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/transitUnder.xml:80:13
|
76 | Set to True in order to hold buoyancy at neutral position, False to
77 | allow buoyancy to run on its own.
78 | """
79 |
80 | timeout duration=MissionTimeout
| ^^^^^^^^
81 | MicromodemCommsInterval = 2 minute
82 | """
83 | How often to trigger Umodem communications
84 | """
|
Unexpected: `duration`
Expecting: '(argument name)' <<<<
missiontransitUnder{""" Vehicle transits to desired waypoint and can be commanded to use/hold mass or buoyancy. Designed for under ice. """arguments{MissionTimeout=60minute""" Maximum duration of mission """DetachTimeout=20minute""" Maximum time to spend getting off the dock """Latitude=NaNdegree""" Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """Longitude=NaNdegree""" Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """Northings=0meter""" Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """Eastings=0meter""" Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """Depth=10meter""" Depth of flat and level flight during the mission. """Speed=1meter_per_second""" Speed of vehicle (relative to water) during the mission. """MaxDepth=20meter""" Maximum depth for the entire mission. """MinOffshore=1kilometer""" Minimum distance offshore for the entire mission. """MinAltitude=7meter""" Minimum height above the sea floor for the entire mission. """MassHold=true""" Set to True in order to hold mass at default position, False to allow mass to run on its own. """BuoyancyHold=true""" Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """timeoutduration=MissionTimeoutMicromodemCommsInterval=2minute""" How often to trigger Umodem communications """DetachDepth=4.5meter""" Desired vehicle depth when leaving the dock. """DetachBounceTimeout=20second""" Time duration to keep the thruster engaged to bounce/slingshot off the dock. """TransponderCode=2count""" Transponder Address. """TrackingUpdatePeriod=2.5second""" How long to wait between acoustic queries. """NumberOfPings=1count""" Number of pings requested each time. """}insertInsert/StandardEnvelopes.xmlassigninsequenceStandardEnvelopes:MinAltitude=MinAltitudeassigninsequenceStandardEnvelopes:MaxDepth=MaxDepthassigninsequenceStandardEnvelopes:MinOffshore=MinOffshoreaggregateDetach{runinsequencetimeoutduration=DetachTimeout{syslogimportant"Timed out trying to detach from dock. Stopping mission."behaviorGuidance:Execute{runinsequencesetGuidance:Execute.command="stop"}}syslogimportant"Detaching from dock."# Turn on tracking so we get some ranges to see how far we are from the dockbehaviorEstimation:TrackAcousticContact{runinparallelsetEstimation:TrackAcousticContact.contactLabelSetting=TransponderCodesetEstimation:TrackAcousticContact.numberOfSamplesSetting=NumberOfPingssetEstimation:TrackAcousticContact.updatePeriodSetting=TrackingUpdatePeriod}# Time to leave the dock!behaviorDock:Undock{runinsequence}}behaviorGuidance:Buoyancyid="BuoyancyHold"{runwhile(BuoyancyHold)setGuidance:Buoyancy.position=Control:VerticalControl.buoyancyNeutral}behaviorGuidance:Pitchid="MassHold"{runwhile(MassHold)setGuidance:Pitch.massPosition=Control:VerticalControl.massDefault}aggregateTransit{runinsequenceinsertInsert/MicromodemComms.xmlid="MicromodemComms"{redefineArgCommsInterval=MicromodemCommsInterval}behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.depth=Depth}behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=Speed}behaviorGuidance:Waypointid="Wpt1"{runinsequencesetGuidance:Waypoint.latitude=LatitudesetGuidance:Waypoint.longitude=LongitudesetGuidance:Waypoint.northingsDelta=NorthingssetGuidance:Waypoint.eastingsDelta=Eastings}}}
<?xml version="1.0" encoding="utf-8"?><Missionxmlns="Tethys"xmlns:Control="Tethys/Control"xmlns:Estimation="Tethys/Estimation"xmlns:Dock="Tethys/Dock"xmlns:Guidance="Tethys/Guidance"xmlns:Units="Tethys/Units"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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"Id="transitUnder"><Description>
Vehicle transits to desired waypoint and can be commanded to use/hold
mass or buoyancy. Designed for under ice.
</Description><DefineArgName="MissionTimeout"><Description>
Maximum duration of mission
</Description><Units:minute/><Value>60</Value></DefineArg><DefineArgName="DetachTimeout"><Description>
Maximum time to spend getting off the dock
</Description><Units:minute/><Value>20</Value></DefineArg><DefineArgName="Latitude"><Description>
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Longitude"><Description>
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><DefineArgName="Northings"><Description>
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="Eastings"><Description>
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="Depth"><Description>
Depth of flat and level flight during the mission.
</Description><Units:meter/><Value>10</Value></DefineArg><DefineArgName="Speed"><Description>
Speed of vehicle (relative to water) during the mission.
</Description><Units:meter_per_second/><Value>1</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>20</Value></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum distance offshore for the entire mission.
</Description><Units:kilometer/><Value>1</Value></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum height above the sea floor for the entire mission.
</Description><Units:meter/><Value>7</Value></DefineArg><DefineArgName="MassHold"><Description>
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
</Description><True/></DefineArg><DefineArgName="BuoyancyHold"><Description>
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
</Description><True/></DefineArg><TimeoutDuration="MissionTimeout"/><DefineArgName="MicromodemCommsInterval"><Description>
How often to trigger Umodem communications
</Description><Units:minute/><Value>2</Value></DefineArg><DefineArgName="DetachDepth"><Description>
Desired vehicle depth when leaving the dock.
</Description><Units:meter/><Value>4.5</Value></DefineArg><DefineArgName="DetachBounceTimeout"><Description>
Time duration to keep the thruster engaged to bounce/slingshot off the
dock.
</Description><Units:second/><Value>20</Value></DefineArg><DefineArgName="TransponderCode"><Description>
Transponder Address.
</Description><Units:count/><Value>2</Value></DefineArg><DefineArgName="TrackingUpdatePeriod"><Description>
How long to wait between acoustic queries.
</Description><Units:second/><Value>2.5</Value></DefineArg><DefineArgName="NumberOfPings"><Description>
Number of pings requested each time.
</Description><Units:count/><Value>1</Value></DefineArg><InsertFilename="Insert/StandardEnvelopes.xml"/><Assign><Sequence/><ArgName="StandardEnvelopes:MinAltitude"/><ArgName="MinAltitude"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MaxDepth"/><ArgName="MaxDepth"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MinOffshore"/><ArgName="MinOffshore"/></Assign><AggregateId="Detach"><Sequence/><TimeoutDuration="DetachTimeout"><SyslogSeverity="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><SyslogSeverity="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/><ArgName="TransponderCode"/></Setting><Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><ArgName="NumberOfPings"/></Setting><Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><ArgName="TrackingUpdatePeriod"/></Setting></Estimation:TrackAcousticContact><!-- Time to leave the dock! --><Dock:Undock><Sequence/></Dock:Undock></Aggregate><Guidance:BuoyancyId="BuoyancyHold"><While><ArgName="BuoyancyHold"/></While><Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting></Guidance:Buoyancy><Guidance:PitchId="MassHold"><While><ArgName="MassHold"/></While><Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting></Guidance:Pitch><AggregateId="Transit"><Sequence/><InsertFilename="Insert/MicromodemComms.xml"Id="MicromodemComms"><RedefineArgName="CommsInterval"><ArgName="MicromodemCommsInterval"/></RedefineArg></Insert><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.depth/><ArgName="Depth"/></Setting></Guidance:Pitch><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="Speed"/></Setting></Guidance:SetSpeed><Guidance:WaypointId="Wpt1"><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Latitude"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Longitude"/></Setting><Setting><Guidance:Waypoint.northingsDelta/><ArgName="Northings"/></Setting><Setting><Guidance:Waypoint.eastingsDelta/><ArgName="Eastings"/></Setting></Guidance:Waypoint></Aggregate></Mission>