Behavior Correctness
Behavior correctness tests for BHV_StationKeep. These cases verify station arrival, hold/swing modes, hibernation, radius and speed updates, retargeting, warning recovery, and invalid parameter handling.
Stem Mission
The stem mission starts one simulated vehicle near a station point. Case overlays change the station geometry, hibernation settings, runtime retargeting, and speed/radius settings while grading mode and distance outputs.
Examples
Case Matrix
static_station_pass
Configures station point (12,-121), inner radius 4, outer radius 15, outer speed 1.2, and the stock transit speed; passes at 35 seconds when DIST_TO_STATION<=8 and no behavior warning or error occurred.
station_pt_alias_pass
Supplies (12,-121) through the station_pt alias instead of point, exercising alias parsing; passes at 35 seconds when DIST_TO_STATION<=8 and no behavior warning or error occurred.
start_inside_hold_pass
Places the station at the vehicle's initial position (-45,-121), exercising immediate hold without a transit; passes at 35 seconds when DIST_TO_STATION<=8 and no behavior warning or error occurred.
center_activate_hold_pass
Omits a fixed point and sets center_activate=true, exercising creation of the station at activation; passes at 35 seconds when DIST_TO_STATION<=8 and no behavior warning or error occurred.
wide_radius_pass
Sets inner_radius=10 and outer_radius=28; passes after the normalized settings report those exact radii and the vehicle reaches DIST_TO_STATION<=10 before the deadline.
tight_radius_pass
Sets inner_radius=2, outer_radius=8, and outer_speed=1.4; passes after the normalized settings report all three values and the seeking vehicle reaches DIST_TO_STATION<=9 before the deadline.
inner_gt_outer_pass
Sets inner_radius=18 and outer_radius=8; the live case requires those exact settings and DIST_TO_STATION<=18, while a direct CTest verifies that StationKeep promotes the effective outer ring to 18 meters.
outer_speed_slow_pass
Sets outer_speed=0.35; passes when the reported setting rounds to 0.3 and, at 9<DIST_TO_STATION<11, StationKeep commands 0.15<DESIRED_SPEED<0.25 while seeking.
outer_speed_update_slow_pass
Posts outer_speed=0.35 through STATIONKEEP_UPDATES; passes after the exact update is accepted, settings report outer_speed=0.3, and StationKeep commands 0.15<DESIRED_SPEED<0.25 at 9<DIST_TO_STATION<11 while seeking.
transit_speed_fast_pass
Sets transit_speed=3.0; passes when StationKeep commands 2.95<DESIRED_SPEED<3.05 while seeking outside the 15-meter outer ring.
extra_speed_alias_pass
Sets alias extra_speed=3.0; passes when StationKeep likewise commands 2.95<DESIRED_SPEED<3.05 while seeking outside the outer ring.
transit_speed_slow_in_progress_pass
Sets transit_speed=0.5; passes when the seeking vehicle has moved from its initial 57-meter range to 15<DIST_TO_STATION<56 while commanding 0.45<DESIRED_SPEED<0.55.
hibernation_seek_pass
Sets hibernation_radius=25, exercising the approach state outside that radius; passes at eight seconds when DIST_TO_STATION>25, PSKEEP_MODE=SEEKING_STATION, and no BHV_ERROR occurred.
hibernation_settle_pass
Sets hibernation_radius=25, exercising transition into the no-objective hibernation state; passes at 45 seconds when DIST_TO_STATION<=25, PSKEEP_MODE=HIBERNATING, and no BHV_ERROR occurred.
hibernation_radius_update_settle_pass
Posts hibernation_radius=25 through STATIONKEEP_UPDATES at two seconds, exercising runtime hibernation enablement; passes at 45 seconds when DIST_TO_STATION<=25, PSKEEP_MODE=HIBERNATING, and no BHV_ERROR occurred.
hibernation_off_pass
Sets hibernation_radius=off; passes when settings report the disabled value hiber=-1.0 and StationKeep remains SEEKING_STATION while more than 25 meters from the station.
point_update_retarget_pass
Posts point=x=24,y=-121; passes after that exact update is accepted, settings report station (24,-121), and the seeking vehicle reaches DIST_TO_STATION<=8 from the new point.
radius_update_expand_pass
Posts inner_radius=10 and outer_radius=28; passes after update success is observed, settings report both exact radii, and the vehicle subsequently reaches DIST_TO_STATION<=10.
radius_update_shrink_pass
Posts inner_radius=2 and outer_radius=8; passes after update success is observed, settings report both exact radii, and the vehicle subsequently reaches DIST_TO_STATION<=9.
speed_update_slow_progress_pass
Posts transit_speed=0.45; passes after the exact update is accepted and the seeking vehicle advances to 15<DIST_TO_STATION<56 while the helm's speed grid commands 0.35<DESIRED_SPEED<0.55.
bad_point_update_recover_pass
Starts at station (12,-121), rejects point=bad_point, then accepts the distinct recovery point (24,-121); passes after the exact rejection result and a warning, exact accepted update and final settings, and DIST_TO_STATION<=8 from the recovered point.
visual_hints_pass
Sets vertex color yellow, edge color cyan, and both sizes to 2; passes only when the normalized inner-ring VIEW_POLYGON reports those fields, with white label color and no behavior error.
missing_point_fail
Omits both point and center_activate, exercising a stationless configuration; the harness passes at 15 seconds when DIST_TO_STATION>=100, PSKEEP_MODE=UNKNOWN, and no BHV_ERROR occurred.
bad_point_fail
Sets point=not_a_point, exercising malformed point rejection; the harness passes at 15 seconds when DIST_TO_STATION>=100, PSKEEP_MODE=UNKNOWN, and no BHV_ERROR occurred.
bad_update_fail
Starts without a station and posts point=bad_point; the harness passes only when the exact update reports param_error, a warning is published, and StationKeep remains inactive with DIST_TO_STATION>=100, PSKEEP_MODE=UNKNOWN, and no behavior error.
bad_outer_radius_fail
Sets outer_radius=-3; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_inner_radius_fail
Sets inner_radius=bad_radius; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_hibernation_radius_fail
Sets hibernation_radius=zero; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_outer_speed_fail
Sets outer_speed=zero; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_transit_speed_fail
Sets transit_speed=-2; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_extra_speed_fail
Sets alias extra_speed=-2; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_center_activate_fail
Sets center_activate=maybe; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.
bad_swing_time_fail
Sets center_activate=true with swing_time=slow; the harness passes only when the armed helm reaches MALCONFIG before the missing-state deadline, while a direct CTest requires this value to be rejected by StationKeep.