sci2Under.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/underIce/sci2Under.xml:156:13
     | 
 152 |       """
 153 |       Minimum offshore distance for the entire mission.
 154 |       """
 155 | 
 156 |     timeout duration=MissionTimeout
     |             ^^^^^^^^
 157 |     MicromodemCommsInterval = 2 minute
 158 |       """
 159 |       How often to trigger Umodem communications
 160 |       """
     | 
Unexpected: `duration`
Expecting: '(argument name)' <<<<

Generated TethysL

mission sci2Under {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  Designed for under ice.
  """
  arguments {
    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    DetachTimeout = 20 minute
      """
      Maximum time to spend getting off the dock
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints..
      """

    Lat1 = NaN degree
      """
      Latitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lat2 = NaN degree
      """
      Latitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lon2 = NaN degree
      """
      Longitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lat3 = NaN degree
      """
      Latitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lon3 = NaN degree
      """
      Longitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lat4 = NaN degree
      """
      Latitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lon4 = NaN degree
      """
      Longitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lat5 = NaN degree
      """
      Latitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lon5 = NaN degree
      """
      Longitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lat6 = NaN degree
      """
      Latitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lon6 = NaN degree
      """
      Longitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lat7 = NaN degree
      """
      Latitude of waypoint 7. If nan, waypoint is skipped.
      """

    Lon7 = NaN degree
      """
      Longitude of waypoint 7. If nan, waypoint is skipped.
      """

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

    CaptureRadius = NaN meter
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 2.5 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 5 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 4 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 15 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -15 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    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
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position
      """

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 8 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 meter
      """
      Minimum offshore distance for the entire mission.
      """

    timeout duration=MissionTimeout
    MicromodemCommsInterval = 2 minute
      """
      How often to trigger Umodem communications
      """

    DetachDepth = 4.5 meter
      """
      Desired vehicle depth when leaving the dock.
      """

    DetachBounceTimeout = 20 second
      """
      Time duration to keep the thruster engaged to bounce/slingshot off the
      dock.
      """

    TransponderCode = 2 count
      """
      Transponder Address.
      """

    TrackingUpdatePeriod = 2.5 second
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

  }

  insert Insert/Science.xml {

    """
    Most missions will run the science sensors.
    """

    redefineArg PeakDetectChlActive = true

  }


  insert Insert/StandardEnvelopes.xml

  assign in sequence  StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  aggregate Detach {
    run in sequence
    timeout duration=DetachTimeout {

      syslog important "Timed out trying to detach from dock. Stopping mission."

      behavior Guidance:Execute  {

        run in sequence


        set Guidance:Execute.command = "stop"

      }



    }

    syslog important "Detaching from dock."
    # Turn on tracking so we get some ranges to see how far we are from the dock

    behavior Estimation:TrackAcousticContact  {

      run in parallel


      set Estimation:TrackAcousticContact.contactLabelSetting = TransponderCode

      set Estimation:TrackAcousticContact.numberOfSamplesSetting = NumberOfPings

      set Estimation:TrackAcousticContact.updatePeriodSetting = TrackingUpdatePeriod

    }


    # Time to leave the dock!

    behavior Dock:Undock  {

      run in sequence


    }


  }

  aggregate Sci2 {
    behavior Guidance:Pitch  {

      run in parallel


      set Guidance:Pitch.massPosition = MassDefault

    }


    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    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.xml 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.downPitch = YoYoDownPitch

      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

    }


    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.xml in order to avoid commanding
      high pitch angles for bottom-terminated YoYos.
      """
      run in parallel



      set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

      set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

    }


    behavior Guidance:YoYo  {

      run in parallel


      set Guidance:YoYo.downPitch = YoYoDownPitch

      set Guidance:YoYo.upPitch = YoYoUpPitch

    }


    aggregate Lap {
      run in sequence repeat=Repeat
      insert Insert/MicromodemComms.xml id="MicromodemComms" {

        redefineArg CommsInterval = MicromodemCommsInterval

      }


      aggregate Wpt1 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat1

          set Guidance:Waypoint.longitude = Lon1

          set Guidance:Waypoint.captureRadius = CaptureRadius

        }


      }

      aggregate Wpt2 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat2

          set Guidance:Waypoint.longitude = Lon2

        }


      }

      aggregate Wpt3 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat3

          set Guidance:Waypoint.longitude = Lon3

        }


      }

      aggregate Wpt4 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat4

          set Guidance:Waypoint.longitude = Lon4

        }


      }

      aggregate Wpt5 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat5

          set Guidance:Waypoint.longitude = Lon5

        }


      }

      aggregate Wpt6 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat6

          set Guidance:Waypoint.longitude = Lon6

        }


      }

      aggregate Wpt7 {
        run in sequence
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat7

          set Guidance:Waypoint.longitude = Lon7

        }


      }

    }

  }

}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Dock="Tethys/Dock"
         xmlns:Control="Tethys/Control"
         xmlns:Guidance="Tethys/Guidance"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
       Id="sci2Under">

    <Description>
        Vehicle yo-yo's to the specified waypoints, with science turned on.
        Designed for under ice.
    </Description>

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

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time to spend getting off the dock
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through waypoints..
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Lat1"><Description>
        Latitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon1"><Description>
        Longitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat2"><Description>
        Latitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon2"><Description>
        Longitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat3"><Description>
        Latitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon3"><Description>
        Longitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat4"><Description>
        Latitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon4"><Description>
        Longitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat5"><Description>
        Latitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon5"><Description>
        Longitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat6"><Description>
        Latitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon6"><Description>
        Longitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat7"><Description>
        Latitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon7"><Description>
        Longitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="CaptureRadius"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>15</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-15</Value></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="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>1</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>2</Value></DefineArg>

    <DefineArg Name="DetachDepth"><Description>
        Desired vehicle depth when leaving the dock.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="DetachBounceTimeout"><Description>
        Time duration to keep the thruster engaged to bounce/slingshot off the
        dock.
    </Description><Units:second/><Value>20</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <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>

    <Aggregate Id="Detach">

        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out trying to detach from dock. Stopping mission.</Syslog>
            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>
        </Timeout>

        <Syslog Severity="Important">Detaching from dock.</Syslog>

<!-- Turn on tracking so we get some ranges to see how far we are from the dock -->

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

<!-- Time to leave the dock! -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="Sci2">

        <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>

        <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.xml 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.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></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.xml 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.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

        <Aggregate Id="Lap">

            <Sequence Repeat="Repeat"/>

            <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
                <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
            </Insert>

            <Aggregate Id="Wpt1">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat1"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon1"/></Setting>
                    <Setting><Guidance:Waypoint.captureRadius/><Arg Name="CaptureRadius"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt2">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat2"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon2"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt3">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat3"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon3"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt4">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat4"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon4"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt5">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat5"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon5"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt6">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat6"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon6"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

            <Aggregate Id="Wpt7">

                <Sequence/>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat7"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon7"/></Setting>
                </Guidance:Waypoint>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>