H01 uFldObstacleSim Unit

Loads one square ufos_a obstacle at (10,-10) to (14,-6) inside the configured field and triggers refresh with PMV_CONNECT; passes when KNOWN_OBSTACLE and GIVEN_OBSTACLE exactly match that polygon, UFOS_MIN_RNG=8, the obstacle visual is observed, the final region visual is exact, and exactly two polygons are posted.

Loads ufos_a and ufos_b from multi_field.txt; passes when filtered history contains both labels on both truth channels and each channel publishes exactly two obstacles.

Sets min_duration=max_duration=12; passes when both exact obstacle payloads append duration=12.

Sets only min_duration=7; passes when both exact obstacle payloads append duration=7.

Sets min_duration=10 and the smaller max_duration=6; passes when both exact payloads use normalized duration=10.

Sets both duration bounds to zero; passes when each truth channel publishes exactly once and both exact payloads omit the duration field.

Posts PMV_CONNECT at times 1, 2, and 3; passes when the connect, KNOWN_OBSTACLE, and GIVEN_OBSTACLE counters are all exactly three.

Loads the fixed field but provides no refresh trigger or interval; passes when UFOS_MIN_RNG=8 is available while no PMV_CONNECT, truth, or polygon publication occurs.

Posts VEHICLE_CONNECT=true instead of PMV_CONNECT; passes when the input and UFOS_MIN_RNG=8 are observed but no truth or polygon publication occurs.

Sets post_visuals=false and triggers the fixed field; passes when filtered history contains both truth outputs and no VIEW_POLYGON is ever published.

Sets draw_region=false with obstacle visuals enabled; passes when both truth outputs and the ufos_a obstacle polygon appear but no polygon labeled obs_region is observed.

Enables one point per cycle and places Alpha at (8,-8), 2 meters from ufos_a; passes when known truth, a tracked feature keyed ufos_a, and an Alpha point labeled for ufos_a appear while GIVEN_OBSTACLE remains absent.

Enables point mode on the two-obstacle field, places Alpha at (22,0), and uses sensor_range=80; passes when known history contains both obstacles and TRACKED_FEATURE_ALPHA history contains keys ufos_a and ufos_b, with no GIVEN_OBSTACLE.

Places Alpha at (8,-8) and Beta at (8,-7) in one-obstacle point mode; passes when both per-vehicle tracked-feature variables carry key ufos_a, point history contains labels for Alpha and Beta, and no GIVEN_OBSTACLE appears.

Posts only NAME=alpha,TYPE=KAYAK without a refresh trigger; passes when the malformed mail and loaded UFOS_MIN_RNG=8 are visible but no truth, tracked feature, or polygon is published.

First refreshes known truth in point mode and then posts the same incomplete node report; passes when no tracked feature, point visual, or GIVEN_OBSTACLE is produced.

Posts a valid report with NAME=Alpha; passes when the feature is published on TRACKED_FEATURE_ALPHA, its key is ufos_a, and the normalized point record retains the exact mixed-case label Alpha, with no GIVEN_OBSTACLE.

Posts Alpha with COLOR=red in one-point mode; passes when one tracked feature keyed ufos_a and a size-2 Alpha/ufos_a point are observed, including a point whose vertex color is red.

Places Alpha at (100,100) with sensor_range=5; passes when known truth is present but no tracked feature, point visual, or GIVEN_OBSTACLE appears.

Places Alpha at (5,-8), exactly 5 meters from the left edge of ufos_a, with sensor_range=5; passes when a feature keyed ufos_a and its point visual appear while GIVEN_OBSTACLE stays absent.

Places Alpha at (8,-8), 2 meters from the obstacle, with sensor_range=0; passes when known truth is present but no tracked feature, point visual, or GIVEN_OBSTACLE appears.

Starts with point_size=2, posts UFOS_POINT_SIZE=bigger, and then reports Alpha in range; passes when the input is observed and point history contains size 3, with no GIVEN_OBSTACLE.

Starts at size 2 and posts UFOS_POINT_SIZE=5pts; passes when the numeric prefix produces a size-5 point and no GIVEN_OBSTACLE.

Starts at size 2 and posts UFOS_POINT_SIZE=smaller; passes when subsequent point history contains size 1 and no GIVEN_OBSTACLE.

Posts bigger, samples a point, then posts smaller and samples again; passes when point history proves size 3 occurred before the final Alpha/ufos_a point returns to size 2, with no GIVEN_OBSTACLE.

Starts at size 2 and posts UFOS_POINT_SIZE=invalid; passes when the input is observed but the subsequent point remains size 2, with no GIVEN_OBSTACLE.

Starts at the minimum size 1 and posts smaller; passes when the subsequent point remains size 1, with no GIVEN_OBSTACLE.

Starts at size 2 and posts uppercase UFOS_POINT_SIZE=BIGGER; passes when the subsequent point is size 3, demonstrating case-insensitive keyword handling.

Posts UFOS_POINT_SIZE=2.5pts; passes when the numeric prefix produces a size-2.5 point and no GIVEN_OBSTACLE.

Starts at size 2 and posts numeric zero; passes when the input is observed but the subsequent point remains size 2, with no GIVEN_OBSTACLE.

Sets AppTick=0.2 to leave one bounded publication iteration after Alpha's report and configures rate_points=3; passes when exactly three TRACKED_FEATURE_ALPHA and three VIEW_POINT posts occur and a feature keyed ufos_a is present.

Sets rate_points=0 with Alpha in range; passes when known truth is present but no tracked feature, point visual, or GIVEN_OBSTACLE appears.

Sets post_points=true and post_visuals=false with Alpha in range; passes when a tracked feature keyed ufos_a is published while neither VIEW_POINT nor GIVEN_OBSTACLE appears.

Provides no PMV_CONNECT and posts the first valid Alpha report at (12,-8); passes when both known and given obstacle outputs appear and no PMV_CONNECT was observed.

Sets refresh_interval=0.6 and triggers once at time 1; passes when both truth-channel counts are between 4 and 6 at time 2.5 and between 8 and 10 at time 6, with ufos_a present on both channels.

Uses the same 0.6-second interval with post_points=true and rate_points=0; passes when the known-truth count is between 4 and 6 at time 2.5 and between 8 and 10 at time 6 while GIVEN_OBSTACLE remains absent.

Uses an outside Alpha report at (100,100) to create the initial field, then posts UFOS_RESET=true; passes when KNOWN_OBSTACLE_CLEAR=all appears and known-obstacle count reaches at least two.

Refreshes the field, places Alpha at (20,0) inside the field region, and posts UFOS_RESET=true with reset_range=10; passes when the reset input is observed, the PMV trigger and Alpha's first-report query produce exactly two known and two given posts, and no clear or later republish occurs.

Refreshes ufos_a, places Alpha outside, and resets with reuse_ids=false; passes when the field clears, exact history records active=false:label=ufos_a, and the replacement appears with generated label ob_1.

Creates and resets a point-mode field with Alpha outside and rate_points=0; passes when KNOWN_OBSTACLE_CLEAR=all appears, known-obstacle count reaches at least two, and no GIVEN_OBSTACLE is published.

Creates and resets the field with post_visuals=false; passes when the clear appears and known-obstacle count reaches at least two while no VIEW_POLYGON is ever published.

Places Alpha at (70,0), exactly 10 meters outside the field-region boundary, and posts reset with reset_range=10; passes when the PMV trigger and Alpha's first-report query produce exactly two known and two given posts, and the reset produces no clear or later republish.

Places Alpha inside the region at (20,0), moves it to (100,100) after the 0.5-second reset interval, and never posts UFOS_RESET; passes when an automatic KNOWN_OBSTACLE_CLEAR=all occurs and known-obstacle count reaches at least two.

Refreshes the field, moves Alpha from inside to outside after 0.9 seconds, but sets reset_interval=100; passes when the PMV trigger and Alpha's first-report query produce exactly two known and two given posts and neither an automatic clear nor a later republish occurs.

Places Alpha at (100,100) with sensor_range=200; passes when a tracked feature keyed ufos_a and an ufos_a point visual appear while GIVEN_OBSTACLE stays absent.

Disables the region visual and sets obstacle fill green, edge red, vertices blue, label white, vertex size 3, edge size 2, and transparency 0.4; passes when VIEW_POLYGON exactly matches the styled ufos_a payload.

Sets the field-region edge orange and vertices yellow; passes when the exact obs_region polygon payload contains those colors while obstacle truth remains present.

Sets obstacle vertex size, edge size, and fill transparency to zero; passes when the exact ufos_a visual retains all three zero-valued fields.

Points obstacle_file at nonexistent missing_field.txt; passes only while UFOS_MIN_RNG, known/given truth, and polygon visuals all remain unpublished.