Behavior Correctness
Behavior correctness tests for BHV_LegRun. These cases verify leg geometry forms, initialization modes, capture handling, turn shaping, leg and turn progression, behavior completion, scheduled speeds, runtime updates, flag aliases, and invalid parameter handling.
Stem Mission
The stem mission runs one simulated vehicle on a compact two-leg LegRun pattern. Case overlays vary geometry input form, initialization mode, capture and turn controls, scheduled speeds, runtime updates, event flags, and malformed behavior parameters.
Examples
Case Matrix
baseline_cycle_pass
Runs the stock 60-meter leg centered at (7,-57) on heading 64.64 degrees, with 8-meter alternating turns at 1.6 m/s; passes when leg 1, turn 1, leg 2, mid-leg, mid-turn, and completion flags fire without a behavior error.
finite_complete_pass
Sets perpetual=false on the stock pattern to exercise finite completion; passes when leg 1, turn 1, leg 2, and LR_DONE fire without a behavior error.
colon_leg_format_pass
Supplies the stock geometry as leg=7:-57:64.64:60 instead of named fields, exercising the colon parser; passes on the full baseline flag set and no behavior error.
vertex_points_pass
defines the leg by p1=-20.12,-69.82 and p2=34.12,-44.18 instead of center, heading, and length; passes on the full baseline flag set and no behavior error.
init_close_turn_pass
Sets init_leg_mode=close_turn to choose the initial leg from the nearer turn; passes on the full baseline leg, turn, midpoint, completion, and no-error evidence.
init_far_turn_pass
Sets init_leg_mode=far_turn to start on leg 2; passes when LR_DONE=true with LR_LEG2_DONE=true while LR_LEG1_DONE and LR_TURN1_DONE remain false.
turn_rad_alias_pass
Configures both turns through shared aliases turn_bias=100, turn_dir=port, turn_rad=8, and turn_ext=4; passes when the behavior regenerates exact reference points (-47.81,-65.84,224.72) and (61.81,-48.16,44.72) for the two turns, completes turn 1, and reports no behavior error.
turn_bias_ext_gap_pass
Sets shared turn_bias=85, turn_rad=9, turn_ext=8, and turn_pt_gap=18; passes when the generated turn reference points are exactly (-53.83,-68.03,230.79) and (54.06,-16.9,78.49), turn 1 completes, and no behavior error occurs. The direct LegRun CTest separately requires a smaller point gap to produce a denser preview.
individual_turn_params_pass
Configures asymmetric turns with radii 7 and 10, biases 80 and 95, extensions 3 and 6, and opposite directions; passes when the two generated reference points are exactly (-43.94,-68.02,218.14) and (44.65,-23.06,3.88), turn 1 completes, and no behavior error occurs.
turn_rad_min_clip_pass
Sets turn_rad_min=9 before shared turn_rad=2, exercising minimum-radius clipping; passes when the effective 9-meter geometry produces exact turn reference points (-50.75,-65.1,225.82) and (49.83,-17.43,83.46), turn 1 completes, and no behavior error occurs.
capture_radius_alias_pass
Replaces capture_radius=5 with the equivalent radius=5 alias; passes on the full baseline progression, midpoint, completion, and no-error evidence.
capture_line_absolute_pass
Sets capture_line=absolute instead of true; passes on the full baseline progression, midpoint, completion, and no-error evidence.
no_capture_line_pass
Disables capture lines and uses capture_radius=6 and slip_radius=16 for radius-only endpoint capture; passes on the full baseline progression, midpoint, completion, and no-error evidence.
leg_speed_schedule_pass
Configures finite leg_spds=1.2,1.0,0.8,1.4; passes when behavior-owned LR_NOW_SPD follows leg 2 1.2, leg 1 1.0, leg 2 0.8, leg 1 1.4, then returns to cruise speed 1.6 on leg 2.
leg_speed_onturn_pass
Configures repeating leg_spds=1.1,0.9,1.3 with leg_spds_onturn=true; passes when each turn retains its preceding leg speed through the ordered 1.1, 0.9, and 1.3 entries, then the wrapped leg returns to 1.1.
leg_speed_count_repeat_pass
Configures repeating count-expanded leg_spds=2:1.0,1.4; passes when two consecutive legs use 1.0, the next uses 1.4, the wrapped leg returns to 1.0, and every intervening turn remains at cruise speed 1.6.
runtime_length_angle_update_pass
Posts leg_len_mod=8 at six seconds and leg_ang_mod=-5 at eight seconds; passes when the endpoints first become (-23.72,-71.56) and (37.72,-42.44), then become (-22.34,-74.18) and (36.34,-39.82), while the helm remains in DRIVE without a behavior error.
runtime_turn_radius_update_pass
Uses a 44-meter leg and posts turn_rad_mod=2; passes when the regenerated turn reference points are exactly (-46.45,-60.94,226.75) and (43.89,-18.12,82.53), with the helm in DRIVE and no behavior error.
runtime_speed_replace_reset_pass
Uses controlled leg transitions to apply replace,1.1,1.5, reset, clear, and final replace,1.2 updates; passes when ordered mode/speed pairs are leg1/1.1, leg2/1.1, leg1/1.6, and leg2/1.2, proving each command changes the next applicable schedule state.
runtime_shift_point_pass
Posts shift_pt=9,-55 four seconds after deployment to move the leg center; passes when the endpoints become (-18.11,-67.85) and (36.11,-42.15), whose midpoint is exactly (9,-55), while the helm remains in DRIVE without a behavior error.
runtime_turn_bias_ext_update_pass
Posts turn_bias_mod=-10 and then turn_ext_mod=2; passes when the generated turn reference points first become (-47.76,-66.85,222.05) and (49.29,-20.85,87.23), then become (-49.35,-67.46,222.05) and (50.78,-20.01,87.23), with the helm in DRIVE and no behavior error.
flag_aliases_pass
Adds leg_end_flag, turn_end_flag, mid_leg_flag, and mid_turn_flag alongside the canonical flag names; passes when every canonical and alias flag reaches shoreside, the behavior completes, and no behavior error occurs.
mid_pct_late_pass
Sets mid_leg_pct=70 and posts $[PCT_NP] with the mid-leg flag; passes when that flag reports leg progress between 0.68 and 0.78, the mid-turn flag fires before completion, and no behavior error occurs.
patience_clip_pass
Supplies patience=150 and extracts the behavior's reported setting with pEchoVar; passes when the extracted value is exactly patience=99, the helm is in DRIVE, and LR_NOW_SPD remains at cruise speed 1.6.
bad_leg_config_fail
Sets nonnumeric len=bad in the leg specification; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_speed_schedule_fail
Sets malformed leg_spds=1.0,fast; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_init_mode_fail
Sets unsupported init_leg_mode=sideways; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_mid_pct_fail
Sets out-of-range mid_leg_pct=101; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_turn_radius_fail
Sets invalid shared turn_rad=0; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_turn_ext_fail
Sets invalid shared turn_ext=-1; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_turn_dir_fail
Sets unsupported shared turn_dir=sideways; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_speed_high_fail
Sets speed=9, above the helm speed domain; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.
bad_speed_count_fail
Sets invalid zero-count schedule entry leg_spds=0:1.0; passes when the bridged helm state becomes exactly MALCONFIG before the 15-second deadline.