Automatic archiving of Autonomous Vehicle Control Language (AVCL) output telemetry gives the user a capability to review mission telemetry during post mission analysis and to conduct mission playback from any point within the mission.
Vehicle mission telemetry archiving begins with the AUV Workbench ConfigurationSchema.xsd file located in the ./configuration path:
Figure 1: AUV Workbench Configuration Schema Snippet
This schema defines a FileLocationsType element (as noted in the above figure) which is used within each vehicle specific configuration *.xml file:
Figure 2: FileNames Tagset within a Vehicle Specific Configuration File
Each vehicle specific configuration *.xml file is contained in the ./configuration/controlCoefficients path.
During the AUV Workbench build process, a process of Java Architecture for XML Binding (JAXB) parses the ConfigurationSchema.xsd and creates java classes for each *Type defined by the schema. The files are generated in the ./src/configuration* path. These classes will store variables based upon each vehicle specific configuration *.xml file tagset upon instantiation of that vehicle's execution. During a vehicle's execution process, the vehicle configuration *.xml file is then parsed for each parameter defined by these tagsets and stored within local variables defined by the execution process.
Figure 3: JAXB Source Files Generated from the Configuration Schema
Each vehicle has its own execution process with a run() method that calls a startPositionReports() method which begins the recording (archiving) of mission output telemetry (and other pertinent vehicle mission output information) to the ./dataweb/results path via a TCP implemented DataOutputStream within the AUV Workbench communication server. When the mission has ended or the mission stopped, closing XML tags are written to the telemetry file which is then closed. Each mission has a specific mission ID tag written into the filename for mission identification purposes, i.e. UuvMissionOutput0.xml.
Figure 4: Source Code Snippet from ./workbench/main/execution/Execution.java
These mission output files can then be compressed via XSBC / GZIP for transmission to a post mission analysis site for playback and analysis. Transmission reliability to the post mission analysis site can be further enhanced by selecting an FEC option would be invoked after compression.
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