front tracking 2D.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/Science/front_tracking_2D.xml:253:13
     | 
 249 |   }
 250 | 
 251 |   call id="StartingMission" refId="NeedComms"
 252 | 
 253 |   aggregate 2DTrackFront {
     |             ^
 254 |     behavior Guidance:FrontTracking id="tracking" {
 255 |       run in sequence
 256 |       set Guidance:FrontTracking.searchHeading = SearchHeading
 257 |       set Guidance:FrontTracking.northHeading = HeadingNorth
     | 
Unexpected: `2`
Expecting: '{' <<<<

Generated TethysL

mission front_tracking_2D {
  """
  Vehicle nominally yo-yo's zigzagging across an upwelling front, with
  science turned on. Each time a front edge is detected, the vehicle turns
  around and samples across the front again. Front edge is defined by
  difference in temperature between several depths.
  """

  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime.

    MissionTimeout = 14 day
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for commumications
      """

    TimePastFront = 40 minute
      """
      Time to swim past front when tracking.
      """

    # debug
    #     </Description><Units:minute/><Value>5</Value></DefineArg>

    # You probably do not need to change these.

    MassDefault = Control:VerticalControl.massDefault

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy.
      """

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 3 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 50 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 7 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up-pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down-pitch while performing the YoYo behavior.
      """

    HeadingNorth = 0.0 degree

    HeadingSouth = 180.0 degree

    HeadingEast = 90.0 degree

    HeadingWest = 270.0 degree

    HeadingNortheast = 45.0 degree

    HeadingNorthwest = 315.0 degree

    HeadingSoutheast = 135.0 degree

    HeadingSouthwest = 225.0 degree

    SearchHeading = 270.0 degree
      """
      Initialized to the starting heading (default 270.0). Will be updated
      when detecting front or hitting wall.
      """

    ShapeZ = true
      """
      Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z
      shape)? Initialized to True.
      """

    ShapeN = true
      """
      Is the front-tracking in N shape on east-west sweeps (versus reverse-N
      shape)? Initialized to False.
      """

    FlagNorthSouthSweep = true
      """
      Initialized to True.
      """

    # debug
    #     </Description><False/></DefineArg>

    FlagNorthwardSweep = true
      """
      Initialized to True.
      """

    FlagEastwardSweep = false
      """
      Initialized to False.
      """

    #  Tight walls for fast tests of wall bouncing. Don't delete this note.
    # LonEastWall: -121.82
    # LonWestWall: -121.84
    # LatNorthWall: 36.82
    # LatSouthWall: 36.80

    LonEastWall = -121.82 degree

    # debug
    #     <DefineArg Name="LonEastWall"><Units:degree/><Value>-121.82</Value></DefineArg>

    LonWestWall = -122.0 degree

    # debug
    #     <DefineArg Name="LonWestWall"><Units:degree/><Value>-121.84</Value></DefineArg>

    LatNorthWall = 36.9 degree

    # debug
    #     <DefineArg Name="LatNorthWall"><Units:degree/><Value>36.82</Value></DefineArg>

    LatSouthWall = 36.80 degree

    # You are even less likely to need to change these.

    MinAltitude = 7 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.
      """
  }

  # These are internal variables that should not be changed.

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    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.
    """
    redefineArg PeakDetectChlActive = true
  }



  # Most missions should use the NeedComms aggregate.

  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  # Many missions will keep mass position and buoyancy volume fixed at defaults.

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

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

  # Run at constant speed.

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

  behavior Guidance:DepthEnvelope {
    """
    Another depth envelope for the YoYo behavior. This envelope should
    fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for depth-terminated YoYos.
    """
    run in parallel
    set Guidance:DepthEnvelope.minDepth = YoYoMinDepth
    set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth
    set Guidance:DepthEnvelope.upPitch = YoYoUpPitch
    set Guidance:DepthEnvelope.downPitch = YoYoDownPitch
  }

  behavior Guidance:AltitudeEnvelope {
    """
    Another altitude envelope for the YoYo behavior. This envelope
    should fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """
    run in parallel
    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude
    set Guidance:AltitudeEnvelope.pitch = YoYoUpPitch
  }

  behavior Guidance:YoYo {
    run in parallel
    set Guidance:YoYo.upPitch = YoYoUpPitch
    set Guidance:YoYo.downPitch = YoYoDownPitch
  }

  call id="StartingMission" refId="NeedComms"

  aggregate 2DTrackFront {
    behavior Guidance:FrontTracking id="tracking" {
      run in sequence
      set Guidance:FrontTracking.searchHeading = SearchHeading
      set Guidance:FrontTracking.northHeading = HeadingNorth
      set Guidance:FrontTracking.southHeading = HeadingSouth
      set Guidance:FrontTracking.eastHeading = HeadingEast
      set Guidance:FrontTracking.westHeading = HeadingWest
      set Guidance:FrontTracking.neHeading = HeadingNortheast
      set Guidance:FrontTracking.nwHeading = HeadingNorthwest
      set Guidance:FrontTracking.neHeading = HeadingNortheast
      set Guidance:FrontTracking.swHeading = HeadingSouthwest
      set Guidance:FrontTracking.seHeading = HeadingSoutheast
      set Guidance:FrontTracking.lonEastWall = LonEastWall
      set Guidance:FrontTracking.lonWestWall = LonWestWall
      set Guidance:FrontTracking.latNorthWall = LatNorthWall
      set Guidance:FrontTracking.latSouthWall = LatSouthWall
      set Guidance:FrontTracking.flagNorthSouthSweep = FlagNorthSouthSweep
      set Guidance:FrontTracking.flagNorthwardSweep = FlagNorthwardSweep
      set Guidance:FrontTracking.flagEastwardSweep = FlagEastwardSweep
      set Guidance:FrontTracking.shapeZ = ShapeZ
      set Guidance:FrontTracking.shapeN = ShapeN
      set Guidance:FrontTracking.waitSeconds = TimePastFront
    }

    call id="EndingMission" refId="NeedComms"
  }
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       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/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="front_tracking_2D">

    <Description>
        Vehicle nominally yo-yo's zigzagging across an upwelling front, with
        science turned on. Each time a front edge is detected, the vehicle turns
        around and samples across the front again. Front edge is defined by
        difference in temperature between several depths.
    </Description>

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:day/><Value>14</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="TimePastFront"><Description>
        Time to swim past front when tracking.
    </Description><Units:minute/><Value>40</Value></DefineArg>

<!--debug    
    </Description><Units:minute/><Value>5</Value></DefineArg>
-->

<!-- You probably do not need to change these. -->

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

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
        for active buoyancy.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up-pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down-pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

    <DefineArg Name="HeadingNorth"><Units:degree/><Value>0.0</Value></DefineArg>

    <DefineArg Name="HeadingSouth"><Units:degree/><Value>180.0</Value></DefineArg>

    <DefineArg Name="HeadingEast"><Units:degree/><Value>90.0</Value></DefineArg>

    <DefineArg Name="HeadingWest"><Units:degree/><Value>270.0</Value></DefineArg>

    <DefineArg Name="HeadingNortheast"><Units:degree/><Value>45.0</Value></DefineArg>

    <DefineArg Name="HeadingNorthwest"><Units:degree/><Value>315.0</Value></DefineArg>

    <DefineArg Name="HeadingSoutheast"><Units:degree/><Value>135.0</Value></DefineArg>

    <DefineArg Name="HeadingSouthwest"><Units:degree/><Value>225.0</Value></DefineArg>

    <DefineArg Name="SearchHeading"><Description>
        Initialized to the starting heading (default 270.0). Will be updated
        when detecting front or hitting wall.
    </Description><Units:degree/><Value>270.0</Value></DefineArg>

    <DefineArg Name="ShapeZ"><Description>
        Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z
        shape)? Initialized to True.
    </Description><True/></DefineArg>

    <DefineArg Name="ShapeN"><Description>
        Is the front-tracking in N shape on east-west sweeps (versus reverse-N
        shape)? Initialized to False.
    </Description><True/></DefineArg>

    <DefineArg Name="FlagNorthSouthSweep"><Description>
        Initialized to True.
    </Description><True/></DefineArg>

<!--debug
    </Description><False/></DefineArg>
-->

    <DefineArg Name="FlagNorthwardSweep"><Description>
        Initialized to True.
    </Description><True/></DefineArg>

    <DefineArg Name="FlagEastwardSweep"><Description>
        Initialized to False.
    </Description><False/></DefineArg>

<!-- Tight walls for fast tests of wall bouncing. Don't delete this note.
LonEastWall: -121.82
LonWestWall: -121.84
LatNorthWall: 36.82
LatSouthWall: 36.80
-->

    <DefineArg Name="LonEastWall"><Units:degree/><Value>-121.82</Value></DefineArg>

<!--debug
    <DefineArg Name="LonEastWall"><Units:degree/><Value>-121.82</Value></DefineArg>
-->

    <DefineArg Name="LonWestWall"><Units:degree/><Value>-122.0</Value></DefineArg>

<!--debug
    <DefineArg Name="LonWestWall"><Units:degree/><Value>-121.84</Value></DefineArg>
-->

    <DefineArg Name="LatNorthWall"><Units:degree/><Value>36.9</Value></DefineArg>

<!--debug
    <DefineArg Name="LatNorthWall"><Units:degree/><Value>36.82</Value></DefineArg>    
-->

    <DefineArg Name="LatSouthWall"><Units:degree/><Value>36.80</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

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

<!-- These are internal variables that should not be changed. -->

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.tl">
        <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>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.tl" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <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>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <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>

<!-- Run at constant speed. -->

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope>
        <Description>
            Another depth envelope for the YoYo behavior. This envelope should
            fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
            angles for depth-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:AltitudeEnvelope>
        <Description>
            Another altitude envelope for the YoYo behavior. This envelope
            should fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:YoYo>

    <Call Id="StartingMission" RefId="NeedComms"/>

    <Aggregate Id="2DTrackFront">

        <Guidance:FrontTracking Id="tracking">
            <Sequence/>
            <Setting><Guidance:FrontTracking.searchHeading/><Arg Name="SearchHeading"/></Setting>
            <Setting><Guidance:FrontTracking.northHeading/><Arg Name="HeadingNorth"/></Setting>
            <Setting><Guidance:FrontTracking.southHeading/><Arg Name="HeadingSouth"/></Setting>
            <Setting><Guidance:FrontTracking.eastHeading/><Arg Name="HeadingEast"/></Setting>
            <Setting><Guidance:FrontTracking.westHeading/><Arg Name="HeadingWest"/></Setting>
            <Setting><Guidance:FrontTracking.neHeading/><Arg Name="HeadingNortheast"/></Setting>
            <Setting><Guidance:FrontTracking.nwHeading/><Arg Name="HeadingNorthwest"/></Setting>
            <Setting><Guidance:FrontTracking.neHeading/><Arg Name="HeadingNortheast"/></Setting>
            <Setting><Guidance:FrontTracking.swHeading/><Arg Name="HeadingSouthwest"/></Setting>
            <Setting><Guidance:FrontTracking.seHeading/><Arg Name="HeadingSoutheast"/></Setting>
            <Setting><Guidance:FrontTracking.lonEastWall/><Arg Name="LonEastWall"/></Setting>
            <Setting><Guidance:FrontTracking.lonWestWall/><Arg Name="LonWestWall"/></Setting>
            <Setting><Guidance:FrontTracking.latNorthWall/><Arg Name="LatNorthWall"/></Setting>
            <Setting><Guidance:FrontTracking.latSouthWall/><Arg Name="LatSouthWall"/></Setting>
            <Setting><Guidance:FrontTracking.flagNorthSouthSweep/><Arg Name="FlagNorthSouthSweep"/></Setting>
            <Setting><Guidance:FrontTracking.flagNorthwardSweep/><Arg Name="FlagNorthwardSweep"/></Setting>
            <Setting><Guidance:FrontTracking.flagEastwardSweep/><Arg Name="FlagEastwardSweep"/></Setting>
            <Setting><Guidance:FrontTracking.shapeZ/><Arg Name="ShapeZ"/></Setting>
            <Setting><Guidance:FrontTracking.shapeN/><Arg Name="ShapeN"/></Setting>
            <Setting><Guidance:FrontTracking.waitSeconds/><Arg Name="TimePastFront"/></Setting>
        </Guidance:FrontTracking>

        <Call Id="EndingMission" RefId="NeedComms"/>

    </Aggregate>

</Mission>