uFldContactRangeSensor
App-level correctness tests for uFldContactRangeSensor. These cases verify report variable modes, ground-truth output, echo-type filtering, sensor arcs, ping wait, pulse suppression, local reports, unknown requesters, and unlimited range overrides.
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 contact geometry and range requests, then checks range-report, ground-truth, and pulse outputs from the alog.
Examples
Case Matrix
baseline_short_report_pass
Places Alpha at (0,0) and Bravo at (50,0), then requests name=alpha; passes when CRS_RANGE_REPORT identifies Alpha, Bravo, and range 50, and VIEW_RANGE_PULSE identifies Bravo at (50,0) with radius 40, fill 0.9, and chartreuse colors.
report_vars_short_no_long_pass
Sets report_vars=short for the 50-meter request; passes when the exact short report prefix is published and no CRS_RANGE_REPORT_ALPHA is published.
report_vars_long_pass
Sets report_vars=long; passes when no short report is published and CRS_RANGE_REPORT_ALPHA identifies Bravo at range 50.
report_vars_both_pass
Sets report_vars=both; passes when both the requester-tagged short report and Alpha-specific long report identify Bravo at range 50.
ground_truth_uniform_zero_pass
Sets rn_algorithm=uniform,pct=0, ground_truth=true, and report_vars=both; passes when normal and CRS_RANGE_REPORT_GT short reports both identify the same 50-meter Alpha-to-Bravo range.
ground_truth_gaussian_unsupported_no_gt_pass
Sets unsupported rn_algorithm=gaussian, sigma 0, and ground_truth=true; passes when the normal short report identifies range 50 while neither CRS_RANGE_REPORT_GT nor requester-specific CRS_RANGE_REPORT_GT_ALPHA is published during the six-second window.
ground_truth_long_only_pass
Sets report_vars=long, zero-noise uniform reporting, and ground truth; passes when neither short form is published and both CRS_RANGE_REPORT_ALPHA and CRS_RANGE_REPORT_GT_ALPHA identify Bravo at range 50.
ground_truth_no_algorithm_absent_pass
Sets ground_truth=true without rn_algorithm, exercising the algorithm gate; passes when the normal short report identifies range 50 while neither ground-truth report form is published during the six-second window.
allow_echo_type_block_pass
Allows only kayak echoes while Bravo reports TYPE=SHIP; passes when neither short nor long range report is published.
allow_echo_type_accept_pass
Allows kayak echoes while both contacts report TYPE=KAYAK; passes on the baseline exact short report and pulse evidence.
allow_echo_type_multi_accept_ship_pass
Allows kayak,ship and makes Bravo a ship, exercising multi-type matching; passes on the exact 50-meter short report and Bravo pulse.
sensor_arc_forward_accept_pass
Sets sensor_arc=45:135; with Alpha heading north and Bravo due east at relative bearing 90, it passes on the exact short report and pulse.
sensor_arc_wrap_accept_pass
Sets wraparound sensor_arc=315:135; passes when the same relative-bearing-90 contact produces the exact short report and pulse.
sensor_arc_wrap_aft_block_pass
Keeps wraparound sensor_arc=315:135 but places Bravo due west at relative bearing 270; passes when neither short nor long range output is published.
sensor_arc_multi_segment_aft_accept_pass
Sets sensor_arc=45:135,225:315 and places Bravo 50 meters west at relative bearing 270; passes when the short report identifies Alpha, Bravo, and range 50.
sensor_arc_aft_block_pass
Sets forward-only sensor_arc=45:135 and places Bravo 50 meters west at relative bearing 270; passes when neither short nor long report is published.
sensor_arc_full_accept_pass
Sets sensor_arc=360 and places Bravo due west at relative bearing 270; passes when the full-circle token admits the exact short report and west-position pulse.
ping_wait_blocks_second_pass
Sets ping_wait=default=30 and sends Alpha requests at 1.5 and 2.5 seconds; passes when exactly one short report is counted.
named_ping_wait_blocks_second_pass
Sets default wait 0 plus ping_wait=alpha=30 and sends the same two requests; passes when exactly one report is counted.
ping_wait_unlimited_allows_second_pass
Uses the common ping_wait=default=0 and sends two requests one second apart; passes when at least two reports are counted.
named_ping_wait_unlimited_allows_second_pass
Sets default wait 30 plus ping_wait=alpha=unlimited; passes when the two one-second-separated requests produce at least two reports.
ping_wait_nolimit_alias_allows_second_pass
Sets default wait 30 plus ping_wait=alpha=nolimit, exercising the unlimited alias; passes when at least two reports are counted.
display_pulses_false_pass
Sets display_pulses=false; passes when the exact 50-meter short report is published and no VIEW_RANGE_PULSE is observed.
unknown_request_no_report_pass
Requests name=ghost without a known ghost report; passes when neither short nor long range output is published.
missing_name_request_no_report_pass
Posts known Alpha and Bravo reports but requests vname=alpha instead of the required name field; passes when neither report form is published.
ground_truth_false_no_gt_pass
Sets zero-noise uniform reporting, report_vars=both, and ground_truth=false; passes when both normal report forms identify range 50 while neither ground-truth report form is published during the six-second window.
crs_node_report_local_pass
Supplies both 50-meter contact positions through NODE_REPORT_LOCAL, exercising the local-report subscription; passes on the exact short report and Bravo pulse.
unlimited_far_range_pass
Places Bravo 500 meters away with push_dist=default=unlimited and pull_dist=default=10; passes when the short report identifies range 500.
push_distance_alias_far_pass
Uses alias push_distance=default=unlimited with pull_distance=default=10 for the same 500-meter geometry; passes when the short report identifies range 500.
named_pull_unlimited_far_pass
Sets push_dist=alpha=10 and pull_dist=bravo=unlimited, exercising a target-specific pull allowance; passes when the 500-meter short report is published.
pull_distance_alias_far_pass
Uses aliases push_distance=alpha=10 and pull_distance=bravo=unlimited; passes when the 500-meter short report is published.
default_short_blocks_far_pass
Sets default push and pull distances to 10 with Bravo 500 meters away; passes when neither report form is published.
short_total_range_far_blocks_pass
Sets default push and pull distances to 25 with Bravo 5,000 meters away; passes when neither report form is published.
named_push_short_blocks_far_pass
Sets push_dist=alpha=10 and pull_dist=bravo=10 with Bravo 500 meters away; passes when neither report form is published.
reciprocal_request_report_pass
Uses the same 50-meter geometry but requests name=bravo, exercising the reverse requester/target roles; passes when the short report identifies vname=bravo, target=alpha, and range 50.