TethysL Integration with LRAUV System

The integration of TethysL with the LRAUV and TethysDash ecosystem is fundamentally based on utilizing the same Tethys model for mission scripting.

TethysL and XML are simply two different syntaxes representing the same semantic model.

Supporting both syntaxes has been a key development requirement for allowing a smooth transition to TethysL.

During the initial phase of TethysL integration, we prioritized avoiding any significant modifications to the traditional LRAUV mission execution logic (which operates on XML). To achieve this, we implemented an automatic TethysL-to-XML translation step, which is completely transparent to users. This step occurs during mission testing and when preparing a vehicle for deployment. This approach allowed us to keep the traditional mission execution logic in the LRAUV largely intact.

In a subsequent phase of integration, as originally envisioned, we enabled the direct execution of TethysL scripts in the LRAUV system itself.