Depth Behavior
Moving correctness tests for BHV_GoToDepth. These cases verify multi-level sequences, repeated cycles and exhaustion, vertical target crossings, zero-delta arrivals, single-level targets, malformed update preservation, unsupported perpetual config, invalid sequences, malformed repeat values, missing inputs, and missing domain support.
Stem Mission
The shared depth stem mission runs one simulated UUV and one shoreside evaluation community. The vehicle uses pHelmIvP, pMarinePIDV22, and uSimMarineV22; the horizontal waypoint keeps the vehicle underway while BHV_GoToDepth owns the depth-sequence verdict.
Examples
These depth GIFs are generated from real run alogs, not raw pMarineViewer screen captures, because the top-down track alone does not show commanded depth sequence progress clearly. The visuals call out the evidence that makes each case pass.
Case Matrix
goto_depth_sequence_pass
Runs depth=6,1:14,1:9,999 to require three ordered depth arrivals and hold the final nine-meter level. Passes when the third arrival and x>=60 have both occurred, 7<=NAV_DEPTH<=11, the vehicle remains in the transit corridor, and no behavior error occurred.
goto_depth_crossing_pass
Runs 12,0:4,0:12,999 with a one-meter arrival delta to require a downward arrival at 12 meters followed by an upward arrival at four meters without plateau delay. Passes when the second arrival and x>=60 have both occurred, the vehicle remains in the transit corridor, and no behavior error occurred.
goto_depth_zero_delta_crossing_pass
Runs the same 12-to-4-to-12 sequence with arrival_delta=0, so only crossing a target can post each arrival. Passes when the second crossing and x>=60 have both occurred with no behavior error.
goto_depth_single_level_pass
Configures the single long-plateau level depth=8,999. Passes after the first arrival and x>=45 when 6<=NAV_DEPTH<=10, the vehicle remains in the transit corridor, and no behavior error occurred.
goto_depth_time_gate_pass
Configures depth=4,25:16,999 to test that the first level remains active for its 25-second plateau. Passes at 18 seconds after x>=25 when GTD_LEVEL_HIT=1, 2<=NAV_DEPTH<=6, and no behavior error is observed.
goto_depth_capture_delta_alias_pass
Uses the nondefault alias capture_delta=4.0 on a ten-meter target, testing that the alias changes the arrival threshold rather than being ignored in favor of the one-meter default. Passes when the first arrival is posted at 5.5<=NAV_DEPTH<=7.5 with no behavior error; changing the tolerance to one meter posts the arrival near nine meters and fails.
goto_depth_capture_flag_alias_pass
Uses capture_flag=LEVEL_HIT instead of arrival_flag on the three-level 6-to-14-to-9 sequence. Passes as soon as the alias-generated GTD_LEVEL_HIT counter reaches three at the final depth with no behavior error; a 70-second deadline exists only to grade a missing alias publication as failure.
goto_depth_repeat_exhaustion_pass
Runs depth=6,1:10,1 with repeat=1 to require exactly two traversals and then post GTD_DONE=true; a matching ten-meter guard takes over after the fourth arrival. Passes when x>=70, GTD_LEVEL_HIT=4, GTD_DONE=true, and no behavior error have all been observed.
goto_depth_bad_update_preserve_pass
Posts malformed GTD_UPDATE="depth=bad" at 12 seconds while running 6,1:14,1:9,999, testing that the helm reports the rejected update and preserves the configured sequence. Passes when the post-update warning is observed, the original three arrivals complete, x>=60, 7<=NAV_DEPTH<=11, and no behavior error occurred; replacing the malformed update with a valid one fails the warning assertion.
goto_depth_bad_sequence_fail
Gives GoToDepth depth=5,1:bogus, testing rejection of a nonnumeric sequence entry. Passes only when the first operational helm state is MALCONFIG; an ordinary DRIVE state fails.
goto_depth_negative_depth_fail
Gives GoToDepth depth=-5,1, testing rejection of a negative target depth. Passes only when the first operational helm state is MALCONFIG; an ordinary DRIVE state fails.
goto_depth_bad_repeat_fail
Gives the waypoint its valid repeat=0 and GoToDepth the invalid repeat=-1, testing GoToDepth's repeat validation rather than the waypoint parser. Passes only when the first operational helm state is MALCONFIG; changing GoToDepth to repeat=0 reaches DRIVE and fails.
goto_depth_bad_arrival_delta_fail
Gives GoToDepth arrival_delta=-1, testing rejection of a negative capture tolerance. Passes only when the first operational helm state is MALCONFIG; an ordinary DRIVE state fails.
goto_depth_bad_tuple_fail
Gives GoToDepth depth=6,1,extra:14,1, testing rejection of a tuple with three fields. Passes only when the first operational helm state is MALCONFIG; an ordinary DRIVE state fails.
goto_depth_perpetual_cycle_pass
Runs depth=6,1:10,1 with the valid base parameter perpetual=true, testing that GoToDepth resets its arrival counter and starts the sequence again after the second level. Passes when the ordered counter changes from 2 at the end of the first cycle to 1 in the second cycle with no behavior error; disabling perpetual fails at the bounded missing-restart deadline.
goto_depth_missing_nav_depth_fail
Changes the simulator output prefix to SIM, leaving the helm without NAV_X or NAV_DEPTH. The harness passes at 45 seconds when both navigation variables remain absent, DESIRED_ELEVATOR=0, and no behavior error is observed.
goto_depth_domain_missing_fail
Removes depth from the IvP helm domain while retaining the three-level behavior. The harness passes when ABE_BHV_ERROR is observed.