Pressure vessel closeout.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/pressure_vessel_closeout.xml:54:7
    | 
 50 | 
 51 |     syslog important "Moving mass to index position: 0 mm"
 52 |     readDatum id="Communicate" {
 53 | 
 54 |       in sequence
    |       ^^
 55 | 
 56 |       Universal:platform_communications
 57 | 
 58 |     }
    | 
Unexpected: `in`
One of the following is possible:
  """
  ID
  break
  timeout

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mission pressure_vessel_closeout {
  arguments {
    MissionTimeout = 4 hour
      """
      Maximum mission length.
      """

    WaitDuration = 5 second
      """
      How long to pause between mass moves or onboard sensor updates.
      """

    VehicleOpen = BIT:CBIT.vehicleOpen
      """
      The vehicle is open.
      """

    AllowableMassDeadband = 0.1 millimeter
      """
      How close to get to the specified mass position before considering it
      close enough. This goes into a mission-level Break condition because
      Guidance:Pitch.massPosition never evaluates to satisfied.
      """

  }

  timeout duration=MissionTimeout
  assign in sequence  BIT:CBIT.vehicleOpen = VehicleOpen
  behavior Guidance:Execute  {

    run in sequence


    set Guidance:Execute.command = "gfscan"

  }


  aggregate CheckMassPositions {
    run in sequence
    behavior Guidance:Execute  {

      run in sequence


      set Guidance:Execute.command = "report t platform_mass_position"

    }


    syslog important "Moving mass to index position: 0 mm"
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Pitch  {

      run in sequence


      timeout duration=P1M {

        syslog error "Timed out approaching index mass position."

      }


      break if ( abs ( Universal:platform_mass_position  - 0 millimeter ) < AllowableMassDeadband )

      set Guidance:Pitch.massPosition = 0 millimeter

    }


    syslog important "Mass at " + Universal:platform_mass_position~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = WaitDuration

    }


    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    syslog important "Moving mass to forward software limit: " + Control:VerticalControl.massPositionLimitFwd~millimeter
    behavior Guidance:Pitch  {

      run in sequence


      timeout duration=P1M {

        syslog error "Timed out approaching forward sofware limit."

      }


      break if ( (Control:VerticalControl.massPositionLimitFwd - Universal:platform_mass_position) <= AllowableMassDeadband )

      set Guidance:Pitch.massPosition = Control:VerticalControl.massPositionLimitFwd

    }


    syslog important "Mass at " + Universal:platform_mass_position~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = WaitDuration

    }


    syslog important "Moving mass to aft software limit: " + Control:VerticalControl.massPositionLimitAft~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Pitch  {

      run in sequence


      timeout duration=P1M {

        syslog error "Timed out approaching aft software limit."

      }


      break if ( (Universal:platform_mass_position  - Control:VerticalControl.massPositionLimitAft) <= AllowableMassDeadband )

      set Guidance:Pitch.massPosition = Control:VerticalControl.massPositionLimitAft

    }


    syslog important "Mass at " + Universal:platform_mass_position~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = WaitDuration

    }


    syslog important "Moving mass to default position: " + Control:VerticalControl.massDefault~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Pitch  {

      run in sequence


      timeout duration=P1M {

        syslog error "Timed out approaching default mass position."

      }


      break if ( abs ( Universal:platform_mass_position  - Control:VerticalControl.massDefault ) < AllowableMassDeadband )

      set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault

    }


    syslog important "Mass at " + Universal:platform_mass_position~millimeter
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = WaitDuration

    }


    behavior Guidance:Execute  {

      run in sequence


      set Guidance:Execute.command = "report clear"

    }


  }

  aggregate CheckPTH {
    run in sequence repeat=4096
    behavior Guidance:Execute  {

      run in sequence


      set Guidance:Execute.command = "gfscan"

    }


    sendData service=express  (
      Sensor:Onboard.Pressure~atmosphere,
      Sensor:Onboard.Temperature~celsius,
      Sensor:Onboard.Humidity~percent
    )

    syslog important "Pressure: " + Sensor:Onboard.Pressure~atmosphere + " [0.6 atm]; Temperature: " + Sensor:Onboard.Temperature~celsius + " [n/a degC]; Humidity: " + Sensor:Onboard.Humidity~percent + " [20 %]"
    readDatum id="Communicate" {

      in sequence

      Universal:platform_communications

    }

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = WaitDuration

    }


  }

  syslog important "Restarting logs and exiting to Default mission."
  behavior Guidance:Execute  {

    run in sequence


    set Guidance:Execute.command = "restart logs"

  }


}

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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:BIT="Tethys/BIT"
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/BIT http://okeanids.mbari.org/tethys/Xml/BIT.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/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
Id="pressure_vessel_closeout">

    <DefineArg Name="MissionTimeout"><Description>
        Maximum mission length.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        How long to pause between mass moves or onboard sensor updates.
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="VehicleOpen"><Description>
        The vehicle is open.
    </Description><BIT:CBIT.vehicleOpen/></DefineArg>

    <DefineArg Name="AllowableMassDeadband"><Description>
        How close to get to the specified mass position before considering it
        close enough. This goes into a mission-level Break condition because
        Guidance:Pitch.massPosition never evaluates to satisfied.
    </Description><Units:millimeter/><Value>0.1</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Assign><Sequence/><BIT:CBIT.vehicleOpen/><Arg Name="VehicleOpen"/></Assign>

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

    <Aggregate Id="CheckMassPositions">

        <Sequence/>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>report t platform_mass_position</String></Setting>
        </Guidance:Execute>

        <Syslog Severity="Important">Moving mass to index position: 0 mm</Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="P1M">
                <Syslog Severity="Error">Timed out approaching index mass position.</Syslog>
            </Timeout>
            <Break>
                <Abs><Universal:platform_mass_position/><Sub><Units:millimeter/><Value>0</Value></Sub></Abs>
                <Lt><Arg Name="AllowableMassDeadband"/></Lt>
            </Break>
            <Setting><Guidance:Pitch.massPosition/><Units:millimeter/><Value>0</Value></Setting>
        </Guidance:Pitch>

        <Syslog Severity="Important">Mass at <Universal:platform_mass_position/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

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

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

        <Syslog Severity="Important">Moving mass to forward software limit: <Control:VerticalControl.massPositionLimitFwd/><Units:millimeter/></Syslog>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="P1M">
                <Syslog Severity="Error">Timed out approaching forward sofware limit.</Syslog>
            </Timeout>
            <Break>
                <Control:VerticalControl.massPositionLimitFwd/>
                <Sub><Universal:platform_mass_position/></Sub>
                <Le><Arg Name="AllowableMassDeadband"/></Le>
            </Break>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massPositionLimitFwd/></Setting>
        </Guidance:Pitch>

        <Syslog Severity="Important">Mass at <Universal:platform_mass_position/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

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

        <Syslog Severity="Important">Moving mass to aft software limit: <Control:VerticalControl.massPositionLimitAft/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="P1M">
                <Syslog Severity="Error">Timed out approaching aft software limit.</Syslog>
            </Timeout>
            <Break>
                <Universal:platform_mass_position/>
                <Sub><Control:VerticalControl.massPositionLimitAft/></Sub>
                <Le><Arg Name="AllowableMassDeadband"/></Le>
            </Break>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massPositionLimitAft/></Setting>
        </Guidance:Pitch>

        <Syslog Severity="Important">Mass at <Universal:platform_mass_position/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

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

        <Syslog Severity="Important">Moving mass to default position: <Control:VerticalControl.massDefault/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="P1M">
                <Syslog Severity="Error">Timed out approaching default mass position.</Syslog>
            </Timeout>
            <Break>
                <Abs><Universal:platform_mass_position/><Sub><Control:VerticalControl.massDefault/></Sub></Abs>
                <Lt><Arg Name="AllowableMassDeadband"/></Lt>
            </Break>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Syslog Severity="Important">Mass at <Universal:platform_mass_position/><Units:millimeter/></Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

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

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>report clear</String></Setting>
        </Guidance:Execute>

    </Aggregate>

    <Aggregate Id="CheckPTH">

        <Sequence Repeat="4096"/>

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

        <SendData Service="Express">
            <Sensor:Onboard.Pressure/><Units:atmosphere/>
            <Sensor:Onboard.Temperature/><Units:celsius/>
            <Sensor:Onboard.Humidity/><Units:percent/>
        </SendData>

        <Syslog Severity="Important">Pressure: <Sensor:Onboard.Pressure/><Units:atmosphere/> [0.6 atm]; Temperature: <Sensor:Onboard.Temperature/><Units:celsius/> [n/a degC]; Humidity: <Sensor:Onboard.Humidity/><Units:percent/> [20 %]</Syslog>

        <ReadDatum Id="Communicate">
            <Sequence/>
            <Universal:platform_communications/>
        </ReadDatum>

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

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and exiting to Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>