Behavior Correctness
Behavior correctness tests for BHV_Trail. These cases verify relative and absolute trailing geometry, pursuit relevance, runtime trail updates, extrapolation choices, missing-contact behavior, and malformed parameter handling.
Stem Mission
The stem mission uses two simulated vehicles: abe runs BHV_Trail while ben provides the moving contact track. Case overlays vary trailing geometry, relevance settings, runtime updates, and missing-contact behavior.
Examples
Case Matrix
static_trail_pass
Configures a relative 180-degree trail point 45 meters behind Ben with radius=8 and nm_radius=18; passes at 45 seconds when TRAIL_DISTANCE<=20, PURSUIT=1, relevance is positive, and no BHV_ERROR occurred.
lead_right_turn_pass
Replaces Ben's straight leg with points (55,-80):(55,-35):(125,-35), exercising pursuit through a right-angle target turn; passes at 80 seconds when Ben has reached x>=50,y>=-45, TRAIL_DISTANCE<=45, pursuit and relevance are active, and no error occurred.
pwt_outer_inactive_pass
Sets pwt_outer_dist=30, below the observed contact range; passes when TRAIL_RANGE>30, PURSUIT=0, relevance is zero, and no error occurred.
runtime_relevance_off_pass
Posts pwt_outer_dist=5 at 12 seconds, exercising runtime relevance shutdown; passes at 35 seconds when TRAIL_RANGE>5, PURSUIT=0, relevance is zero, and no error occurred.
runtime_bad_update_recover_pass
Rejects trail_range=-5 before accepting the distinct recovery value 70; ordered evaluation requires the exact param_error, a warning, exact success for 70, then TRAIL_DISTANCE<=40, active pursuit, and positive relevance before the deadline.
idle_post_distance_pass
Sets post_trail_dist_on_idle=true and turns TRAIL=false at 25 seconds, exercising distance publication while idle; passes at 35 seconds when PURSUIT=0, TRAIL_DISTANCE<999, and no error occurred.
idle_no_post_distance_pass
Sets post_trail_dist_on_idle=false, turns TRAIL=false at 25 seconds, and writes sentinel TRAIL_DISTANCE=999 at 28 seconds; passes at 35 seconds when the sentinel remains 999, PURSUIT=0, and no error occurred.
auto_alert_request_pass
Starts a spawn-templated Trail with an updates variable and no_alert_request=false; the live case requires a BCM_ALERT_REQUEST before active pursuit, while direct CTest requires the complete request payload and proves each suppression gate.
missing_contact_warn_pass
Sets contact=ghost with on_no_contact_ok=true; the live case leads on a pre-deadline warning with no behavior error, and direct CTest requires exact trail_contact: ghost x/y/heading/speed info not found warning text.
missing_contact_fail
Sets the same absent contact with on_no_contact_ok=false; the live case leads on a pre-deadline behavior error, and direct CTest requires the exact ghost-contact message on BHV_ERROR.
missing_contact_param_fail
Omits contact with on_no_contact_ok=false; the live case leads on a pre-deadline behavior error, and direct CTest requires exact trail_contact: contact IDX not set. text.
bad_trail_angle_type_fail
Sets trail_angle_type=diagonal; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact type.
bad_trail_angle_fail
Sets trail_angle=west; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact nonnumeric angle.
bad_trail_range_fail
Sets trail_range=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact negative range.
bad_mod_trail_range_pct_fail
Sets mod_trail_range_pct=0; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this nonpositive percentage.
bad_radius_fail
Sets radius=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact radius.
bad_nm_radius_fail
Sets nm_radius=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact near-mode radius.
bad_pwt_outer_dist_fail
Sets pwt_outer_dist=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact relevance distance.
bad_decay_fail
Sets decay=60,30; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection when decay start exceeds decay end.
bad_time_on_leg_fail
Sets inherited time_on_leg=-1; the harness requires armed, pre-deadline MALCONFIG, while direct CTest requires rejection of this exact negative duration.