uFldBeaconRangeSensor
App-level correctness tests for uFldBeaconRangeSensor. These cases verify request report forms, ground-truth output, NODE_REPORT_LOCAL handling, request and reply range gates, malformed and unknown request rejection, node-level unlimited range, default and node-specific ping wait suppression, ping-payment retry semantics, marker style output, and unsolicited frequency reports.
Stem Mission
The shared uField app stem mission runs a single shoreside MOOS community with one selected app, uTimerScript, pMissionEval, and pLogger. This harness scripts static node and beacon geometry, then checks beacon range-report, ground-truth, marker, pulse, local-report, and ping-payment outputs from the alog.
Examples
Case Matrix
request_short_report_pass
Places Alpha at (0,0) and beacon beacon at (30,40), then requests a range with report_vars=short; passes when BRS_RANGE_REPORT identifies Alpha and the beacon at range 50 and the reply pulse identifies the beacon at (30,40).
request_long_report_pass
Requests the same 50-meter measurement with report_vars=long; passes when BRS_RANGE_REPORT_ALPHA identifies beacon at range 50 and no short BRS_RANGE_REPORT is published.
request_both_report_pass
Requests the same 50-meter measurement with report_vars=both; passes when both BRS_RANGE_REPORT and BRS_RANGE_REPORT_ALPHA identify beacon at range 50.
brs_ground_truth_uniform_zero_pass
Enables ground_truth=true with zero-percent uniform noise and requests the 50-meter beacon range; passes when the ordinary short report and BRS_RANGE_REPORT_GT both identify the beacon at range 50.
brs_ground_truth_false_no_gt_pass
Configures zero-percent uniform noise, report_vars=both, and ground_truth=false; passes when both ordinary report forms identify the beacon at range 50 while neither BRS_RANGE_REPORT_GT nor requester-specific BRS_RANGE_REPORT_GT_ALPHA is published during the six-second window.
far_request_blocked_pass
Places Alpha at (500,0), beyond the configured 50-meter node and beacon transfer limits; passes when neither short nor Alpha-specific range report is published.
node_push_unlimited_far_pass
Places Alpha 500 meters from farbeacon, whose own push and pull limits are only 10 meters, while setting both node transfer limits to unlimited; passes when the short report identifies farbeacon at range 500.
brs_ping_wait_blocks_second_pass
Sets the default ping_wait to 30 seconds and sends Alpha requests 0.8 seconds apart; passes when exactly one report is published and it identifies beacon at range 50.
brs_named_ping_wait_blocks_only_alpha_pass
Sets ping_wait=alpha=30 over a zero-second default, sends two Alpha requests and then one Bravo request; passes when the first Alpha report is observed, the second Alpha request is suppressed, and Bravo produces the second and final 50-meter report.
ping_payment_request_blocks_retry_pass
Uses ping_payments=upon_request: Alpha requests while 470 meters from the beacon, moves into range, and retries one second later; passes when the failed first request consumes the 30-second wait and no report is published for the retry.
ping_payment_response_allows_retry_pass
Uses ping_payments=upon_response with the same failed far request and in-range retry; passes when the failed request does not consume the wait and the retry reports beacon at range 50.
ping_payment_accept_blocks_retry_pass
Uses ping_payments=upon_accept with a request path that reaches the beacon but a 10-meter beacon reply limit: Alpha requests from 50 meters, moves within 5 meters, and retries; passes when only the first request pulse is published and no range report is returned, showing the accepted first request consumed the wait despite its blocked reply.
brs_node_report_local_pass
Supplies Alpha's position through NODE_REPORT_LOCAL rather than NODE_REPORT, then requests the beacon range; passes when the short report identifies beacon at range 50.
beacon_style_defaults_pass
Sets the default beacon color to green, shape to square, and width to 7; passes when the startup VIEW_MARKER at (30,40) contains exactly those style fields.
beacon_reply_push_blocks_pass
Gives the request path 100-meter reach but the beacon reply only 10-meter reach for a 50-meter request; passes when the Alpha request pulse is published and no range report is returned.
request_path_pull_blocks_pass
Gives the beacon reply 100-meter reach but the request path only 10-meter reach for a 50-meter request; passes when the Alpha request pulse is published and no range report is returned.
unknown_request_no_report_pass
Requests a range for unregistered vehicle ghost; passes when neither a request pulse nor a range report is published.
missing_name_request_no_report_pass
Posts vehicle=alpha instead of the required name=alpha request field; passes when neither a request pulse nor a range report is published.
beacon_visual_marker_pass
Configures a beacon at (30,40) and makes no range request; passes when a VIEW_MARKER payload beginning with those coordinates is published at startup.
unsolicited_frequency_pass
Configures the beacon with freq=0.6 and makes no range request; passes when Alpha receives an unsolicited short report identifying beacon at range 50.