Mind the drift.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/mind_the_drift.xml:148:7
     | 
 144 |     syslog info "Going to target depth. Speed set to "
 145 |          + ApproachSpeed ~ meter_per_second
 146 | 
 147 |     aggregate GoToTargetDepth {
 148 |       assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit
     |       ^^^^^^
 149 | 
 150 |       aggregate ActuatorHold {
 151 |         """
 152 |         Hold the positions of the mass, VBS, and rudder while going
     | 
Unexpected: `assign`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

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mission mind_the_drift {
  """
  This mission drifts level at a depth while running the backseat and
  sending acomms data. Originally it was written for the Big Business of
  getting ayeris images transferred over the acomms link. The Drift: You
  start sinking, better grab an oar and row. And please take a path that
  you know You start thinking, making up the images as you go, as you go.
  """

  arguments {
    MissionTimeout = 120 minute
      """
      Maximum duration of mission
      """

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

    AcousticModemCommsInterval = 5 minute
      """
      How often to trigger acoustic modem communications
      """

    Depth = 35 meter
      """
      How deep to drift.
      """

    DepthDeadband = 1 meter
      """
      How much vertical drift from the specified depth is allowed durnig the
      mission.
      """

    ApproachSpeed = 1 meter_per_second
      """
      Enables vehicle thruster at the commanded speed to reach target depth
      (set to 0 m/s to drift).
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the targeted depth.
      """

    ApproachPitchLimit = 20 degree
      """
      Max vehicle pitch (+/-) when decending from the surface.
      """

    SurfaceThreshold = 2.5 meter
      """
      Surface threshold depth.
      """

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl


  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/AcousticModemComms.tl id="AcousticComms" {
    redefineArg CommsInterval = AcousticModemCommsInterval
  }



  aggregate CheckTargetDepths {
    run in sequence

    break if (
      not ( CheckDepths )
    )

    aggregate CheckDepth {
      run in sequence

      break if (
        not ( Depth > MaxDepth )
      )

      syslog important "Aborting mission. Target depth exceeds the mission's MaxDepth setting (review mission parameters)."

      behavior Guidance:Execute {
        run in sequence
        set Guidance:Execute.command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  call id="StartingMission" refId="NeedComms"

  syslog "Powering up backseat..."

  behavior Guidance:BackseatDriver {
    run in parallel
  }

  syslog "Backseat powered."

  aggregate TheDrift {
    run in sequence

    break if (
      isNaN ( Depth )
    )

    assign in parallel Control:VerticalControl.kpPitchMass = 0.005 ratio

    assign in parallel Control:VerticalControl.kiPitchMass = 0.00075 reciprocal_second

    assign in parallel Control:VerticalControl.kdPitchMass = 0 second

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    # DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of ApproachSpeed and does not evaluate the SetSpeed statement properly. Adding the syslog call somehow fixes it.

    syslog info "Going to target depth. Speed set to "
         + ApproachSpeed ~ meter_per_second

    aggregate GoToTargetDepth {
      assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

      aggregate ActuatorHold {
        """
        Hold the positions of the mass, VBS, and rudder while going
        to the target depth with the thruster on.
        """

        run while ( ApproachSpeed > 0 meter_per_second )

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = 13 degree
        }

        behavior Guidance:Buoyancy {
          run in parallel
          set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
        }
      }

      aggregate ApproachDepth {
        run in sequence

        syslog "Moving to "
             + Depth ~ meter

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

        behavior Guidance:Pitch {
          run in sequence
          timeout duration=ApproachDepthTimeout {
            syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
                 + Universal:depth ~ meter
            behavior Guidance:Execute {
              run in sequence
              set Guidance:Execute.command = "stop"
            }
          }

          set Guidance:Pitch.depth = Depth
        }
      }
    }

    aggregate DriftAtDepth {
      """
      Drift at 0 speed at target depth.
      """

      run in sequence

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

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

      behavior Guidance:Pitch {
        run in parallel
        set Guidance:Pitch.depth = Depth
        set Guidance:Pitch.elevatorAngle = 0 degree
        set Guidance:Pitch.pitch = 0 degree
      }

      syslog info "Holding at depth. Depth = "
           + Universal:depth ~ meter

      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: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="mind_the_drift">

    <Description>
        This mission drifts level at a depth while running the backseat and
        sending acomms data. Originally it was written for the Big Business of
        getting ayeris images transferred over the acomms link. The Drift: You
        start sinking, better grab an oar and row. And please take a path that
        you know You start thinking, making up the images as you go, as you go.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>120</Value></DefineArg>

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

    <DefineArg Name="AcousticModemCommsInterval"><Description>
        How often to trigger acoustic modem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="Depth"><Description>
        How deep to drift.
    </Description><Units:meter/><Value>35</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed durnig the
        mission.
    </Description><Units:meter/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Enables vehicle thruster at the commanded speed to reach target depth
        (set to 0 m/s to drift).
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum wait time for the vehicle to reach the targeted depth.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="SurfaceThreshold"><Description>
        Surface threshold depth.
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Units:meter/><Value>52</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="CheckDepths"><Units:bool/><Value>1</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.tl"/>

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

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

    <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/AcousticModemComms.tl" Id="AcousticComms">
        <RedefineArg Name="CommsInterval"><Arg Name="AcousticModemCommsInterval"/></RedefineArg>
    </Insert>

    <Aggregate Id="CheckTargetDepths">

        <Sequence/>

        <Break>
            <Not><Arg Name="CheckDepths"/></Not>
        </Break>

        <Aggregate Id="CheckDepth">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth"/><Gt><Arg Name="MaxDepth"/></Gt></Not>
            </Break>

            <Syslog Severity="Important">Aborting mission. Target depth exceeds the mission's MaxDepth setting (review mission parameters).</Syslog>

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

        </Aggregate>

        <Assign><Sequence/><Arg Name="CheckDepths"/><Units:bool/><Value>0</Value></Assign>

    </Aggregate>

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

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="TheDrift">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="Depth"/>
            </IsNaN>
        </Break>

        <Assign><Parallel/><Control:VerticalControl.kpPitchMass/><Units:ratio/><Value>0.005</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.00075</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

<!--     DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of ApproachSpeed and does not evaluate the SetSpeed statement properly. Adding the syslog call somehow fixes it. -->

        <Syslog Severity="Info">Going to target depth. Speed set to <Arg Name="ApproachSpeed"/><Units:meter_per_second/></Syslog>

        <Aggregate Id="GoToTargetDepth">

            <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

            <Aggregate Id="ActuatorHold">

                <Description>
                    Hold the positions of the mass, VBS, and rudder while going
                    to the target depth with the thruster on.
                </Description>

                <While>
                    <Arg Name="ApproachSpeed"/>
                    <Gt><Units:meter_per_second/><Value>0</Value></Gt>
                </While>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
                </Guidance:Point>

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

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="ApproachDepth">

                <Sequence/>

                <Syslog>Moving to <Arg Name="Depth"/><Units:meter/></Syslog>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="ApproachDepthTimeout">
                        <Syslog Severity="Important">Timed out trying to reach the target depth. Stopping mission at current depth of <Universal:depth/><Units:meter/></Syslog>
                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="DriftAtDepth">

            <Description>
                Drift at 0 speed at target depth.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                <Setting><Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Syslog Severity="Info">Holding at depth. Depth = <Universal:depth/><Units:meter/></Syslog>

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

        </Aggregate>

    </Aggregate>

</Mission>