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Example55_UAV_Ingress.mp

+/*******************************************************************
+
+UAV HADR Mission
+
+The following model specifies the ingress phase of the UAS HADR 
+reference mission. The ingress phase is preceded by the preflight 
+phase, and followed by the on-station phase.
+
+This model contains an unexpected behavior in which the UAV status
+is acceptable but the operator aborts the ingress (trace 2).
+  
+  created by A. Constable May 2017
+  
+********************************************************************/
+
+
+SCHEMA UAV_Ingress
+
+/*-----------------------
+  JTF C2
+-------------------------*/
+
+ROOT JTF_C2:	Provide_launch_command; 
+
+
+/*-----------------------
+  GCS OPERATOR
+-------------------------*/
+
+ROOT GCS_Operator: 	(* Receive_launch_command
+    				Check_launch_parameters_for_safety
+    				Recieve_launch_clearence_from_host_ship
+    				Provide_launch_command
+    				Receive_UAV_status_and_position
+    				Assess_UAV_status_and_position
+    				Status_acceptable 
+    				(Command_UAV_to_proceed_on_ingress 
+                     Receive_UAV_position |
+                        Command_UAV_abort)
+    				*);
+
+
+/*-----------------------
+  GROUND CREW
+-------------------------*/
+
+ROOT Ground_Crew: 	(* Receive_launch_command
+    				Provide_launch_command
+    				*);
+
+
+/*-----------------------
+  UAV
+-------------------------*/
+
+ROOT UAV: 			(* Receive_launch_command
+    				Launch
+   					Execute_climb
+    				Maneuver_to_clear_obstacles
+    				Maneuver_to_ingress_altitude
+    				Level_off_at_ingress_altitude
+    				Transmit_status_and_position
+    				(Receive_command_to_proceed 
+                     Follow_flight_path_to_reach_onstation_area_and_altitude 
+                     Reach_onstation_waypoint
+                     Report_status |
+                        Receive_command_to_abort
+    					Abort_mission)
+    				Apply_status_decision
+    				*);
+
+
+/*-----------------------
+  NAV REFERENCE
+-------------------------*/
+
+ROOT Navigation_Reference:  ;
+
+
+
+/*---------------------------------------------
+  COORDINATION
+-----------------------------------------------*/
+
+COORDINATE 	$a: Provide_launch_command		FROM JTF_C2,
+			$b: Receive_launch_command		FROM GCS_Operator
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Provide_launch_command		FROM GCS_Operator,
+			$b: Receive_launch_command		FROM Ground_Crew
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Provide_launch_command		FROM Ground_Crew,
+			$b: Receive_launch_command		FROM UAV
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Transmit_status_and_position		FROM UAV,
+			$b: Receive_UAV_status_and_position		FROM GCS_Operator
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Command_UAV_to_proceed_on_ingress		FROM GCS_Operator,
+			$b: Receive_command_to_proceed		FROM UAV
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Command_UAV_abort		FROM GCS_Operator,
+			$b: Receive_command_to_abort		FROM UAV
+		DO ADD $a PRECEDES $b; OD; 
+
+COORDINATE 	$a: Report_status		FROM UAV,
+			$b: Receive_UAV_position		FROM GCS_Operator
+		DO ADD $a PRECEDES $b; OD; 
+
+
+