root/virtexp/trunk/virtexp/DockServerScripts/sbdDockzrGCCS.xml

<?xml version="1.0" encoding="UTF-8"?>

<!--
Date                    Author                                  Comments
Dec 23, 2004    trout.r@comcast.net             Created.
Dec 27, 2004    trout.r@comcast.net             Added glider disconnect
                                                                                transitions ("... Carrier Detect lost.").
Dec 30, 2004    trout.r@comcast.net             Commented script.
2006-05-19      rtrout@dinkumsoftware.com       Add states to send a Ctrl-F after sending
                                                                                a .ma file to the glider.
2010-01-24 fnj@webbresearch.com                 Added support for Science Data Logging (Release 7.0).
-->

<!--
Used during a mission to transfer sbd and tbd files to the dockserver, transfer an .ma
file to the glider, and then re-read the ma file and resume the mission.

To change the .ma file sent to the glider, search for two occurances of 'goto_l10.ma' and
replace with desired filename.  Note this script expects this .ma file to be in the glider's
'to-glider' folder on the dockserver machine.

For use with dockserver version 1.5 and up.

Note: This script has transitions based on loss of Carrier Detect.  It may not behave correctly with
communications that do NOT support Carrier Detect.
-->

<gliderScript>
        <!-- The start state of the script.  It waits for a surface dialog and then sends the "s" command.
        -->
        <initialState name="sendzModem">
                <transitions>
                        <!-- When a surface dialog is seen, send the "s" command and then verify its receipt
                        by the glider.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                                <action type="glider" command="s *.sbd *.tbd">
                                </action>
                        </transition>
                </transitions>
        </initialState>



        <!-- This state verifies that the "s" command was received by the glider.
        -->
        <state name="verifyzModem">
                <transitions>
                        <!-- If a surface dialog is seen after the "s" command is sent, comsume it by matching
                        it and remaining in this state.  Due to timing over Iridium, more than one surface dialog may
                        be seen between sending the glider a command and seeing that command's echo.
                        While perhaps not absolutely necessary to this script, this transition helps
                        keep the script in sync with what's happening on the glider as indicated by its console output.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                        </transition>
                        <!-- If the "s" command fails to verify - i.e., an echo of the sent command is not seen by the
                        dockserver within a specified time (~ 20 sec), then attempt to resend the command.
                        -->
                        <transition matchExpression="xxx command verify fail xxx" toState="sendzModem">
                        </transition>
                        <!-- If the sent "s" command is seen, go wait for the zModem transfer to complete.
                        -->
                        <transition matchExpression="s \*.sbd \*.tbd" toState="waitForTransfer">
                        </transition>
                        <!-- If the glider connection is dropped, attempt to resend the command when the next surface
                        dialog is seen.
                        -->
                        <transition matchExpression="Connection Event: Carrier Detect lost." toState="sendzModem">
                        </transition>
                </transitions>
        </state>


        <!-- This state looks for indications of zModem transfer success or failure.  Note that adding a timeout
        transition out of this state is dangerous since the time required for a zModem transfer is unknown and
        highly variable.
        -->
        <state name="waitForTransfer">
                <transitions>
                        <!-- If a surface dialog is seen, assume the "s" command was missed by the glider or that
                        the glider connection dropped (possibly cancelling the transfer) and it called back - either on
                        the next surfacing or the same surfacing.  Resend the command and attempt to verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                                <action type="glider" command="s *.sbd *.tbd">
                                </action>
                        </transition>
                        <!-- If science IS going to transfer, handle new type science side transfer first
                        -->
                        <transition matchExpression="SCIENCE DATA LOGGING: science IS running" toState="waitForNewTypeScienceSideTransfer">
                        </transition>
                        <!-- If science is NOT going to transfer, skip right to handling new type glider side transfer
                        -->
                        <transition matchExpression="SCIENCE DATA LOGGING: science is NOT running" toState="waitForNewTypeGliderSideTransfer">
                        </transition>
                        <!-- If science data logging is not present at all, handle old type glider-only transfer
                        -->
                        <transition matchExpression="Enumerating and selecting" toState="waitForOldTypeGliderOnlyTransfer">
                        </transition>
                </transitions>
        </state>



        <!-- This state looks for indications of zModem transfer success or failure for new type science side transfer.
        Note that adding a timeout transition out of this state is dangerous since the time required for a zModem
        transfer is unknown and highly variable.
        -->
        <state name="waitForNewTypeScienceSideTransfer">
                <transitions>
                        <!-- If a surface dialog is seen, assume the "s" command was missed by the glider or that
                        the glider connection dropped (possibly cancelling the transfer) and it called back - either on
                        the next surfacing or the same surfacing.  Resend the command and attempt to verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                                <action type="glider" command="s *.sbd *.tbd">
                                </action>
                        </transition>
                        <!-- If the zModem transfer was successful, go send the next command.
                        -->
                        <transition matchExpression="SCI: SUCCESS" toState="waitForNewTypeGliderSideTransfer">
                        </transition>
                        <!-- If there were no files to transfer, go send the next command.
                        -->
                        <transition matchExpression="SCI: NO TRANSMISSION" toState="waitForNewTypeGliderSideTransfer">
                        </transition>
                        <!-- If the transfer explicitly failed, do not attempt to resend the command (it may fail
                        indefinately many times) and go send the next command.
                        -->
                        <transition matchExpression="SCI: Error sending files" toState="waitForNewTypeGliderSideTransfer">
                        </transition>
                </transitions>
        </state>



        <!-- This state looks for indications of zModem transfer success or failure for new type glider side transfer.
        Note that adding a timeout transition out of this state is dangerous since the time required for a zModem
        transfer is unknown and highly variable.
        -->
        <state name="waitForNewTypeGliderSideTransfer">
                <transitions>
                        <!-- If a surface dialog is seen, assume the "s" command was missed by the glider or that
                        the glider connection dropped (possibly cancelling the transfer) and it called back - either on
                        the next surfacing or the same surfacing.  Resend the command and attempt to verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                                <action type="glider" command="s *.sbd *.tbd">
                                </action>
                        </transition>
                        <!-- If the zModem transfer was successful, go send the next command.
                        -->
                        <transition matchExpression="GLD: SUCCESS" toState="sendzrma">
                        </transition>
                        <!-- If there were no files to transfer, go send the next command.
                        -->
                        <transition matchExpression="GLD: NO TRANSMISSION" toState="sendzrma">
                        </transition>
                        <!-- If the transfer explicitly failed, do not attempt to resend the command (it may fail
                        indefinately many times) and go send the next command.
                        -->
                        <transition matchExpression="GLD: Error sending files" toState="sendzrma">
                        </transition>
                </transitions>
        </state>



        <!-- This state looks for indications of zModem transfer success or failure for old type glider-only transfer.
        Note that adding a timeout transition out of this state is dangerous since the time required for a zModem
        transfer is unknown and highly variable.
        -->
        <state name="waitForOldTypeGliderOnlyTransfer">
                <transitions>
                        <!-- If a surface dialog is seen, assume the "s" command was missed by the glider or that
                        the glider connection dropped (possibly cancelling the transfer) and it called back - either on
                        the next surfacing or the same surfacing.  Resend the command and attempt to verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzModem">
                                <action type="glider" command="s *.sbd *.tbd">
                                </action>
                        </transition>
                        <!-- If the zModem transfer was successful, go send the next command.
                        -->
                        <transition matchExpression="SUCCESS" toState="sendzrma">
                        </transition>
                        <!-- If there were no files to transfer, go send the next command.
                        -->
                        <transition matchExpression="NO TRANSMISSION" toState="sendzrma">
                        </transition>
                        <!-- If the transfer explicitly failed, do not attempt to resend the command (it may fail
                        indefinately many times) and go send the next command.
                        -->
                        <transition matchExpression="Error sending files" toState="sendzrma">
                        </transition>
                </transitions>
        </state>



        <!-- This state attempts to send a file to the glider using the "!zr" command.
        -->
        <state name="sendzrma">
                <transitions>
                        <!-- If a surface dialog is seen, assume the glider is ready to receive a command and
                        send the "!zr" command.  Go verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzrma">
                                <action type="glider" command="!dockzr goto_l10.ma">
                                </action>
                        </transition>
                        <!-- If no surface dialog is seen for 10 minutes, assume the glider has dove and will
                        not reconnect to the dockserver until the next surfacing.  To be ready for that next surfacing,
                        go to the initial state of this script.
                        -->
                        <transition timeout="10" toState="sendzModem">
                        </transition>
                </transitions>
        </state>



        <!-- This state verifies that the "!zr" command was received by the glider.
        -->
        <state name="verifyzrma">
                <transitions>
                        <!-- If a surface dialog is seen after the "!zr" command is sent, comsume it by matching
                        it and remaining in this state.  Due to timing over Iridium, more than one surface dialog may
                        be seen between sending the glider a command and seeing that command's echo.
                        While perhaps not absolutely necessary to this script, this transition helps
                        keep the script in sync with what's happening on the glider as indicated by its console output.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzrma">
                        </transition>
                        <!-- If the "!zr" command fails to verify - i.e., an echo of the sent command is not seen by the
                        dockserver within a specified time (~ 20 sec), then attempt to resend the command.
                        -->
                        <transition matchExpression="xxx command verify fail xxx" toState="sendzrma">
                        </transition>
                        <!-- If the command echo is seen, go wait for the zModem transfer to complete.
                        -->
                        <transition matchExpression="!zr" toState="waitForzrma">
                        </transition>
                        <!-- If the file was not found, resume the mission.
                        -->
                        <transition matchExpression="not found" toState="waitForma">
                        </transition>
                        <!-- If the glider connection is dropped, attempt to resend the command when the next surface
                        dialog is seen.
                        -->
                        <transition matchExpression="Connection Event: Carrier Detect lost." toState="sendzrma">
                        </transition>
                </transitions>
        </state>


        <!-- This state waits one minute for a new goto-list file to be updated on the dock server by adding
        a time out transition.
        -->
        <state name="waitForma">
                <transitions>
                        <transition timeout="1" toState="sendzrma">
                        </transition>
                </transitions>
        </state>


        <!-- This state looks for indications of zModem transfer success or failure.  Note that adding a timeout
        transition out of this state is dangerous since the time required for a zModem transfer is unknown and
        highly variable.
        -->
        <state name="waitForzrma">
                <transitions>
                        <!-- If a surface dialog is seen, assume the "!zr" command was missed by the glider or that
                        the glider connection dropped (possibly cancelling the transfer) and it called back - either on
                        the next surfacing or the same surfacing.  Resend the command and attempt to verify it was received.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="verifyzrma">
                                <action type="glider" command="!dockzr goto_l10.ma">
                                </action>
                        </transition>
                        <!-- If the transfer was successful, go send the reload ma command.
                        -->
                        <transition matchExpression="Done!" toState="sendReloadma">
                        </transition>
                        <!-- If the transfer explicitly failed, assume it would repeatedly fail.  So do not resend and
                        go send the next command.
                        -->
                        <transition matchExpression="FAILED: zr" toState="sendResume">
                        </transition>
                </transitions>
        </state>



        <!-- This state send a Ctrl-F to cause the glider to reread mafiles.
        -->
        <state name="sendReloadma">
                <transitions>
                        <!-- If a surface dialog is seen, assume the glider is ready to receive a command and send
                        the Ctrl-F.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="waitForReloadma">
                                <action type="glider" command="Ctrl-F">
                                </action>
                        </transition>
                        <!-- If no surface dialog is seen for 10 minutes, assume the glider dove and go to the
                        start of the script in preparation for the next surfacing.
                        -->
                        <transition timeout="10" toState="sendzModem">
                        </transition>
                </transitions>
        </state>



        <!-- This state looks for indications of Ctrl-F success or failure.
        -->
        <state name="waitForReloadma">
                <transitions>
                        <!-- If the Ctrl-F command failed to verify - i.e., the dockserver did not see an echo of
                        the command within ~20 sec of sending it, then attempt to resend it.
                        -->
                        <transition matchExpression="xxx command verify fail xxx" toState="sendReloadma">
                        </transition>
                        <!-- Once the Ctrl-F is confirmed, go send a Ctrl-R to resume the mission.
                        -->
                        <transition matchExpression="MAFILES will be re-read" toState="sendResume">
                        </transition>
                        <!-- If no indication of success or failure is seen within 10 minutes, assume the glider dove.  Go
                        to the script's first state in preparation for the next surfacing.
                        -->
                        <transition timeout="10" toState="sendzModem">
                        </transition>
                        <!-- If a surface dialog is seen after sending the Ctrl-F but before an indication of its success, assume
                        the command was missed by the glider.  Resend it and wait for success or failure.
                        -->
                        <transition matchExpression="Hit Control-F to RESUME" toState="waitForReloadma">
                                <action type="glider" command="Ctrl-F">
                                </action>
                        </transition>
                </transitions>
        </state>



        <!-- This state send a Ctrl-R to cause the glider to resume its mission.
        -->
        <state name="sendResume">
                <transitions>
                        <!-- If a surface dialog is seen, assume the glider is ready to receive a command and send
                        the Ctrl-R.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="waitForResume">
                                <action type="glider" command="Ctrl-R">
                                </action>
                        </transition>
                        <!-- If no surface dialog is seen for 10 minutes, assume the glider dove and go to the
                        start of the script in preparation for the next surfacing.
                        -->
                        <transition timeout="10" toState="sendzModem">
                        </transition>
                </transitions>
        </state>



        <!-- This state looks for indications of Ctrl-R success or failure.
        -->
        <state name="waitForResume">
                <transitions>
                        <!-- If the Ctrl-R command failed to verify - i.e., the dockserver did not see an echo of
                        the command within ~20 sec of sending it, then attempt to resend it.
                        -->
                        <transition matchExpression="xxx command verify fail xxx" toState="sendResume">
                        </transition>
                        <!-- Once the Ctrl-R is confirmed, go wait for the glider to disconnect - i.e., Iridium hangup
                        -->
                        <transition matchExpression="RESUMING MISSION" toState="waitForDisconnect">
                        </transition>
                        <!-- If no indication of success or failure is seen within 10 minutes, assume the glider dove.  Go
                        to the script's first state in preparation for the next surfacing.
                        -->
                        <transition timeout="10" toState="sendzModem">
                        </transition>
                        <!-- If a surface dialog is seen after sending the Ctrl-R but before an indication of its success, assume
                        the command was missed by the glider.  Resend it and wait for success or failure.
                        -->
                        <transition matchExpression="Hit Control-R to RESUME" toState="waitForResume">
                                <action type="glider" command="Ctrl-R">
                                </action>
                        </transition>
                </transitions>
        </state>



        <!-- This state waits for the glider to disconnect and then goes to the script's first state in preparation for the
        glider's next surfacing.  The text "Connection Event: Carrier Detect lost." is always the last text seen when a
        glider disconnects.  Since this state matches that text before going to the script's first state, the glider's console
        output as seen by the script is cleared before looping back to the first state.  This helps prevent some spurious
        glider output to cause a premature zModem transfer - premature in the sense that the glider has not yet dove
        and later resurfaced.
        -->
        <state name="waitForDisconnect">
                <transitions>
                        <!-- To help keep the script in sync with the glider's dialog, wait until the glider hangs up before
                        looping back to the start of this script.  Helps insure that any spurious glider dialog that is received
                        before the glider hangs up does not cause a premature transition out of this script's start state.
                        -->
                        <transition matchExpression="Connection Event: Carrier Detect lost." toState="sendzModem">
                        </transition>
                </transitions>
        </state>



        <finalState name="final"
                        completionCode="0"
                        completionMessage="All OK">
        </finalState>
</gliderScript>