:orphan:

.. Copyright (c) 2004-2014 Laboratório de Sistemas e Tecnologia Subaquática and Authors
.. All rights reserved.
.. Faculdade de Engenharia da Universidade do Porto
.. Departamento de Engenharia Electrotécnica e de Computadores
.. Rua Dr. Roberto Frias s/n, 4200-465 Porto, Portugal
..
.. For more information please see <http://whale.fe.up.pt/neptus>.
.. 
.. $Id:: commonTasks.rst 570 2014-10-24 14:44:32Z pdcalado                           $:

.. Section to be added wrapping chapter 7, 8 and 9
.. Working with Neptus
.. ;;;;;;;;;;;;;;;;;;;

.. _sec_common_operations:

Operating Instructions
**********************

Create Mission
==============

|admonition_check|

#. Launch Neptus

#. Select :menuselection:`File-->Create Mission` 

#. Insert coordinates for the mission location.   

   .. TIP:: 
     We recommend this location to be either a position in the vicinity of the area of operation or 
     the intended position for the base station, or both. This can also be changed later.

#. Select folder to save missions.

   .. TIP:: 
     Select a file name and (optionally) a directory structure that will help memorize the contents 
     and context of the mission. Mission files will have an *nmisz* extension (Neptus mission archive).


#. Insert mission name.

#. Click save.

You should see a console focused on the marker for :ref:`ref_my_location` that is set to the mission 
location. In the :ref:`mission tree <sec_mission_tree>`, the plans folder is empty and there are no 
transponders.






.. _sec_create_plan:

Create Plan
=========== 

|admonition_check|

This will create a simple plan composed of one :ref:`goto maneuver<man_goto>` and one 
:ref:`rows maneuver<man_rows>`.

#. Launch Neptus

#. Click on the :ref:`left toolbar <sec_toolbar>`, click :ref:`plan editor<sec_planEditor>`.

#. In the "Choose a vehicle" window, select the main vehicle for the plan from the 
   :ref:`dropdown menu<fig_chooseVehicle>`.

   .. _fig_chooseVehicle:
   .. figure:: _assets/screenshots/chooseVehicle.png
      :scale: 50%
   
      Window for choosing vehicle.

#. Over the :ref:`world map<ref_world_map>`, click with the right mouse button. From the list of 
   maneuvers on the :ref:`menu<fig_menuManeuvers>`, select :menuselection:`Add Goto`.

   .. _fig_menuManeuvers:
   .. figure:: _assets/screenshots/menuManeuvers.png
      :scale: 50%
   
      Menu containing the list of maneuvers.

#. New elements appear after adding the goto maneuver. The figure :ref:`of part of the console<fig_gotoAdded>` 
   shows the changes. 

   .. _fig_gotoAdded:
   .. figure:: _assets/screenshots/gotoAdded.png
   
      The green dot indicates where the vehicle will go and on the right are the specific details of the maneuver.

#. Now, repeat step 4 but select :ref:`man_rows`. The plan now should be like on the 
   :ref:`figure with parallel lines<fig_rowsAdded>`.

   .. _fig_rowsAdded:
   .. figure:: _assets/screenshots/rowsAdded.png
   
      The set of lines represent the path the vehicle will travel.

#. Click the Save button, to save.

#. Write the plan name on the text field of the window that appears.

The plan in now safely on the :ref:`sec_mission_tree` under the plans folder.



Execute Plan
============

|admonition_check|

This explains how to make the vehicle start the execution of a plan.

#. In the :ref:`sec_mission_tree` select the plan which you wish to execute.

#. Click with the left mouse button over the :ref:`sec_send_plan` button (figure :ref:`figure<fig_send_plan>`) if the plan is not already synchronized.

   .. _fig_send_plan:
   .. figure:: _assets/elements/send_plan.png

      Symbol of the synchronize plan button.

#. Click with the left mouse button over the :ref:`sec_start_plan` button (figure :ref:`figure<fig_start_plan>`) to start.

   .. _fig_start_plan:
   .. figure:: _assets/elements/start_plan.png

      Symbol of the start plan button.

#. If some payload that requires activation is enabled for the specified plan, then the vehicle might enter Calibration mode. During this period, the vehicle waits at the surface for an amount of time that depends on the sensors being activated.

#. When this period is over, the vehicle will start executing the plan and will enter Maneuver mode.

.. WARNING:: |admonition_warning|
    Calibration phase may be very short if the sensors that require activation are only necessary later in the plan. If the designed plan consists of a single maneuver with infinite or unpredictable duration (like an infinite Station Keeping maneuver), the Calibration phase is skipped, and sensors are activated in Maneuver mode.
    Morevoer, if by any chance, a sensor fails to be activated during this period or later in the plan, the execution will be interrupted.

Download Log from Console
=========================

|admonition_check|

#. Launch Neptus

#. Select :menuselection:`View-->Log Download` or press :menuselection:`Ctrl+L` to open the :ref:`ref_logs_downloader`.

#. Press the middle button (second button described on :ref:`this table<table_downloader_btn_details>`).

#. Wait for it to turn green.

All the day logs in the main vehicle have been transfered to the :file:`./log` folder.


Inspect Log from Mission Review and Analysis (MRA)
==================================================

|admonition_check|

To do this you need the log folder containing the :file:`*.lsf` or :file:`*.lsf.gz` file.

#. Launch Neptus;

#. Select :menuselection:`Tools-->MRA`;

#. From the MRA window, select :menuselection:`File-->Open LSF Log`;

#. Browse to where the :file:`*.lsf` or :file:`*.lsf.gz` file is, select it and press Open.

#. If it's not the first time you open the log, a window will popup asking if you want to regenerate 
   the index. Just Click No.

#. Press Replay, on the :ref:`sec_visualizations_tab` (under :ref:`sec_visualizations_group`).

The window should now show :ref:`where, in the environment it has been<fig_mraReplay>`.

.. _fig_mraReplay:
.. figure:: _assets/screenshots/mraReplay.png

   On the left the Replay visualization is selected, on the right the contextualization of the positions in the map.


Connecting Neptus to a Vehicle
==============================

|admonition_check|

#. Start the communications hub (this is where the router is, usually a Manta Gateway).

#. The Neptus and the vehicle are started. The order is not important.

#. Both systems will start announcing their points of connection.

#. Neptus will pickup the announce of the vehicle and starts transmitting messages to it.
   (See on :ref:`ref_systems_list` the :ref:`table_con_systems_list_color_codes` and 
   :ref:`table_con_systems_list_symbology_description_connectivity`.)

    #. This will trigger the vehicle to send messages to Neptus.

#. Both systems are connected.


.. numbered steps to execute common operations: Create mission, create plan, MRA, download log