uFldPathCheck
App-level correctness tests for uFldPathCheck. These cases verify speed and odometry reports, trip-reset behavior, local report handling, invalid-report suppression, stationary tracks, independent multi-node accounting, and history-window speed calculations.
Stem Mission
The shared uField app stem mission runs a single shoreside MOOS community with one selected app, uTimerScript, pMissionEval, and pLogger. This harness generates case-specific uFldPathCheck config and scripted node-report mail, then checks path and speed report payloads from the alog.
Examples
Case Matrix
odometry_baseline_pass
Posts Alpha at (0,0), (3,4), and (6,8) one second apart, exercising baseline path and speed accounting; passes when the exact outputs are vname=alpha,total_dist=5.0,trip_dist=5.0 and vname=alpha,avg_spd=5.00.
two_reports_speed_only_pass
Posts only (0,0) and (3,4), exercising the app's two-sample startup state; passes when speed is exactly vname=alpha,avg_spd=5.00 and no UPC_ODOMETRY_REPORT is published.
trip_reset_pass
Posts three five-meter samples, resets Alpha's trip at three seconds, then posts one more five-meter sample; passes when odometry is exactly vname=alpha,total_dist=10.0,trip_dist=5.0.
node_report_local_pass
Sends the baseline three-report path entirely through NODE_REPORT_LOCAL, exercising the local-report subscription; passes on the exact five-meter odometry and 5.00 average-speed payloads.
mixed_report_sources_pass
Sends Alpha's first and third samples through NODE_REPORT and the middle sample through NODE_REPORT_LOCAL, exercising one shared history across both inputs; passes on the exact five-meter odometry and 5.00 speed payloads.
multi_node_independent_pass
Interleaves Alpha's five-meter diagonal path with Bravo's 12-meter vertical path, exercising per-name state separation; passes after first latching Alpha's exact 5.0/5.0 odometry and then receiving Bravo's exact 12.0/12.0 odometry.
variable_speed_average_pass
Posts successive five-, ten-, and ten-meter legs with reported speeds 5,10,10, exercising uneven-leg averaging; passes when odometry is exactly 20.0/20.0 and average speed is exactly 8.33.
history_length_three_average_pass
Sets history_length=3 and posts positions 0,5,15,30, exercising retention of the three newest reports; passes when odometry is exactly 25.0/25.0 and average speed is exactly 12.50.
invalid_history_length_default_pass
Sets invalid history_length=1 and posts the same four-sample speed sequence, exercising fallback to the default history length; passes when odometry is exactly 25.0/25.0 and average speed is exactly 10.00.
reverse_leg_accumulates_pass
Posts Alpha at x 0, then 5, then back to 0, exercising distance accumulation across a heading reversal; passes when odometry is exactly 5.0/5.0 and average speed is exactly 5.00.
history_length_two_speed_pass
Sets history_length=2 and posts (0,0), (3,4), and (3,14), exercising latest-leg averaging; passes when odometry is exactly 10.0/10.0 and average speed is exactly 10.00.
invalid_report_rejected_pass
Posts NAME=alpha,X=bad,Y=0, exercising malformed-coordinate rejection; passes at six seconds only if neither odometry nor speed output has been published.
stationary_zero_distance_pass
Posts three Alpha reports at (0,0) with zero speed, exercising stationary accounting; passes when odometry is exactly 0.0/0.0 and average speed is exactly 0.00.
diagonal_chain_distance_pass
Posts (0,0), (3,4), (6,8), and (9,12), exercising chained Pythagorean legs; passes when odometry is exactly vname=alpha,total_dist=10.0,trip_dist=10.0.
trip_reset_unknown_ignored_pass
Posts UPC_TRIP_RESET=ghost before Alpha's baseline path, exercising an unknown-name reset; passes when Alpha still produces the exact five-meter odometry and 5.00 speed payloads.
trip_reset_twice_pass
Resets Alpha after each of two successive five-meter legs and then posts a third, exercising repeated trip resets; passes when total distance is exactly 15.0 and the current trip is exactly 5.0.
bad_then_good_recovery_pass
Posts one malformed Alpha report before the valid baseline sequence, exercising parser recovery without state contamination; passes on the exact five-meter odometry and 5.00 speed payloads.