uFldCollisionDetect
App-level correctness tests for uFldCollisionDetect. These cases verify collision, near-miss, and clear encounter rankings, clear-report suppression by default, closest-range publications and suppression, reset behavior, pulse and ring suppression, range normalization, group filters, condition gates, encounter-range blocking, and configured collision/near/encounter flags.
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 controlled contact report sequences, then checks encounter ranking, counters, closest-range state, filters, ring/pulse controls, range normalization, conditions, and flag outputs from the alog.
Examples
Case Matrix
collision_event_pass
Holds Alpha at x=0 while Bravo closes to 2 meters and opens again with collision_range=3; passes when COLLISION_TOTAL=1, UCD_REPORT is exactly cpa=2,vname1=bravo,vname2=alpha,rank=collision, and a range pulse is published.
near_miss_event_pass
Sets collision_range=1 and near_miss_range=6, then closes Bravo to 3 meters from Alpha before reopening; passes when NEAR_MISS_TOTAL=1 and the exact report ranks the 3-meter CPA as near_miss.
clear_encounter_report_pass
Sets report_all_encounters=true and moves Bravo from 30 to 10 meters from Alpha and back outside the 20-meter encounter range; passes when ENCOUNTER_TOTAL=1 and the exact report ranks the 10-meter CPA as clear.
closest_range_posts_pass
Posts stationary Alpha and Bravo node reports 8 meters apart without completing an encounter; passes when both UCD_CLOSEST_RANGE and UCD_CLOSEST_RANGE_EVER equal 8.
reset_closest_range_ever_pass
Establishes an 8-meter closest range, posts UCD_RESET=true, then places Bravo 12 meters from Alpha; passes when UCD_CLOSEST_RANGE_EVER is 12, proving the pre-reset minimum was cleared.
pulse_render_false_pass
Sets pulse_render=false and completes a 2-meter collision; passes when the exact collision report is published and no VIEW_RANGE_PULSE is observed.
ignore_group_blocks_pass
Sets ignore_group=red and drives two red-group contacts through a 2-meter CPA; passes when no UCD_REPORT is published.
reject_group_blocks_pass
Sets reject_group=blue and drives blue Bravo through a 2-meter CPA with red Alpha; passes when no UCD_REPORT is published.
condition_blocks_pass
Configures condition=TEST_GATE=true but never posts TEST_GATE, then drives the ordinary 2-meter collision sequence; passes when no UCD_REPORT is published.
condition_allows_pass
Configures the same condition, posts TEST_GATE=true before the node reports, and drives the 2-meter collision sequence; passes when COLLISION_TOTAL=1 and the exact collision report is published.
collision_flag_macro_pass
Configures collision_flag=UCD_HIT=hit_$V2_$CPA and completes the 2-meter Alpha/Bravo collision; passes when the expanded flag is exactly UCD_HIT=hit_alpha_2.
near_miss_flag_macro_pass
Configures near_miss_flag=UCD_NEAR=near_$V2_$CPA and completes a 3-meter near miss; passes when the expanded flag is exactly UCD_NEAR=near_alpha_3.
encounter_flag_density_pass
Configures encounter_flag=UCD_DENSITY=$[V1@40] and completes a clear Alpha/Bravo encounter; passes when the contact-density macro posts numeric UCD_DENSITY=1 for Bravo's contacts within 40 meters.
outside_encounter_range_blocks_pass
Sets all three event ranges to 1 meter and drives a 3-meter CPA; passes when no UCD_REPORT is published even though report_all_encounters=true.
closest_posts_disabled_absent_pass
Disables both closest-range publications and completes a 2-meter collision; passes when the exact collision report is still published while neither UCD_CLOSEST_RANGE nor UCD_CLOSEST_RANGE_EVER appears.
clear_encounter_default_suppressed_pass
Completes a 10-meter clear encounter with the default report_all_encounters=false; passes when ENCOUNTER_TOTAL=1 but no UCD_REPORT is published.
collision_flag_numeric_cpa_pass
Configures collision_flag=UCD_COLLISION_CPA=$CPA and completes a 2-meter collision; passes when UCD_COLLISION_CPA is posted as numeric value 2.
encounter_rings_true_posts_pass
Leaves encounter rings enabled, posts Alpha at (0,0) and Bravo at (10,0), and checks each publication before the next node arrives; passes when the two exact 20-meter white VIEW_CIRCLE payloads are published with labels alpharng and bravorng.
encounter_rings_false_absent_pass
Sets encounter_rings=false and posts Alpha and Bravo 10 meters apart; passes when no VIEW_CIRCLE is published.
range_normalization_params_pass
Configures collision, near-miss, and encounter ranges as 6, 3, and 4, then completes a 5-meter CPA; passes when COLLISION_DETECT_PARAMS exactly reports normalized ranges 6, 6, and 6, COLLISION_TOTAL=1, and the exact event report ranks the CPA as a collision.