uFldCollObDetect
App-level correctness tests for uFldCollObDetect. These cases verify obstacle collision flags, near-miss and encounter-only flags, strict collision/near threshold boundaries, normalized range ordering, numeric distance flags, global minimum distance, invalid obstacle suppression, fresh, aged, and named obstacle clearing, and configured macro flag output.
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 known-obstacle and node-report geometry, then checks obstacle encounter, near-miss, collision, range-normalization, global-minimum, and flag outputs from the alog.
Examples
Case Matrix
collision_flag_pass
Defines square obstacle obs from x=-5 to 5, moves Alpha from 20 meters outside it to 0.5 meters from its edge and back out, and uses 1/5/15-meter collision, near-miss, and encounter thresholds; passes when the exact collision and encounter flags both report alpha:obs:0.5:1.
near_miss_flag_pass
Moves Alpha to 3 meters from the same obstacle edge and back outside the encounter range; passes when the exact near-miss and encounter flags both report alpha:obs:3:1.
encounter_only_flag_pass
Moves Alpha to 9 meters from the obstacle edge and back out; passes when COD_ENCOUNTER=alpha:obs:9:1 and neither a near-miss nor collision flag is published.
global_min_distance_pass
Places Alpha at x=12, 7 meters from the right edge of the square obstacle; passes when OB_GLOBAL_MIN=7 without requiring a completed encounter.
invalid_obstacle_absent_pass
Posts a non-convex polygon labeled bad and places Alpha inside its footprint; passes when no encounter, near-miss, collision, or global-minimum output is published.
obstacle_clear_blocks_later_pass
Posts KNOWN_OBSTACLE_CLEAR=all 4.6 seconds after creating obs, then places Alpha inside the former obstacle and moves it away; passes when no encounter flags or global-minimum distance are published, showing the obstacle older than the four-second clear threshold was removed.
upper_macro_flag_pass
Configures collision_flag=COD_COLLISION_$UP_VNAME=$ID:$COLL_CNT and completes Alpha's 0.5-meter collision with obs; passes when the expanded variable and value are exactly COD_COLLISION_ALPHA=obs:1.
fresh_clear_keeps_obstacle_pass
Posts KNOWN_OBSTACLE_CLEAR=all only 1.6 seconds after creating obs, then completes a 0.5-meter collision; passes when the exact collision and encounter flags show the obstacle survived the four-second clear-age guard.
encounter_double_flag_pass
Configures encounter_flag=COD_ENCOUNTER_DIST=$DIST and completes a 9-meter clear encounter; passes when COD_ENCOUNTER_DIST is posted as numeric value 9.
near_miss_upper_macro_flag_pass
Configures near_miss_flag=COD_NEAR_$UP_VNAME=$ID:$MISS_CNT and completes Alpha's 3-meter near miss with obs; passes when the expanded variable and value are exactly COD_NEAR_ALPHA=obs:1.
collision_boundary_counts_near_pass
Completes an encounter whose minimum distance is exactly the 1-meter collision_dist; passes when near-miss and encounter flags report alpha:obs:1:1 and no collision flag is published, demonstrating the collision comparison is strict <.
near_boundary_counts_encounter_pass
Completes an encounter whose minimum distance is exactly the 5-meter near_miss_dist; passes when the encounter flag reports alpha:obs:5:1 and neither near-miss nor collision flags are published, demonstrating the near-miss comparison is strict <.
named_clear_only_removes_target_pass
Creates obs1 near x=0 and obs2 near x=40, clears only obs1 after both are old enough for deletion, then drives Alpha through obs2 and the former obs1 location; passes when the app-owned collision and encounter counts remain one and both exact flags identify only obs2 at 0.5 meters.
range_normalization_collision_pass
Configures collision, near-miss, and encounter distances as 6, 3, and 4, then moves Alpha to 5.5 meters from the obstacle and back out; passes when exact collision and encounter flags report alpha:obs:5.5:1 and the app's Configuration AppCast reports the effective distances as 6/6/6.