H01 OpRegion Safety

Sends the vehicle from (-18,-121) through (42,-121) and back to (12,-121) inside the core box [-23,47]×[-152,-90], testing nominal containment; passes on arrival with no save-, halt-, or time-breach flag and no BHV_ERROR mail.

Narrows the core's east edge to x=27, keeps the halt edge at x=49, and routes through x=34 before returning to x=10, testing that a save-region exit posts both the one-time save_flag and repeated savex_flag without reaching the halt region; passes on arrival with SAVE_REGION_BREACHED=true, SAVE_REGION_RECOVERING=true, and no halt/time breach or behavior error.

Uses core east edge x=32, save_dist=16, and halt_dist=24 on the stock route to x=42, testing that the generated save buffer contains a point outside the core; passes on arrival with all breach flags false and no behavior error.

Uses core east edge x=32, save_dist=16, and halt_dist=36, then routes through x=58, testing that the vehicle can leave the generated save buffer while remaining inside the larger halt buffer; passes after SECS_OUT_SAVE_POLY>=1 with both save flags true and no halt/time breach or behavior error.

Uses a core ending at x=10 with halt_dist=4, placing the eastbound route outside the halt envelope; the harness passes when HALT_REGION_BREACHED=true, TIME_LIMIT_BREACHED=false, and any BHV_ERROR mail has appeared.

Places the core's west edge at x=-10 with halt_dist=5, so the vehicle starts three meters outside the halt envelope, and sets trigger_on_poly_entry=true; passes after the vehicle enters and completes the route with no save-, halt-, or time-breach flag and no behavior error.

Uses the same start-outside geometry with trigger_on_poly_entry=false, testing immediate enforcement before polygon entry; the harness passes when HALT_REGION_BREACHED=true, time breach remains false, and any behavior error has appeared.

Routes to x=58 and back across the halt edge at x=50 with trigger_exit_time=80, testing that a real halt-region exit shorter than the configured delay is debounced; passes after the behavior reports at least four seconds outside with no halt/time breach or behavior error.

Uses the same out-and-back route and halt geometry with trigger_exit_time=0.5, testing strict exit enforcement; the harness passes when the excursion produces HALT_REGION_BREACHED=true and a behavior error without a time breach.

Uses the same route with trigger_entry_time=80 and trigger_exit_time=0.5, testing that the initial stay inside never becomes an official entry and therefore the later exit is not enforced; an ordered evaluator first observes at least four seconds inside, then at least two seconds outside, and requires no halt/time breach or behavior error.

Uses the same route with trigger_exit_time=5 and posts OPREGION_UPDATES="reset=true" about three seconds after crossing the halt edge, testing that reset clears the prior official entry before the five-second exit threshold; passes only when IVPHELM_UPDATE_RESULT reports success for opreg and OPREGION_UPDATES, the behavior remains outside for at least four post-reset seconds, and no halt/time breach or behavior error occurs.

Sets max_time=8 while keeping the region large enough for the route, testing the behavior's mission timer; the harness passes when TIME_LIMIT_BREACHED=true and a behavior error appear while save and halt breach remain false.

Sets max_depth=1 and posts NAV_DEPTH=5 once per second from times two through six, testing the numeric maximum-depth comparison; passes only with DEPTH_LIMIT_BREACHED=true, the paired input value 5, and a behavior error before the missing-breach deadline.

Seeds NAV_ALTITUDE=20, then lowers it to 2 with min_altitude=10, testing the numeric minimum-altitude comparison; an inactive helper registers the input that BHV_OpRegionV24 currently omits from its subscriptions, and the case passes only with ALTITUDE_LIMIT_BREACHED=true, the paired input value 2, and a behavior error before the deadline.

Sets save_dist=-1, testing rejection of a negative save buffer; passes only when IVPHELM_STATE becomes exactly MALCONFIG before the missing-state deadline.

Sets halt_dist=-1, testing rejection of a negative halt buffer; passes only on the same exact pre-deadline MALCONFIG state.

Sets max_depth=-1, testing rejection of a negative depth limit; passes only on the same exact pre-deadline MALCONFIG state.

Sets min_altitude=-1, testing rejection of a negative altitude limit; passes only on the same exact pre-deadline MALCONFIG state.

Sets recover_spd=0, testing rejection of a nonpositive recovery speed; passes only on the same exact pre-deadline MALCONFIG state.

Sets trigger_on_poly_entry=maybe, testing rejection outside the accepted Boolean forms; passes only on the same exact pre-deadline MALCONFIG state.

Sets trigger_entry_time=-1, testing rejection of a negative entry delay; passes only on the same exact pre-deadline MALCONFIG state.

Sets trigger_exit_time=-1, testing rejection of a negative exit delay; passes only on the same exact pre-deadline MALCONFIG state.

Starts with a dynamic core ending at x=21, then posts an expanded core ending at x=60 after three seconds, testing expansion before the vehicle reaches the narrow save boundary; passes on arrival with all breach flags false and no behavior error.

Starts with a core ending at x=47, posts a shrink to x=21 after six seconds, and routes through x=34 before returning to x=4, testing runtime enforcement of the recomputed save boundary; passes on arrival with both SAVE_REGION_BREACHED=true and SAVE_REGION_RECOVERING=true, plus no halt/time breach or behavior error.

Posts a shrink from east edge x=47 to x=5 after six seconds while retaining the stock eight-meter halt distance, testing immediate enforcement of a recomputed halt boundary; the harness passes when HALT_REGION_BREACHED=true and a behavior error appear without a time breach.