Behavior Correctness
Behavior correctness tests for BHV_CutRange. These cases verify range closure, target geometry variants, pursuit and give-up flags, relevance gates, runtime updates, warning recovery, and invalid parameter handling.
Stem Mission
The stem mission uses two simulated vehicles: abe runs BHV_CutRange and tries to reduce range to ben. Case overlays vary target route geometry, relevance distances, give-up conditions, runtime updates, and warning/error paths.
Examples
Case Matrix
settled_no_warning_pass
Uses the stock configuration, clears accumulated startup warnings at 42 seconds, and observes the following three-second settled window; passes when pursuit has started and no new warning or behavior error occurs in that window.
static_cutrange_pass
Starts Abe and Ben 90 meters apart on the same eastbound line with stock pwt_inner_dist=15, pwt_outer_dist=70, and giveup_range=160; passes at 65 seconds when pursuit is true, giveup is false, closest range is at most 50 meters, Ben's speed is at least 0.6, and no warning or behavior error was observed after the 55-second warning reset.
crossing_cutrange_pass
Starts Ben at (20,-140) heading north toward (20,60) while Abe begins at (-70,-80) heading east; passes at 70 seconds when pursuit remains true without giveup, closest range is at most 60 meters, Ben is moving at least 0.6, and no settled warning or behavior error was observed.
headon_cutrange_pass
Starts Ben at (90,-80) heading west at a configured 1.4 m/s toward (-170,-80); passes at 60 seconds when pursuit is true, closest range is at most 45 meters, both vehicles are moving at least 0.8, and no settled warning or behavior error was observed.
angled_entry_pass
Starts Abe at (-95,-125) heading 45 degrees and Ben at (10,-80) heading 80 degrees toward (180,-40); passes at 70 seconds when pursuit remains true without giveup, closest range is at most 60 meters, Ben is moving at least 0.6, and no settled warning or behavior error was observed.
right_turn_target_pass
Sends Ben through 115,-80:115,-10; evaluation waits until Ben is within 105<=X<=125, Y>=-45, and heading at most 45 degrees, then passes when pursuit is true without giveup, current range is at most 70 meters, Ben is moving at least 0.6, and no settled warning or behavior error was observed.
s_turn_target_pass
Sends Ben through 55,-80:85,-45:115,-105:150,-80; evaluation waits until Ben is at X>=100, Y<=-88, and heading 115 through 205 degrees, then passes when pursuit is true without giveup, current range is at most 75 meters, Ben is moving at least 0.6, and no settled warning or behavior error was observed.
slow_target_pass
Sets Ben's waypoint speed to 0.5 m/s toward (120,-80); passes at 65 seconds when pursuit is true, closest range is at most 35 meters, Abe is moving at least 0.8, Ben is moving at most 0.9, and no settled warning or behavior error was observed.
fast_target_pass
Sets Ben's waypoint speed to 2.1 m/s toward (220,-80); passes at 75 seconds when pursuit is true, closest range is at most 80 meters, Abe is moving at least 0.8, Ben is moving at least 1.7, and no settled warning or behavior error was observed.
stationary_target_pass
Sets Ben's waypoint speed to 0.1 m/s toward (45,-80); passes at 50 seconds when pursuit is true, closest range is at most 45 meters, Abe is moving at least 0.8, Ben is moving at most 0.35, and no settled warning or behavior error was observed.
high_patience_pass
Sets patience=85 and max_patience=95; passes at 65 seconds when pursuit is true without giveup, closest range is at most 50 meters, Ben is moving at least 0.6 m/s, and no settled warning or behavior error was observed.
pwt_inner_zero_relevance_pass
Sets pwt_inner_dist=105 and pwt_outer_dist=120, placing the initial 90-meter contact inside the zero-relevance region; passes at 50 seconds when pursuit is latched true but Abe's speed is at most 0.35, Ben is moving at least 0.6, closest range remains at least 70 meters, and no settled warning or behavior error was observed.
pwt_equal_zero_relevance_pass
Sets both relevance distances to 90, exercising the zero-width relevance interval; passes under the same stopped-Abe, moving-Ben, minimum-range-at-least-70, and settled warning/error criteria.
giveup_start_far_pass
Sets giveup_range=120 and starts Ben at (125,-80), 195 meters from Abe; passes at 45 seconds when pursuit and giveup are both false, Abe's speed is at most 0.35, closest range remains at least 150 meters, and no settled warning or behavior error was observed.
giveup_hysteresis_pass
Sets giveup_range=89.5 while stationary Ben begins 90 meters from Abe; passes at 30.5 seconds when pursuit is true, giveup is false, current range is 88 through 91 meters, and no settled warning or behavior error was observed.
runtime_pwt_on_pass
Starts with pwt_inner_dist=105,pwt_outer_dist=120, enables CutRange at 30 seconds, then posts pwt_inner_dist=15 and pwt_outer_dist=70 at 37 and 38 seconds; passes at 80 seconds when pursuit is true without giveup, closest range is at most 65 meters, Abe is moving at least 0.6, and no settled warning or behavior error was observed.
runtime_pwt_off_pass
Starts with the stock active relevance band, then posts pwt_outer_dist=120 and pwt_inner_dist=105 at 34 and 35 seconds; passes at 50 seconds when pursuit remains latched true but Abe is moving at most 0.35, Ben is moving at least 0.6, closest range remains at least 70 meters, and no settled warning or behavior error was observed.
runtime_giveup_update_pass
Enables pursuit at 30 seconds and posts giveup_range=20 at 34 seconds; passes at 55 seconds when both the earlier pursuit flag and the giveup flag are true, Abe's speed is at most 0.6, and no settled warning or behavior error was observed.
runtime_bad_update_recover_warn_pass
Starts relevance off, posts invalid pwt_outer_dist=-5 at 32 seconds, then restores pwt_inner_dist=15,pwt_outer_dist=70 at 42 and 43 seconds; passes at 85 seconds when pursuit is true without giveup, current range is at most 90 meters, closest range is at most 65, Abe is moving at least 0.6, some behavior warning was observed, and no behavior error was observed.
missing_contact_warn_pass
Sets contact=ghost with on_no_contact_ok=true; passes at 20 seconds when some behavior warning and no behavior error were observed.
missing_contact_fail
Sets contact=ghost with on_no_contact_ok=false; after clearing startup errors at 35 seconds, this expected-negative case passes when a new BHV_ERROR arrives while Abe's helm remains in DRIVE and the 45-second deadline is still false.
missing_contact_param_fail
Omits contact with on_no_contact_ok=false; after the same post-activation error reset, this expected-negative case passes when a new BHV_ERROR arrives in DRIVE before the deadline.
bad_pwt_outer_dist_fail
Sets pwt_outer_dist=-1; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
pwt_inner_normalizes_outer_pass
Sets pwt_outer_dist=70 followed by pwt_inner_dist=90, exercising the shared setter that raises the companion outer value to 90; over the bounded observation window, passes when pursuit is latched, Abe remains at or below 0.35 m/s, Ben moves at least 0.6 m/s, closest range stays at least 70 meters, and no settled warning or behavior error occurs.
bad_giveup_range_fail
Sets giveup_range=-1; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
bad_patience_fail
Sets patience=-1; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
bad_max_patience_fail
Sets max_patience=101, above the accepted inclusive 0–100 range; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
bad_time_on_leg_fail
Sets time_on_leg=-1; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
bad_decay_fail
Sets decay=nope; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.
bad_legacy_util_param_fail
Adds unsupported top-level min_util_cpa_dist=10; this expected-negative case passes only when Abe's helm reaches MALCONFIG before the fallback deadline.