testAcTracking.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/RegressionTests/GazeboTests/testAcTracking.xml:43:3
    | 
 39 | 
 40 |   }
 41 | 
 42 | 
 43 |   Derivation:Tracking
    |   ^^^^^^^^^^
 44 |   behavior Guidance:Wait  {
 45 | 
 46 |     run in sequence
 47 | 
    | 
Unexpected: `Derivation`
One of the following is possible (total 12):
  aggregate
  assign
  behavior
  call
  insert
  readData
  readDatum
  sendData
  syslog
  touch
  macro
  }

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mission test_ac_tracking {
  arguments {
    MissionTimeout = 2 minute
      """
      Maximum duration of mission
      """

    ContactLabel = 0 count


    NumberOfPings = 1 count


    TrackingUpdatePeriod = 15 second


    MassDefault = Control:VerticalControl.massDefault


  }

  timeout duration=MissionTimeout
  behavior Guidance:Mass  {

    run in parallel


    set Guidance:Mass.position = Control:VerticalControl.massDefault

  }


  behavior Guidance:Buoyancy  {

    run in parallel


    set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral

  }


  Derivation:Tracking
  behavior Guidance:Wait  {

    run in sequence


    set Guidance:Wait.duration = MissionTimeout

  }


}

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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Derivation="Tethys/Derivation"
         xmlns:Guidance="Tethys/Guidance"
         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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.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="test_ac_tracking">

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

    <DefineArg Name="ContactLabel"><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Units:second/><Value>15</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>

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

    <Derivation:Tracking>
        <Parallel/>
        <Setting><Derivation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Derivation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Derivation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Derivation:Tracking>

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

</Mission>