pNodeReporter
App-level correctness tests for pNodeReporter. These cases directly verify node-report construction, platform metadata, helm-mode fields, JSON modes, alternate nav streams, coordinate cross-fill policies, runtime metadata updates, pause/resume behavior, odometry evidence, and expected blackout-interval failure detection.
Stem Mission
The stem mission runs a single MOOS community with pNodeReporter, uTimerScript, pMissionEval, pAutoPoke, pMissionHash, and logging/watchdog support. Case overlays change only reporter configuration, scripted nav/helm/platform mail, and mission-owned report pass/fail conditions.
Examples
These pNodeReporter GIFs are generated report-flow views instead of raw pMarineViewer captures because the harness verdict depends on MOOS mail and NODE_REPORT payload fields rather than visible vehicle motion. The visuals call out the evidence that makes each case pass.
Case Matrix
nav_report_baseline_pass
Posts the complete baseline nav, platform, helm, all-stop, altitude, yaw, transparency, and trajectory inputs, testing normal CSP report assembly and the first-report variable; passes when both report variables publish and the shell finds NAME=reporter, X=10, Y=-5, SPD=2.5, HDG=123, DEP=7, TYPE=kayak, COLOR=red, LENGTH=4.2, BEAM=1.4, and MODE=MODE@ACTIVE:TRANSIT.
platform_metadata_pass
Configures type uuv, color blue, length 9.5, beam 2.1, group survey, and platform aspects PAYLOAD=ctd and ROLE=lead, testing static metadata insertion; passes when every exact field is present in NODE_REPORT_LOCAL.
helm_nohelm_mode_pass
Omits all helm-state mail while supplying valid navigation, testing the never-seen helm mode; passes when a node report publishes with NAME=reporter and MODE=NOHELM-EVER.
helm_standby_switch_pass
Posts IVPHELM_STATE=DRIVE+ with summary mode MODE@ACTIVE:STANDBY_TRACK, testing helm-summary mode extraction during standby; passes when the node report contains MODE=MODE@ACTIVE:STANDBY_TRACK.
helm_stale_threshold_pass
Sets nohelm_threshold=1, posts IVPHELM_STATE=DRIVE once at 0.5 seconds, and evaluates at four seconds, testing stale helm-state labeling; passes when the node report mode begins NOHELM-.
color_change_blocked_pass
Starts with configured color red and posts NODE_COLOR_CHANGE=yellow without enabling runtime color changes, testing the default rejection path; passes when the report contains COLOR=red and not COLOR=yellow.
color_change_allowed_pass
Sets allow_color_change=true and posts NODE_COLOR_CHANGE=yellow, testing the permitted runtime color path; passes when the report contains COLOR=yellow.
platform_report_pass
Maps BATTERY_VOLTAGE to batt and GPS_SATS to sats with zero gaps, then posts 12.7 and 9, testing PLATFORM_REPORT_LOCAL field aliasing; passes when a platform report publishes with platform=reporter, batt=12.7, and sats=9.
platform_report_gap_pass
Maps battery voltage to batt with gap=2, then posts 12.7 at one second and 12.8 at two seconds, testing that pNodeReporter holds the changed value until the configured publication gap expires; passes when the log contains batt=12.7 followed 1.8–2.4 seconds later by batt=12.8.
rider_payload_pass
Defines always-on riders for battery voltage with one-decimal precision and payload state, then posts 12.74 and armed, testing rider formatting and insertion; passes when the node report contains batt=12.7 and payload=armed.
custom_output_var_pass
Sets node_report_output=MY_NODE_REPORT, testing custom current and first-report variable names; passes when both MY_NODE_REPORT variables publish with NAME=reporter and the final result does not contain a CSP payload from NODE_REPORT_LOCAL.
json_only_report_pass
Sets json_report=true, testing JSON replacement on the normal node-report variable; passes when NODE_REPORT_LOCAL begins a JSON object containing "NAME":"reporter" and "TYPE":"kayak", and no CSP NAME=reporter form is present.
json_dual_report_pass
Sets json_report=NODE_REPORT_JSON, testing simultaneous CSP and JSON output; passes when NODE_REPORT_LOCAL contains CSP NAME=reporter and NODE_REPORT_JSON contains JSON "NAME":"reporter".
alt_nav_report_pass
Configures alternate prefix NAV_GT, suffix name _GT, and group truth, then repeatedly posts (20,-15), speed 3.1, and heading 210, testing alternate-report construction; passes when a current result or retained report contains NAME=reporter_GT, GROUP=truth, and every exact alternate nav value.
alt_nav_named_absolute_pass
Configures alternate prefix NAV_TRUTH, absolute name truth_node, and group truth_abs, then posts position (22,-12), depth 4, and altitude 40, testing absolute alternate naming plus vertical fields; passes when a current or retained report contains all those exact fields.
coord_policy_global_pass
Sets coord_policy_global=true while supplying both local (10,-5) and global (43.82535,-70.33045) navigation, testing that global-only reports retain the supplied latitude/longitude and omit local coordinates entirely; passes when those global values are within 0.000001 degrees and neither an X nor Y component exists.
heading_error_pass
Configures hdg_error=5 while the input remains NAV_HEADING=123, testing report-only heading bias; passes when the report contains HDG=128 and not HDG=123.
crossfill_local_to_global_pass
Sets cross_fill_policy=local and supplies only local position (12,-8), testing conversion from the configured datum to global coordinates; passes when the report retains (12,-8) and generates latitude 43.82522971 and longitude -70.33024916 within 0.000001 degrees.
crossfill_global_to_local_pass
Sets cross_fill_policy=global and supplies only latitude 43.825360 and longitude -70.330460, testing conversion from that global pair into the local datum; passes when the global inputs remain unchanged and the generated position is within 0.01 meters of (-4.72,6.74).
crossfill_global_terse_pass
Sets cross_fill_policy=global-terse with latitude 43.825360, longitude -70.330460, and conflicting local position (99,99), testing that the global pair overrides supplied local coordinates; passes when the report contains the global values and derived local position (-4.72,6.74) rather than (99,99).
node_group_update_pass
Posts NODE_GROUP_UPDATE=dynamic after startup, testing runtime group replacement; passes when the node report contains GROUP=dynamic.
platform_color_mail_pass
Posts PLATFORM_COLOR=orange, testing the platform-color mail path distinct from NODE_COLOR_CHANGE; passes when the node report contains COLOR=orange.
reverse_load_warning_pass
Repeats THRUST_MODE_REVERSE=true and LOAD_WARNING="app=pHelmIvP,maxgap=5" before pausing, testing report riders for reverse mode and the normalized load warning; passes when a current or retained node report contains THRUST_MODE_REVERSE=true and LOAD_WARNING=pHelmIvP:5.
blackout_interval_reset_fail
Configures blackout_interval=2.0, preserving a known bug in which the interval resets to zero after a post instead of sustaining the blackout; the harness passes only while a report is seen and PNR_POST_GAP<1.8.
mhash_odometer_pass
Moves from (0,0) through (8,0) to (20,0) after mission-hash startup, testing that pNodeReporter accumulates the furthest displacement in PNR_MHASH; passes when the publication contains a hash and exact ext=20.
report_cog_pass
Enables report_cog and moves from (0,0) to (8,0), testing course-over-ground derived from consecutive positions rather than the supplied heading field; passes when the report history contains the moved position with COG=90.
terse_reports_pass
Enables terse_reports with the full baseline input set, testing omission of non-terse nav details; passes when core name, x/y, speed, heading, type, and color fields remain while every DEP=, LAT=, LON=, and YAW= field is absent.
vsource_aux_allstop_pass
Configures vsource=ais, posts AUX_MODE=survey, and posts helm all-stop reason manual, testing those three optional report fields; passes when the report contains VSOURCE=ais, MODE_AUX=survey, and ALLSTOP=manual.
pause_resume_pass
Starts pNodeReporter paused, posts (1,1), updates the stored nav state to (30,-10) while still paused, and then posts PNR_PAUSE=false, testing both suppression and release of accumulated state; passes when no (1,1) report exists and the first report after resume contains (30,-10).
crossfill_fill_empty_pass
Sets cross_fill_policy=fill-empty and supplies only latitude 43.825370 and longitude -70.330470, testing that only the missing local pair is generated; passes when the global inputs remain unchanged and the generated position is within 0.01 meters of (-5.50,7.87).
crossfill_use_latest_local_pass
Sets cross_fill_policy=use-latest, posts global coordinates first, then local (25,5) one second later, testing that the newer local source replaces and regenerates the older global source; passes when the local pair is exact and the regenerated latitude/longitude are within 0.000001 degrees of (43.82534865,-70.33009010).
extrap_gap_metric_pass
Enables extrapolation with zero thresholds, establishes eastbound motion at one meter per second, then jumps NAV_X from 0 to 3, testing the discrepancy between the predicted and newly observed positions; passes when history records a position gap from 2.4 to 2.9 meters and a heading gap from 0 to 0.01 degrees.
extrap_prune_pass
Enables extrapolation with ten-unit thresholds, establishes eastbound motion at (0,0), then posts NAV_X=12 after the extrapolator has capped its prediction at 5, testing that the seven-meter discrepancy is measured but the below-threshold report is pruned; passes when the final gap is 6.5–7.5, heading gap is below 0.1, and no report contains X=12.