Behavior Correctness
Behavior correctness tests for BHV_ZigZag. These cases verify first-side selection and aliases, zig-angle boundaries, leg-limit and stem-odometry completion, active-time heading and speed capture, runtime speed updates, visual hints, and invalid parameter handling.
Stem Mission
The stem mission runs one simulated vehicle through a short approach leg before activating BHV_ZigZag. Case overlays vary first-side selection, angle limits, completion settings, active-time capture settings, runtime speed updates, and malformed behavior parameters.
Examples
Case Matrix
baseline_port_first_pass
Runs a 1.4 m/s, port-first zigzag about a 45-degree stem with a 25-degree angle and three-leg limit; passes when the approach and behavior complete, at least four zig and two zag flags fire, both sides are entered and exited, the last side is starboard, and no behavior error occurs.
star_first_pass
Changes zig_first from port to star, exercising the starboard-first sequence; passes on the baseline completion and side-transition evidence with the last side reported as port and no behavior error.
zig_first_right_alias_pass
Uses zig_first=right as an alias for starboard-first selection; passes on the same completion, side-transition, and final-port-side evidence as the canonical star case, with no behavior error.
zig_first_starboard_alias_pass
Uses zig_first=starboard as an alias for starboard-first selection; passes on the same completion, side-transition, and final-port-side evidence as the canonical star case, with no behavior error.
stem_hdg_wrap_pass
Sets stem_hdg=405 to exercise positive heading normalization; passes when the behavior completes, ZZ_STEM_HDG is between 44 and 46 degrees, and no behavior error occurs.
stem_hdg_negative_wrap_pass
Sets stem_hdg=-315 to exercise negative heading normalization; passes when the behavior completes, ZZ_STEM_HDG is between 44 and 46 degrees, and no behavior error occurs.
hdg_thresh_loose_pass
Raises hdg_thresh from 8 to 40 degrees so each leg is accepted well before the requested heading; passes when the approach and behavior complete with at least four zigs, two zags, a final starboard side, less than 8 meters of stem odometry, and no behavior error.
small_angle_pass
Sets the accepted lower boundary zig_angle=1 with hdg_thresh=1; passes when four zigs and two zags complete, the final heading is 43 to 47 degrees, final stem distance is below 2 meters, and no behavior error occurs.
wide_angle_pass
Sets the accepted upper boundary zig_angle=75 with a two-leg limit; passes when both sides are entered, at least three zig and one zag flags fire, final stem distance exceeds 8 meters, and the behavior completes without an error.
max_zig_zags_pass
Uses max_zig_zags=2 instead of max_zig_legs, exercising conversion from complete zigzags to a leg limit; passes when the behavior completes with at least five zigs, two zags, a final port side, and no behavior error.
single_leg_complete_pass
Sets max_zig_legs=1, testing that the limit is exceeded only after the second completed leg; passes with exactly two zigs, one zag, both side-entry and side-exit flags, last_side=star, no timeout, and no behavior error.
zero_leg_limit_pass
Sets the accepted edge max_zig_legs=0, testing completion immediately after the first port leg; passes with exactly one zig, zero zags, port entry and exit, no starboard entry or exit, last_side=port, no timeout, and no behavior error.
stem_odo_complete_pass
Sets max_zig_legs=99 and max_stem_odo=22 so stem odometry, rather than leg count, ends the behavior; passes when final stem odometry is between 18 and 35 meters and the approach and behavior complete without an error.
short_stem_odo_complete_pass
Sets max_zig_legs=99 and max_stem_odo=2 to exercise the short odometry cutoff; passes when final stem odometry is between 1 and 8 meters, no more than one zig flag fires, and the approach and behavior complete without an error.
stem_on_active_pass
Configures stem_hdg=120 with stem_on_active=true, requiring activation to replace the configured heading with the vehicle's live approach heading; passes when ZZ_STEM_HDG is between 30 and 60 degrees and the behavior completes without an error.
speed_on_active_pass
Configures speed=0.4 with speed_on_active=true, requiring activation to capture the faster live approach speed; passes when ZZ_STEM_SPEED exceeds 0.8 m/s and the behavior completes without an error.
mod_speed_increase_pass
Posts ZIG_UPDATE="mod_speed=0.8" three seconds after deployment; passes when the behavior completes with final NAV_SPEED>1.45 and no behavior error.
mod_speed_reset_pass
Captures the live activation speed, posts mod_speed=0.8 while ZigZag is active, then posts mod_speed=reset; an ordered evaluator first requires NAV_SPEED>2.05 before its missing-state deadline, then requires completion with 1.45<NAV_SPEED<1.95, no timeout, and no behavior error.
mod_speed_clip_high_pass
Posts ZIG_UPDATE="mod_speed=9.0" to exercise upper speed-domain clipping; passes when the behavior completes with final NAV_SPEED>2.35 and no behavior error.
mod_speed_clip_low_pass
Posts ZIG_UPDATE="mod_speed=-9.0" to exercise lower speed-domain clipping; passes at the mission timeout when the approach had completed, NAV_SPEED is below 0.15 m/s, and no behavior error occurred.
bad_runtime_update_recover_pass
Posts invalid zig_angle=0 and then valid mod_speed=0.4 after ZigZag activates; the first phase requires the next-leg requested heading between 60 and 75 degrees, proving the original 25-degree angle remained in force, and completion requires four zigs, two zags, 1.45<NAV_SPEED<2.0, no timeout, and no behavior error.
fierce_zigging_pass
Sets zig_angle=20, zig_angle_fierce=45, and fierce_zigging=true, testing that a port-first vehicle near heading 45 initially requests a heading within 10 degrees of north rather than the ordinary 25-degree set heading; completion also requires exactly four zigs, two zags, both side exits, last_side=star, and no error or timeout.
delta_heading_alias_pass
Replaces only zig_angle_fierce=45 with delta_heading=45 in the fierce fixture, testing identical alias behavior; it must produce the same initial north-centered requested-heading band and exact four-zig, two-zag, final-starboard completion evidence without an error or timeout.
bad_zig_angle_low_fail
Sets invalid lower value zig_angle=0; the harness passes only when the armed evaluator observes exact ABE_IVPHELM_STATE=MALCONFIG before its missing-state deadline.
bad_zig_angle_high_fail
Sets invalid upper value zig_angle=76; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_zig_first_fail
Sets unsupported zig_first=upward; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_max_zig_zags_fail
Sets invalid max_zig_zags=0; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_max_stem_odo_fail
Sets invalid max_stem_odo=0; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_speed_fail
Sets invalid speed=-1; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_delta_heading_fail
Enables fierce zigging with invalid delta_heading=0; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_stale_nav_thresh_fail
Adds unsupported configuration parameter stale_nav_thresh=5; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_hdg_thresh_fail
Sets invalid hdg_thresh=-1; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.
bad_visual_hint_fail
Sets invalid visual hint draw_set_hdg=maybe; the harness passes only on exact pre-deadline ABE_IVPHELM_STATE=MALCONFIG after the evaluator is armed.