uSimMarineV22
App-level correctness tests for uSimMarineV22. These cases directly verify simulator publications under scripted actuator mail, embedded PID coupling, limit parameters, drift/current inputs, water-depth altitude, pause, reset, disabled-nav, and stop-control inputs.
Stem Mission
The stem mission runs one MOOS community with uSimMarineV22, uTimerScript, pMissionEval, pAutoPoke, and logging/watchdog support. Case overlays change only simulator configuration, scripted input mail, and mission-owned pass/fail conditions.
Examples
These uSimMarineV22 GIFs are generated explanatory views instead of raw pMarineViewer captures because the harness is validating actuator inputs, drift/current effects, runtime controls, and NAV output evidence directly. The visuals call out the evidence that makes each case pass.
Case Matrix
thrust_forward_pass
Starts at (0,0) heading 90 and applies thrust 50 with zero rudder, testing the standard thrust_factor=20 forward-motion path; at eight seconds, passes with 14<=NAV_X<=25, -2<=NAV_Y<=2, speed in [2.2,2.8], and heading in [88,92].
rudder_turn_starboard_pass
Applies thrust 60 and rudder 45 from an east-facing stop, testing positive-rudder turning under forward power; at six seconds, passes with NAV_X>=5, speed at least 1.8, and heading in [135,230].
differential_turn_pass
Enables THRUST_MODE_DIFFERENTIAL and posts left/right thrust 80/20 without ordinary rudder mail, testing differential propulsion and steering; at six seconds, passes with NAV_X>=4, speed at least 1.5, and heading in [120,220].
start_pos_seed_pass
Configures start_pos=x=20,y=-10,heading=180,speed=1,depth=3 and applies thrust 20, testing all five configured start fields before southbound motion; at three seconds, passes with 18<=NAV_X<=22, NAV_Y<=-12, heading in [178,182], speed at least 0.8, and depth in [2.8,3.2].
max_speed_clamp_pass
Configures max_speed=2 and applies thrust 100, whose factor-based target is 5, testing the simulator speed cap; at seven seconds, passes with 20<=NAV_X<=35 and speed in [1.8,2.1].
acceleration_limit_pass
Configures max_acceleration=0.2 and applies thrust 100 from rest, testing gradual acceleration toward the five-meter-per-second target; at five seconds, passes with 0.8<=NAV_X<=5 and speed in [0.3,0.8].
drift_x_pass
Posts DRIFT_X=1.0 while thrust and rudder remain zero, testing runtime eastward drift independent of through-water speed; at seven seconds, passes with 5<=NAV_X<=9, -1<=NAV_Y<=1, and speed within [-0.1,0.1].
rotate_speed_pass
Applies thrust 30 with zero rudder, then posts ROTATE_SPEED=8, testing direct runtime heading rotation; at six seconds, passes with speed in [1.2,1.8] and heading in [120,150].
sim_pause_holds_pass
Applies thrust 50, then posts USM_SIM_PAUSED=true at 1.5 seconds, testing that position integration stops while the existing speed state is retained; at seven seconds, passes with 0<=NAV_X<=5, speed in [2.2,2.8], and heading in [88,92].
reset_count_pass
Applies thrust 50, posts USM_RESET=true at four seconds, and allows two seconds of post-reset motion, testing reset accounting and return to the configured start state; passes when USM_RESET_COUNT>=1, 0<=NAV_X<=7, and heading is in [88,92].
disabled_nav_seed_pass
Disables the simulator, posts NAV_X=42, NAV_Y=-17, and NAV_HEADING=275, then reenables it and applies thrust 20; at four seconds, it passes only after simulator-owned motion moves west to 38<=NAV_X<=41 with -18<=NAV_Y<=-15, heading in [274,276], and speed in [0.8,1.2].
reverse_thrust_pass
Starts heading east and applies thrust -40 with zero rudder, testing negative thrust and signed speed; at six seconds, passes with NAV_X<=-3, -2<=NAV_Y<=2, speed in [-1.7,-1.2], and heading in [88,92].
elevator_dive_pass
Applies thrust 40 and elevator 60 with zero buoyancy, testing elevator-driven descent during forward motion; at six seconds, passes with 8<=NAV_X<=16, -2<=NAV_Y<=2, speed in [1.6,2.4], and depth in [7,12].
runtime_turn_rate_pass
Applies thrust 50 and rudder 60, then lowers USM_TURN_RATE to 20, testing runtime turn-authority reconfiguration; at six seconds, passes with speed in [1.4,2.5] and heading in [110,150].
obstacle_hit_stop_pass
Applies thrust 50, then posts OBSTACLE_HIT=true at 1.5 seconds, testing the collision-stop input; at six seconds, passes with 1<=NAV_X<=6, speed within [-0.1,0.1], and heading in [88,92].
current_y_alias_pass
Posts CURRENT_Y=1.2 with zero thrust and rudder, testing the runtime alias for y-axis drift; at seven seconds, passes with -1<=NAV_X<=1, 6<=NAV_Y<=10, and speed within [-0.1,0.1].
drift_vector_mult_pass
Posts DRIFT_VECTOR="90,1", then DRIFT_VECTOR_MULT=2, testing scalar multiplication of a runtime drift vector; at seven seconds, passes with 10<=NAV_X<=14, -1<=NAV_Y<=1, and speed within [-0.1,0.1].
water_depth_altitude_pass
Starts at depth 12 with default_water_depth=40 and zero buoyancy, testing altitude publication as water depth minus vehicle depth; at three seconds, passes with depth in [11.5,12.5] and altitude in [27,29].
thrust_map_interpolation_pass
Replaces thrust_factor with thrust_map=0:0,50:1,100:4 and applies thrust 50, testing lookup/interpolation at the map's midpoint; at seven seconds, passes with 5<=NAV_X<=9, speed in [0.8,1.2], and heading in [88,92].
max_deceleration_pass
Starts at speed 3, configures max_deceleration=0.1, and commands zero thrust, testing rate-limited slowing instead of an immediate stop; at six seconds, passes with 12<=NAV_X<=28, speed in [2.2,2.8], and heading in [88,92].
embedded_pid_speed_factor_pass
Enables embedded simulation PID mode, requests speed 1.5 and heading 90, and uses speed_factor=20, testing conversion of helm setpoints inside uSimMarineV22; at six seconds, passes with 28<=USM_PID_THRUST<=32, -2<=USM_PID_RUDDER<=2, speed in [1.3,1.7], and heading in [88,92].
drift_vector_add_pass
Posts eastward DRIFT_VECTOR="90,1", then adds northward DRIFT_VECTOR_ADD="0,1", testing vector composition; at seven seconds, passes with 5<=NAV_X<=8, 4<=NAV_Y<=7, and speed within [-0.1,0.1].
runtime_buoyancy_rate_pass
Starts stationary at depth 5 with zero configured buoyancy, then posts BUOYANCY_RATE=-1, testing runtime negative buoyancy; at five seconds, passes with depth in [8,11] and speed within [-0.1,0.1].
rudder_slew_limit_pass
Configures max_rudder_degs_per_sec=5 and commands thrust 50 with rudder 100, testing gradual rudder application; at six seconds, passes with speed in [0.7,1.4], heading in [155,180], NAV_X>=3, and NAV_Y<=-2.
turn_speed_map_pass
Configures turn-rate interpolation from 5 degrees per second at zero speed to 70 at speed 4, then commands thrust 30 and rudder 80, testing speed-dependent turn authority; at six seconds, passes with speed in [0.6,1.0], heading in [125,140], NAV_X>=3, and NAV_Y<=-1.
wind_polar_speed_cap_pass
Configures wind spd=3,dir=180 and a polar plot, then commands thrust 100 while heading east, testing the wind-relative sailing-speed limit; at six seconds, passes with speed in [2.2,2.6], 10<=NAV_X<=16, and heading in [88,92].
dual_state_reset_nav_pass
Enables dual-state mode with drift_x=1, first requiring ordinary NAV_X near zero while NAV_GT_X has advanced at least three meters, then posts USM_RESET_NAV=true and stops the drift; at 3.5 seconds, it passes with both x states in [3,8], y near zero, and speed near zero.
wormhole_transport_pass
Starts inside a wormhole polygon centered at (0,0) with a one-way connection to a polygon centered at (100,100), testing stationary spatial transport; at seven seconds, passes with both nav coordinates in [98,102] and speed within [-0.1,0.1].
runtime_wind_conditions_pass
Configures only the polar plot, commands thrust 100, then posts WIND_CONDITIONS="spd=3, dir=180" at 0.8 seconds, testing runtime activation of the wind-relative speed limit; at six seconds, passes with speed in [2.2,2.6], 10<=NAV_X<=16, and heading in [88,92].
runtime_water_depth_pass
Starts stationary at depth 10, then posts WATER_DEPTH=40, testing runtime recomputation of altitude without vertical motion; at three seconds, passes with depth in [9.5,10.5] and altitude in [29,31].
runtime_thrust_mode_reverse_pass
Enables THRUST_MODE_REVERSE, then applies positive thrust 40 with zero rudder, testing reverse-mode signed propulsion; at six seconds, passes with -1<=NAV_X<=1, 3<=NAV_Y<=5, and speed in [-1.8,-1.2].
max_depth_rate_limit_pass
Configures max_depth_rate=0 and commands thrust 50 with elevator 100, testing suppression of vertical motion without suppressing propulsion; at six seconds, passes with speed in [2.2,2.8], depth in [0,0.5], and NAV_X>=12.
positive_buoyancy_surface_pass
Starts stationary at depth 5 with buoyancy_rate=1, testing ascent and the zero-depth surface clamp; at six seconds, passes with depth in [0,0.5], speed within [-0.1,0.1], and NAV_X within [-0.5,0.5].
embedded_pid_depth_control_pass
Enables embedded simulation PID and depth control, then requests speed 2, heading 90, and depth 5, testing internal thrust, heading, and depth actuation; at seven seconds, passes with SIMULATION_MODE=TRUE, speed in [1.7,2.3], depth in [1.0,5.5], NAV_Z<=-1, and heading in [88,92].
buoyancy_control_report_pass
Enables depth control with buoyancy_rate=0.5 and posts BUOYANCY_CONTROL=true, testing the buoyancy-control completion protocol; at 6.5 seconds, passes when BUOYANCY_REPORT exactly equals status=2,error=0,completed,buoyancy=0.0 and depth is in [0,0.5].
trim_control_report_pass
Enables depth control with max_trim_delay=6 and posts TRIM_CONTROL=true, testing the trim-control completion protocol; at 6.5 seconds, passes when TRIM_REPORT exactly equals status=2,error=0,completed,trim_pitch=0,trim_roll=0.0 and pitch is in [-0.1,0.1].