"
  }

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

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

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

  syslog important "Lights, Camera on!"

  readData strategy="MinError" {
    Sensor:PowerOnly.samplePowerOnly
  }

  aggregate Towing {
    aggregate WaitingForTow {
      run while (
        not ( UnderTow )
        and ( not ( UnderTowTimerArmed ) )
        and ( Universal:depth < TowBoundUp )
      )

      syslog important "Ready To Launch"
    }

    aggregate StartingTow {
      run when (
        not ( UnderTow )
        and ( not ( UnderTowTimerArmed ) )
        and ( Universal:depth > TowBoundUp )
      )

      assign in sequence UnderTowTimerArmed = true

      assign in sequence TowTimer = Universal:time

      syslog important "Tow Launched"
    }

    aggregate ArmingTow {
      run when (
        not ( UnderTow )
        and UnderTowTimerArmed
        and ( Universal:depth > TowBoundUp )
        and ( Universal:time - TowTimer > ArmingInterval )
      )

      assign in sequence UnderTow = true

      assign in sequence UnderTowTimerArmed = false
    }

    aggregate InTow {
      run when (
        UnderTow
        and ( not ( UnderTowTimerArmed ) )
        and ( Universal:depth > TowBoundUp )
        and ( Universal:depth < TowBoundDown )
      )

      syslog info "Under Tow"

      assign in sequence TowTimer = Universal:time
    }

    aggregate OutOfTow {
      run when (
        Universal:depth < TowBoundUp
        or ( Universal:depth > TowBoundDown )
        and UnderTow
        and ( Universal:time - TowTimer > TowTimeout )
      )

      syslog important "Off Tow. Stopping Mission"

      behavior Guidance:Execute {
        run in sequence
        set Guidance:Execute.command = "stop"
      }
    }
  }
}
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<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys"
        xmlns:Control="Tethys/Control"
        xmlns:Guidance="Tethys/Guidance" 
        xmlns:Units="Tethys/Units"
        xmlns:Sensor="Tethys/Sensor"        
        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/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                            Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd" 
        Id="tow_passive">

    <Description>
        Vehicle gets towed underwater at a fairly consistent depth and released
        without the vehicle knowing. Depth limits trigger the end of the
        mission.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TowBoundUp"><Description>
        Once the vehicle reaches this depth for the timeout, it's no longer
        considered in tow.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="TowBoundDown"><Description>
        Once the vehicle reaches this depth for the timeout, it's no longer
        considered in tow.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>15</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance offshore for the entire mission.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during. Defaults to massDefault setting.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position. Defaults to buoyancyNeutral setting.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="UnderTow"><Description>
        Sets true when we've been under long enough that we think we're under
        tow.
    </Description><False/></DefineArg>

    <DefineArg Name="UnderTowTimerArmed"><Description>
        Sets true when we hit the top depth and want to arm the clock.
    </Description><False/></DefineArg>

    <DefineArg Name="TowTimeout"><Description>
        How long to wait until we're probably not being towed anymore
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="ArmingInterval"><Description>
        Used to measure elapsed time
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="TowTimer"><Description>
        Elapsed time tow.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <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:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

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

        <Call RefId="NeedComms"/>

    </Aggregate>

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

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

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

    <Syslog Severity="Important">Lights, Camera on!</Syslog>

    <ReadData Strategy="MinError">
        <Sensor:PowerOnly.samplePowerOnly/>
    </ReadData>

    <Aggregate Id="Towing">

        <Aggregate Id="WaitingForTow">

            <While>
                <Not><Arg Name="UnderTow"/></Not>
                <And><Not><Arg Name="UnderTowTimerArmed"/></Not></And>
                <And><Universal:depth/><Lt><Arg Name="TowBoundUp"/></Lt></And>
            </While>

            <Syslog Severity="Important">Ready To Launch</Syslog>

        </Aggregate>

        <Aggregate Id="StartingTow">

            <When>
                <Not><Arg Name="UnderTow"/></Not>
                <And><Not><Arg Name="UnderTowTimerArmed"/></Not></And>
                <And><Universal:depth/><Gt><Arg Name="TowBoundUp"/></Gt></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TowTimer"/><Universal:time/></Assign>

            <Syslog Severity="Important">Tow Launched</Syslog>

        </Aggregate>

        <Aggregate Id="ArmingTow">

            <When>
                <Not><Arg Name="UnderTow"/></Not>
                <And><Arg Name="UnderTowTimerArmed"/></And>
                <And><Universal:depth/><Gt><Arg Name="TowBoundUp"/></Gt></And>
                <And><Universal:time/><Sub><Arg Name="TowTimer"/></Sub><Gt><Arg Name="ArmingInterval"/></Gt></And>
            </When>

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

            <Assign><Sequence/><Arg Name="UnderTowTimerArmed"/><False/></Assign>

        </Aggregate>

        <Aggregate Id="InTow">

            <When>
                <Arg Name="UnderTow"/>
                <And><Not><Arg Name="UnderTowTimerArmed"/></Not></And>
                <And><Universal:depth/><Gt><Arg Name="TowBoundUp"/></Gt></And>
                <And><Universal:depth/><Lt><Arg Name="TowBoundDown"/></Lt></And>
            </When>

            <Syslog Severity="Info">Under Tow</Syslog>

            <Assign><Sequence/><Arg Name="TowTimer"/><Universal:time/></Assign>

        </Aggregate>

        <Aggregate Id="OutOfTow">

            <When>
                <Universal:depth/>
                <Lt><Arg Name="TowBoundUp"/></Lt>
                <Or><Universal:depth/><Gt><Arg Name="TowBoundDown"/></Gt></Or>
                <And><Arg Name="UnderTow"/></And>
                <And><Universal:time/><Sub><Arg Name="TowTimer"/></Sub><Gt><Arg Name="TowTimeout"/></Gt></And>
            </When>

            <Syslog Severity="Important">Off Tow. Stopping Mission</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

        </Aggregate>

    </Aggregate>

</Mission>