CI/CD Pipeline for MOOS-IvP Apps, Behaviors, and Libraries

Contact Management pContactMgrV20 Detects and reports relevant contacts so downstream avoidance behaviors can react to them. 2 harnesses

Contact Manager

H01 Contact Manager Unit

Contact-manager mode checks for detection, absence, alerts, reports, filters, and multi-contact outputs.

Contact Manager

H02 Contact Manager Motion

Moving integration companion proving contact-manager alerts can drive safe collision-avoidance transit.

Obstacle Management pObstacleMgr Accepts obstacle inputs, builds obstacle representations, and publishes alerts used by obstacle avoidance. 2 harnesses

Obstacle Manager

H01 Obstacle Manager Unit

Obstacle-manager mode checks for alerts, given obstacles, point clusters, hulls, and lifecycle branches.

Obstacle Manager

H02 Obstacle Manager Motion

Moving integration suite for pObstacleMgr alert output feeding BHV_AvoidObstacleV24.

Marine PID pMarinePIDV22 Converts desired heading, speed, and depth mail into direct actuator commands under override, stale-input, and yaw-source constraints. 2 harnesses

Marine PID

H01 Marine PID Unit

Headless pMarinePIDV22 unit matrix covering heading, speed, depth, override, stale-input, yaw, and debug-output branches.

Marine PID

H02 Marine PID Motion

Closed-loop pMarinePIDV22 motion matrix covering transit, turn recovery, speed-PID mode, depth response, and authority failures.

uSimMarineV22 uSimMarineV22 Checks simulator motion, actuator response, limits, drift/current inputs, reset, pause, and navigation-state publication. 1 harness

uSimMarineV22

H01 uSimMarineV22 Motion

App-level simulator harness for uSimMarineV22 actuator response, embedded PID coupling, limits, drift/current inputs, water-depth altitude, pause, reset, disabled-state nav seeding, and stop controls.

pNodeReporter pNodeReporter Checks node-report construction, platform metadata, alternate nav streams, runtime updates, pause/resume, and odometry metrics. 1 harness

pNodeReporter

H01 pNodeReporter Unit

Headless pNodeReporter matrix for node-report construction, platform metadata, helm mode, JSON output, alternate nav streams, coordinate cross-fill, runtime updates, pause/resume, and odometry metrics.

uPokeDB uPokeDB Checks command-line MOOSDB pokes across connection modes, value forms, cache parsing, short aliases, overwrites, quiet operation, and time macros. 1 harness

uPokeDB

H01 uPokeDB Unit

Headless uPokeDB matrix covering explicit host/port pokes, mission-file connection, quiet/cache aliases, numeric and string value forms, overwrites, repeated commands, and time macros.

uXMS uXMS Checks terminal MOOSDB scoping output across variable scopes, display columns, history, filters, source selection, config, aliases, refresh modes, and truncation. 1 harness

uXMS

H01 uXMS Unit

Captured-output uXMS matrix covering named scopes, all/alll display, source/time/community columns, history view, truncation, clean CLI override, mission-file config, filters, source selection, aliases, refresh modes, shortcuts, and color mapping.

uQueryDB uQueryDB Checks command-line MOOSDB query pass/fail logic, timeout behavior, mission-file configuration, compound conditions, and check-variable output formats. 1 harness

uQueryDB

H01 uQueryDB Unit

Headless uQueryDB matrix covering CLI/config pass/fail conditions, fail-only queries, missing-variable timeout failure, halt_max_time, numeric comparisons, compound logic, unique names, and check-variable output formats.

pEchoVar pEchoVar Checks live echo mappings, boolean inversion, EFlipper component extraction, filters, separators, cycle suppression, and duplicate mapping behavior. 1 harness

pEchoVar

H01 pEchoVar Unit

Headless pEchoVar matrix covering live numeric and string echoing, boolean inversion, fan-out, duplicate mapping de-duplication, latest-value handling, EFlipper component maps, filters, separators, cycle suppression, invalid flippers, and independent named flippers.

uTimerScript uTimerScript Checks exact event payloads, control ordering, reset and timing paths, macro expansion, delayed-client block-on, awake policies, and quit behavior. 1 harness

uTimerScript

H01 uTimerScript Unit

Headless uTimerScript runtime matrix covering exact posts and macro payloads, control-mail ordering, reset counts and delays, publication timing, status configuration, polygon random pairs, delayed-client block-on, awake policies, and process exit.

pDeadManPost pDeadManPost Checks watchdog deadflag posting across active-at-start behavior, heartbeat suppression, stale heartbeat detection, and numeric/string/multiple deadflags. 1 harness

pDeadManPost

H01 pDeadManPost Unit

Headless pDeadManPost watchdog matrix covering active-at-start posting, inactive-until-first-heartbeat behavior, stale heartbeat posting, live heartbeat suppression, custom heartbeat variables, post policies, invalid policy fallback, and typed deadflags.

pSpoofNode pSpoofNode Checks spoofed NODE_REPORT generation, defaults, runtime requests, motion advancement, duration expiry, cancellation, and malformed request rejection. 1 harness

pSpoofNode

H01 pSpoofNode Unit

Headless pSpoofNode matrix covering config-time and runtime spoof requests, default fields and startup ordering, generated names, moving contacts, duration expiry, name/group/contact cancellation, runtime normalization, color/type edge behavior, and malformed request rejection.

uTermCommand uTermCommand Checks terminal command mapping, typed posts, partial matching, duplicate precedence, tab expansion, and unknown command absence. 1 harness

uTermCommand

H01 uTermCommand Unit

Headless uTermCommand matrix covering numeric and string commands, arrow syntax, unique and ambiguous partial selection, duplicate key precedence, exact prefix wins, editing, config parsing, and unknown-command absence.

pSearchGrid pSearchGrid Checks grid construction, full and delta publication, node-report ingestion, custom output variables, community filters, and invalid/outside-grid absence. 1 harness

pSearchGrid

H01 pSearchGrid Unit

Headless pSearchGrid matrix covering initial grid publication, local/global node-report deltas, repeated and multi-cell deltas, reset clearing semantics, outside-grid absence, full-grid reporting, custom output variables, single and list community filters, and malformed report rejection.

Field Messaging uField Communications Checks field communications delivery, broker bridge setup, and route recovery paths that connect vehicle and shoreside pShare communities. 3 harnesses

uField Communications

H01 uField Comms Unit

Headless uFldNodeComms matrix covering range gates, critical range, shared reports, pulses, message payload forms, group filters, runtime mail, stale reports, and drop controls.

uField Communications

H02 uField Broker Bridge

Broker-level uFldNodeBroker/uFldShoreBroker matrix covering handshake acks, qbridge expansion, bridge token expansion, mediated node-message selection, vnode discovery, keyword mismatch status, and auto-bridge suppression.

uField Communications

H03 uField Route Resilience

Route-lifecycle matrix covering startup/runtime route parsing, dead-first-route blocking, secondary dead-route tolerance, runtime timing, duplicates, malformed route rejection, per-node recovery, numeric loopback routes, and shore-driven vnode discovery.

uFldPathCheck uFldPathCheck Checks path-history, odometry, trip-reset, and speed-report contracts from controlled node-report mail. 1 harness

uFldPathCheck

H01 uFldPathCheck Unit

Headless uFldPathCheck matrix covering odometry, speed reports, trip resets, local reports, invalid reports, stationary tracks, multi-node accounting, and history-length speed windows.

uFldMessageHandler uFldMessageHandler Checks NODE_MESSAGE routing, addressing, payload forwarding, summary counters, and configured flag outputs. 1 harness

uFldMessageHandler

H01 uFldMessageHandler Unit

Headless uFldMessageHandler matrix covering destination routing, strict addressing, invalid messages, numeric and string payload forwarding, summary counters, and good/bad flag macro expansion.

uFldContactRangeSensor uFldContactRangeSensor Checks contact-ledger range requests, report variable modes, sensor arcs, echo filters, ping waits, and range limits. 1 harness

uFldContactRangeSensor

H01 uFldContactRangeSensor Unit

Headless uFldContactRangeSensor matrix covering short/long report forms, ground-truth reporting, echo-type filters, sensor arcs, ping wait, pulse suppression, local reports, unknown requesters, and unlimited range overrides.

uFldBeaconRangeSensor uFldBeaconRangeSensor Checks beacon range requests, report modes, ground-truth output, range gates, ping policies, markers, and malformed requests. 1 harness

uFldBeaconRangeSensor

H01 uFldBeaconRangeSensor Unit

Headless uFldBeaconRangeSensor matrix covering short/long report modes, ground-truth output, NODE_REPORT_LOCAL input, request/reply range gates, malformed and unknown requests, node-level unlimited range, node-specific ping wait, ping-payment policy, marker styling, and unsolicited frequency reports.

uFldCollisionDetect uFldCollisionDetect Checks encounter ranking, collision and near-miss thresholds, clear-report controls, range gates, filters, and flag outputs. 1 harness

uFldCollisionDetect

H01 uFldCollisionDetect Unit

Headless uFldCollisionDetect matrix covering collision, near-miss, clear encounter reporting and suppression, encounter-range blocking, closest-range publish suppression, reset, pulse and ring suppression, range normalization, group filters, conditions, and configured collision/near/encounter flags.

uFldCollObDetect uFldCollObDetect Checks vehicle-obstacle collisions, near misses, encounter thresholds, minimum-distance tracking, clearing gates, and flags. 1 harness

uFldCollObDetect

H01 uFldCollObDetect Unit

Headless uFldCollObDetect matrix covering obstacle collision flags, near-miss flags, encounter-only flags, strict threshold boundaries, normalized range ordering, numeric distance flags, global minimum distance, invalid obstacle suppression, aged/fresh/named obstacle clearing, and macro flag output.

uFldScope uFldScope Checks scope table appcasts, field aliases, same-key replacement including blank overwrites, multi-row display, invalid-scope recovery, and missing field/key rendering. 1 harness

uFldScope

H01 uFldScope Unit

Headless uFldScope matrix covering appcast table construction, field aliases, same-key row replacement including blank overwrites, multiple vehicle rows, invalid-scope recovery, missing fields, and missing key values.

Depth Behavior BHV_ConstantDepth Checks held depth, surfacing, runtime updates, bad config, missing depth mail, and actuator authority. H01 in shared depth behavior group. 1 harness

Depth Behavior

H01 Constant Depth Motion

BHV_ConstantDepth motion matrix covering held depth, surfacing, negative-depth clipping, shape parameters, runtime updates, malformed update preservation, finite-duration completion, malformed config, missing depth mail/domain, and actuator authority failures.

Depth Behavior BHV_GoToDepth Checks depth sequences, repeats, arrivals, crossings, invalid inputs, and missing depth state. H02, not H01, in shared depth behavior group. 1 harness

Depth Behavior

H02 GoToDepth Motion

BHV_GoToDepth motion matrix covering multi-level sequences, repeat behavior and exhaustion, vertical target crossings, zero-delta arrivals, single-level targets, malformed update preservation, unsupported perpetual config, invalid sequences, negative depths, malformed repeat values, missing depth mail, and missing depth domain.

Depth Behavior BHV_PeriodicSurface Checks surfacing cycles, waits, status variables, acomms extensions, ascent modes, and bad timing inputs. H03, not H01, in shared depth behavior group. 1 harness

Depth Behavior

H03 Periodic Surface Motion

BHV_PeriodicSurface motion matrix covering surfacing cycles, status variables, wait windows, timeout reset behavior, mark-variable resets, acomms extensions, ascent-grade branches, current-speed mode, invalid period/ascent/status/acomms settings, missing nav mail, and missing depth domain.

Depth Behavior BHV_MaxDepth Checks max-depth guarding, clamps, tolerances, slack telemetry, bad config, and missing depth state. H04, not H01, in shared depth behavior group. 1 harness

Depth Behavior

H04 Max Depth Motion

BHV_MaxDepth motion matrix covering max-depth guarding, zero-depth clamps, negative command clipping, tight and zero tolerance, unconstrained shallow commands, malformed max-depth/tolerance settings, unsupported ascent-field config, missing depth mail, and missing depth domain.

Depth Behavior BHV_MinAltitude Checks bottom-clearance guarding, shallow-bottom response, boundary behavior, bad config, and missing altitude inputs. 1 harness

Depth Behavior

H05 Min Altitude Motion

BHV_MinAltitude motion matrix covering bottom-clearance guarding, shallow-bottom response, unconstrained deep-bottom behavior, clearance boundary behavior, zero-minimum behavior, zero altitude failures, invalid configuration, missing nav inputs, and noncritical missing-altitude handling.

Behavior Correctness BHV_MemoryTurnLimit Checks recent-heading averaging, tight versus relaxed limiter windows, and missing memory limiter configuration. 1 harness

Behavior Correctness

H01 MemoryTurnLimit Behavior

Moving correctness harness for BHV_MemoryTurnLimit recent-heading averaging, turn-window damping, runtime limiter updates, speed scaling, and malformed configuration.

COLREGS Behavior BHV_AvdColregsV22 Exercises COLREGS classification, threshold edges, execution quality, parameter sensitivity, and multi-vehicle stress cases. 6 harnesses

COLREGS

H01 COLREGS Classification

Canonical two-vessel COLREGS classification suite for BHV_AvdColregsV22.

COLREGS

H02 COLREGS Thresholds

Geometry-edge suite for classification thresholds and near-boundary COLREGS behavior.

COLREGS

H03 COLREGS Execution

Execution-quality layer for COLREGS cases after classification is known to be correct.

COLREGS

H04 COLREGS Parameters

Parameter-regression suite varying one BHV_AvdColregsV22 knob at a time.

Performance

P02 COLREGS Joust

Two- and three-vehicle COLREGS pressure harness focused on sustained safe spacing.

Performance

P03 COLREGS Traffic Ring

Fixed-seed five-vehicle traffic-ring harness with repeated reassignment pressure.

Collision Avoidance Behavior BHV_AvoidCollision Owns contact-alert requests, behavior lifecycle, and clean resolution of collision-avoidance encounters. 1 harness

Behavior Correctness

H01 Avoid-Collision Behavior

Moving correctness harness for BHV_AvoidCollision independent of app-level contact-manager assertions.

Obstacle Avoidance Behavior BHV_AvoidObstacleV24 Checks obstacle-avoidance lifecycle, helper flags, clean transit outcomes, and longer obstacle-field stress cases. 2 harnesses

Behavior Correctness

H01 Avoid-Obstacle Behavior

Moving correctness harness for BHV_AvoidObstacleV24 with deterministic obstacle-manager input.

Performance

P01 Obstacle Gauntlet

Deterministic and randomized obstacle-field performance harness.

Operating Region Behavior BHV_OpRegionV24 Checks save and halt envelopes, entry/exit timing gates, reset behavior, and runtime region updates. 1 harness

Behavior Correctness

H01 OpRegion Safety

Moving safety harness for BHV_OpRegionV24 save regions, halt regions, timing gates, reset, and runtime region updates.

Waypoint Behavior BHV_Waypoint Checks route traversal, capture modes, cycle flags, runtime point updates, status outputs, and invalid route inputs. 1 harness

Behavior Correctness

H01 Waypoint Behavior

Moving correctness harness for BHV_Waypoint route traversal, runtime point updates, cycle flags, capture modes, and malformed inputs.

Loiter Behavior BHV_Loiter Checks loiter acquisition, polygon forms, center updates, speed modes, status reports, and invalid polygon inputs. 1 harness

Behavior Correctness

H01 Loiter Behavior

Moving correctness harness for BHV_Loiter acquisition, polygon variants, center updates, speed modes, reports, and invalid inputs.

Station-Keeping Behavior BHV_StationKeep Checks station-point holding, hibernation, radii, speed updates, warning recovery, and invalid station-keeping inputs. 1 harness

Behavior Correctness

H01 StationKeep Behavior

Moving correctness harness for BHV_StationKeep station points, radii, hibernation, runtime retargeting, speed settings, warnings, and invalid inputs.

Trail Behavior BHV_Trail Checks moving target trailing geometry, pursuit relevance, runtime trail updates, and missing-contact handling. 1 harness

Behavior Correctness

H01 Trail Behavior

Two-vehicle moving correctness harness for BHV_Trail relative/absolute trailing geometry, runtime updates, pursuit relevance, and missing-contact paths.

Convoy Behavior BHV_Convoy Checks mark queues, leader/follower geometry, speed branches, runtime updates, visual breadcrumbs, and missing-contact handling. 1 harness

Behavior Correctness

H01 Convoy Behavior

Two-vehicle moving correctness harness for BHV_Convoy mark queues, following geometry, speed branches, runtime updates, warnings, and missing-contact failures.

Cut-Range Behavior BHV_CutRange Checks pursuit relevance, range reduction, give-up behavior, target geometry branches, runtime updates, and malformed inputs. 1 harness

Behavior Correctness

H01 CutRange Behavior

Two-vehicle moving correctness harness for BHV_CutRange pursuit, give-up behavior, relevance, runtime updates, and malformed inputs.

Fixed-Turn Behavior BHV_FixedTurn Checks fixed-turn direction, scheduled turn specifications, runtime updates, timeout completion, and invalid turn configuration. 1 harness

Behavior Correctness

H01 FixedTurn Behavior

Moving correctness harness for BHV_FixedTurn direction, scheduled turns, runtime updates, timeout completion, and invalid turn configuration.

Periodic Speed Behavior BHV_PeriodicSpeed Checks lazy/busy speed windows, initially-busy startup, reset behavior, alias acceptance, zero-speed handling, status outputs, and invalid parameter configuration. 1 harness

Behavior Correctness

H01 PeriodicSpeed Behavior

Moving correctness harness for BHV_PeriodicSpeed lazy/busy cycling, reset behavior, alias parameters, zero-speed windows, and invalid configuration.

Timer Behavior BHV_Timer Checks idle and running duration counters, custom/default status variables, suffix handling, and invalid timer status configuration. 1 harness

Behavior Correctness

H01 Timer Behavior

Moving correctness harness for BHV_Timer idle/running duration counters, custom status variable names, suffix handling, and invalid timer status configuration.

TestFailure Behavior BHV_TestFailure Checks completion-triggered burn, hang, parser edge cases, crash/default-crash process loss, and an armed non-completing baseline. 1 harness

Behavior Correctness

H01 TestFailure Behavior

Headless unit harness for BHV_TestFailure completion-triggered crash, burn, hang alias, default burn timing, malformed burn timing, negative/zero burn timing, and unsupported failure-type default behavior.

Host Info Utility pHostInfo Checks host IP, MOOSDB port, and exact route-normalized PHI_HOST_INFO payloads. 1 harness

Utility Infrastructure

H01 pHostInfo Unit

Headless utility harness for pHostInfo host IP, MOOSDB port, and PHI_HOST_INFO route reporting.

Load Watch Utility uLoadWatch Checks near and hard threshold detection, trigger holdoff, threshold boundaries, and app matching. 1 harness

Utility Infrastructure

H01 uLoadWatch Unit

Headless utility harness for uLoadWatch threshold detection, near-breach counters, hard-breach counters, and trigger holdoff behavior.

Process Watch Utility uProcessWatch Checks process-presence summaries, mapped posts, event mapping, and expected missing-process detection. 1 harness

Utility Infrastructure

H01 uProcessWatch Unit

Headless utility harness for uProcessWatch process-presence reporting, mapped posts, full summaries, events, and missing-process detection.

pShare pShare Checks routed mail, wildcard routes, multicast topology, throttling, route-list parsing, and runtime route insertion. 2 harnesses

Utility Infrastructure

H01 pShare Unit

Headless two-community harness for pShare direct, renamed, wildcard, source-qualified wildcard, multicast, duration-limited, shorthand, fanout, command-line, and frequency-throttled routes.

Utility Infrastructure

H02 pShare Topology

Headless four-community harness for pShare route behavior that needs multiple senders, multiple input ports, input route-list parsing, multicast listeners, custom multicast channels, relay proof, route-list branching, app aliases, runtime input-route insertion, or runtime output-route insertion.

pLogger pLogger Checks explicit log capture, wildcard omit and exclusion logs, dynamic log requests, sync logs, numeric and typed values, copy-file requests, and fixed artifact names. 1 harness

Utility Infrastructure

H01 pLogger Unit

Headless artifact harness for pLogger explicit logs, wildcard omit and exclusion logs, dynamic log requests, datatype marking, sync logs, copy-file requests, and fixed artifact naming.

pAntler pAntler Checks baseline process launch, MOOS-name aliases, multiple aliases, launch filters, explicit system-path lookup, and extra process parameters. 1 harness

Utility Infrastructure

H01 pAntler Unit

Headless launch-composition harness for pAntler baseline launches, aliases, launch filters, explicit system-path launches, and extra process parameters.

pMissionEval pMissionEval Checks mission grading, staged logic, result flags, report formatting, macro expansion, and no-hash report behavior. 1 harness

pMissionEval

H01 pMissionEval Unit

Headless lifecycle harness for pMissionEval grading, staged logic sequences, flags, report formats, and macro expansion.

pMissionHash pMissionHash Checks mission hashes, custom output variables, disabled outputs, and reset behavior. 1 harness

pMissionHash

H02 pMissionHash Unit

Headless lifecycle harness for pMissionHash publication names, disabled outputs, and reset behavior.

uMayFinish uMayFinish Checks default finish exits, custom finish variables, mismatched finish values, and timeout exits. 1 harness

uMayFinish

H03 uMayFinish Unit

Headless lifecycle harness for uMayFinish default completion, custom finish variables, mismatched finish values, and timeout exits.

uFldPathCheck uFldPathCheck Checks path-history, odometry, trip-reset, and speed-report contracts from controlled node-report mail. 1 harness

uFldPathCheck

H01 uFldPathCheck Unit

Headless uFldPathCheck matrix covering odometry, speed reports, trip resets, local reports, invalid reports, stationary tracks, multi-node accounting, and history-length speed windows.

uFldMessageHandler uFldMessageHandler Checks NODE_MESSAGE routing, addressing, payload forwarding, summary counters, and configured flag outputs. 1 harness

uFldMessageHandler

H01 uFldMessageHandler Unit

Headless uFldMessageHandler matrix covering destination routing, strict addressing, invalid messages, numeric and string payload forwarding, summary counters, and good/bad flag macro expansion.

uFldContactRangeSensor uFldContactRangeSensor Checks contact-ledger range requests, report variable modes, sensor arcs, echo filters, ping waits, and range limits. 1 harness

uFldContactRangeSensor

H01 uFldContactRangeSensor Unit

Headless uFldContactRangeSensor matrix covering short/long report forms, ground-truth reporting, echo-type filters, sensor arcs, ping wait, pulse suppression, local reports, unknown requesters, and unlimited range overrides.

uFldObstacleSim uField Obstacle Simulation Checks obstacle-field source publication, simulated point sensing, refresh, reset, visual, and range-gating behavior. 1 harness

uField Obstacle Simulation

H01 uFldObstacleSim Unit

Headless uFldObstacleSim source-side matrix covering obstacle files, truth publications, visual output, point-sensor mode, refreshes, resets, range boundaries, and style parameters.

ZigZag Behavior BHV_ZigZag Checks first-side selection, zig-angle boundaries, leg and odometry completion, active-time capture, runtime speed updates, visual hints, and invalid inputs. 1 harness

Behavior Correctness

H01 ZigZag Behavior

Moving correctness harness for BHV_ZigZag side selection, angle boundaries, completion limits, active-time capture, runtime speed updates, visual hints, and invalid inputs.

LegRun Behavior BHV_LegRun Checks leg selection, leg and turn progression, completion, speed schedules, runtime updates, and invalid leg-run inputs. 1 harness

Behavior Correctness

H01 LegRun Behavior

Moving correctness harness for BHV_LegRun leg selection, geometry forms, capture handling, turn shaping, speed schedules, runtime updates, flags, and invalid configuration.

Shadow Behavior BHV_Shadow Checks contact speed/heading following, relevance gates, warning recovery, runtime updates, and malformed contact/configuration inputs. 1 harness

Behavior Correctness

H01 Shadow Behavior

Two-vehicle moving correctness harness for BHV_Shadow contact telemetry, relevance gates, speed/heading following, runtime updates, and malformed inputs.