Behavior Correctness
Behavior correctness tests for BHV_PeriodicSpeed. These cases verify lazy/busy speed cycling, initially-busy startup, reset behavior, alias parameters, accepted zero-speed windows, status variable outputs, and invalid parameter configuration.
Stem Mission
The stem mission runs one simulated vehicle with BHV_ConstantHeading providing course control while BHV_PeriodicSpeed owns the speed objective. Case overlays vary startup mode, lazy/busy periods, reset policy, alias parameters, period speed, and malformed parameter values while the evaluator grades behavior status variables and observed NAV_SPEED.
Examples
These PeriodicSpeed GIFs are generated explanatory views instead of raw pMarineViewer captures because the meaningful evidence is the lazy/busy timer state, reset behavior, and posted speed variables. The visuals call out the evidence that makes each case pass.
Case Matrix
baseline_cycle_pass
Runs the stock four-second lazy/busy cycle at 1.4 m/s, testing repeated state transitions; at 18.5 seconds it requires at least two busy entries, NAV_SPEED>0.4, ABE_IVPHELM_STATE=DRIVE, no behavior error, and no deadline.
lazy_wait_pass
Samples the stock initial lazy window before its first four-second transition, requiring zero busy entries, positive PS_PENDING_ACTIVE, zero PS_PENDING_INACTIVE, NAV_SPEED<0.3, a DRIVE helm, no behavior error, and no deadline.
first_busy_pass
Samples the stock first busy window after the four-second transition, requiring exactly one busy entry, positive PS_PENDING_INACTIVE, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
busy_to_lazy_pass
Starts busy with reset_upon_running=false, a two-second busy period, and a six-second lazy period, testing the initial busy-to-lazy transition; at 5.5 seconds it requires zero counted lazy-to-busy transitions, at least three seconds pending active, zero pending inactive, a DRIVE helm, no behavior error, and no deadline.
deprecated_zaic_aliases_pass
Supplies the deprecated period_basewidth, zaic_peakwidth, and zaic_summit_delta spellings, testing that all three are accepted and produce a usable 1.5 m/s busy objective; the 6.5-second sample requires one busy entry, positive pending-inactive time, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
short_cycle_three_count_pass
Sets both periods to 1.5 seconds, testing repeated short-cycle bookkeeping; at 12.5 seconds it requires at least three busy entries, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
explicit_initially_lazy_pass
Explicitly sets initially_busy=false, testing acceptance of the Boolean false branch and the resulting lazy start; at 3.5 seconds it requires zero busy entries, positive pending-active time, zero pending-inactive time, NAV_SPEED<0.3, a DRIVE helm, no behavior error, and no deadline.
zaic_base_period_peak_aliases_pass
Supplies the deprecated zaic_basewidth and period_peakwidth spellings with preferred summit_delta, testing acceptance of the mixed alias set and a usable 1.5 m/s busy objective; the 6.5-second sample requires one busy entry, positive pending-inactive time, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
reset_on_reactivation_pass
Disables the default-reset behavior at one second and re-enables it at 5.5 seconds, testing that reactivation starts a fresh lazy period; at 7.2 seconds it requires zero busy entries, more than one second pending active, zero pending inactive, NAV_SPEED<0.3, a DRIVE helm, no behavior error, and no deadline.
reset_false_continuous_pass
Sets reset_upon_running=false, disables the behavior from three through 12 seconds, and tests that its eight-second lazy/ten-second busy clock continues while inactive; at 15 seconds it requires at least one busy entry, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
initially_busy_pass
Sets initially_busy=true with reset_upon_running=false, testing the nondefault busy start; at 3.5 seconds it requires zero later busy entries, positive pending-inactive time, NAV_SPEED>0.4, a DRIVE helm, no behavior error, and no deadline.
zero_speed_pass
Starts busy with period_speed=0, testing that a valid zero-speed objective commands a stop rather than causing configuration rejection; at 3.5 seconds it requires zero later busy entries, positive pending-inactive time, NAV_SPEED<0.3, a DRIVE helm, no behavior error, and no deadline.
bad_period_lazy_fail
Sets period_lazy=0, testing rejection of a nonpositive lazy period; it passes only when Abe's helm reaches exact MALCONFIG after the two-second arm barrier and before the 15-second deadline.
bad_period_lazy_nonnumeric_fail
Sets period_lazy=soon, testing rejection of a nonnumeric lazy period; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_period_busy_fail
Sets period_busy=0, testing rejection of a nonpositive busy period; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_period_speed_fail
Sets period_speed=-1, testing rejection of a negative target speed while preserving zero as valid; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_initially_busy_fail
Sets initially_busy=maybe, testing rejection outside the Boolean forms; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_reset_upon_running_fail
Sets reset_upon_running=maybe, testing rejection outside the Boolean forms; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_basewidth_fail
Sets preferred basewidth=-0.1, testing rejection of a negative ZAIC base width; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_zaic_basewidth_fail
Sets deprecated zaic_basewidth=-0.1, testing the alias's equivalent negative-width rejection; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_peakwidth_fail
Sets preferred peakwidth=-0.1, testing rejection of a negative ZAIC peak width; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_period_peakwidth_fail
Sets deprecated period_peakwidth=-0.1, testing the alias's equivalent negative-width rejection; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_summit_delta_fail
Sets preferred summit_delta=-1, testing rejection of a negative ZAIC summit delta; it passes only on the same exact armed MALCONFIG state before the deadline.
bad_zaic_summit_delta_fail
Sets deprecated zaic_summit_delta=-1, testing the alias's equivalent negative-delta rejection; it passes only on the same exact armed MALCONFIG state before the deadline.