H01 Shadow Behavior

Runs the default eastbound target at speed 1.8 with unrestricted pwt_outer_dist=0; passes at 45 seconds with positive relevance, contact and vehicle headings in [70,110], Abe's speed in [1,2], Ben's speed at least 1, and no warning or error.

Commands Ben to heading 270, exercising westbound contact tracking; passes at 80 seconds when Shadow reports contact heading in [245,310], Ben is in the same heading band, relevance is positive, both vehicles are moving, and no warning or error occurred.

Commands Ben to heading 20, exercising contact tracking near north without crossing zero; passes at 55 seconds when Shadow and Ben headings are at most 35, relevance is positive, both vehicles are moving, and no warning or error occurred.

Commands Ben to heading 350, exercising Shadow's contact heading across the 0/360 boundary; passes at 60 seconds when Shadow and Ben headings are at least 330, Abe's heading is at most 40, relevance is positive, all motion bounds hold, and no warning or error occurred.

Changes Ben's commanded heading from 90 to 20 at 45 seconds, exercising Shadow after a live target turn; passes at 95 seconds when Shadow and Ben headings are at most 55, Abe's heading is at most 70, relevance is positive, all three speed floors hold, and no warning or error occurred.

Sets Ben's commanded speed to 0.8, exercising slow-contact speed matching; passes when Shadow reports contact speed in [0.55,1.05], Abe moves in [0.45,1.15], Ben moves in [0.5,1.05], Abe remains eastbound, and no warning or error occurred.

Sets Ben's commanded speed to 2.6, exercising fast-contact speed matching; passes when Shadow reports contact speed in [2,2.8], Abe moves at least 1.3, Ben moves in [1.7,2.8], Abe remains eastbound, and no warning or error occurred.

Sets Ben's commanded speed to 0, exercising a stationary contact; passes when relevance remains positive, Shadow reports contact speed at most 0.2, both vehicle speeds are at most 0.35, and no warning or error occurred.

Sets pwt_outer_dist=20, below the starting contact range, exercising relevance gating; passes when SHADOW_RELEVANCE=0, Abe's speed is at most 0.35, Ben keeps moving at least 1, and no warning or error occurred.

Starts with pwt_outer_dist=20 and raises it to 120 through SHADOW_UPDATES at 12 seconds, exercising runtime activation of relevance; passes with the default positive-relevance, eastbound heading, speed, and warning-free motion grade.

Starts with unrestricted relevance and lowers pwt_outer_dist to 5 at 38 seconds, exercising runtime deactivation; passes at 45 seconds when relevance is zero, Abe is stopped, Ben is still moving, and no warning or error occurred.

Starts inactive at pwt_outer_dist=20, rejects runtime -5, then accepts 120; ordered evaluation requires the exact param_error and warning, exact success for 120, then positive relevance with Shadow, Abe, and Ben moving before the deadline.

Accepts contact=ghost, observes its missing-contact warning, then accepts contact=ben and pwt_outer_dist=120; ordered evaluation requires all three exact update values before positive relevance and moving Shadow/Abe/Ben evidence.

Configures cnflag=<120 SHADOW_RANGE_NEAR=$[RANGE], exercising inherited range-macro expansion; passes when relevance is positive, SHADOW_RANGE_NEAR is greater than zero and at most 120, and no warning or error occurred.

Sets contact=ghost with on_no_contact_ok=true; the live case passes on a pre-deadline warning with no behavior error, and direct CTest requires the exact shadow_contact: ghost x/y/heading/speed info not found payload.

Sets the same absent contact with on_no_contact_ok=false; the harness passes on a pre-deadline behavior error, and direct CTest requires the same exact missing-contact payload on BHV_ERROR rather than BHV_WARNING.

Sets pwt_outer_dist=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires Shadow to reject this exact value.

Sets heading_peakwidth=-5; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires Shadow to reject this exact value.

Sets heading_basewidth=-5; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires Shadow to reject this exact value.

Sets speed_peakwidth=-0.1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires Shadow to reject this exact value.

Sets speed_basewidth=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires Shadow to reject this exact value.

Sets decay=bad; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires the inherited parser to reject this exact value.

Sets decay=60,30; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection when decay start exceeds decay end.

Sets extrapolate=maybe; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires the inherited boolean parser to reject it.

Sets on_no_contact_ok=maybe; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires the inherited boolean parser to reject it.

Sets inherited time_on_leg=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of the negative duration.

Sets inherited cnflag=soon SHADOW_RANGE_NEAR=$[RANGE]; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires the contact-flag parser to reject the unsupported tag.

Sets inherited post_per_contact_info=maybe; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires the boolean parser to reject it.