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/Maintenance/calibrate_sp3003D_compass.xml:285:9
     | 
 281 | 
 282 |         run in sequence
 283 | 
 284 | 
 285 |         preemptive ( true )
     |         ^^^^^^^^^^
 286 | 
 287 |         set Guidance:Wait.duration = 0 second
 288 | 
 289 |       }
     | 
Unexpected: `preemptive`
One of the following is possible:
  set
  (second form of behavior setting)
  break
  timeout
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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
    }

    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

    }


  }

}
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<?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>