feat(output): alwaysEmit fields, drop undefined/empty Influx tags, time-based movement re-basing

- OutputUtils: new `alwaysEmit` option exempts named fields from delta
  compression so steady-state values (e.g. ctrl) trace continuously.
- flattenTags now drops null/undefined/empty-string tag values, fixing
  literal `category="undefined"` tags that split every Grafana series in two.
- BaseNodeAdapter wires `static alwaysEmitFields` from the subclass.
- movementManager: track position by elapsed wall-time and capture partial
  progress on abort, so a fast-re-commanding parent can't freeze an actuator
  at its start position.
- Tests for the above.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

test/output-utils.test.js

@@ -30,6 +30,35 @@ test('process format emits message with changed fields only', () => {
   assert.deepEqual(third.payload, { b: 3, c: JSON.stringify({ x: 1 }) });
 });
 
+test('alwaysEmit fields bypass delta compression (re-emitted while unchanged)', () => {
+  const out = new OutputUtils({ alwaysEmit: ['ctrl'] });
+
+  const first = out.formatMsg({ ctrl: 40, flow: 12 }, config, 'influxdb');
+  assert.deepEqual(first.payload.fields, { ctrl: 40, flow: 12 });
+
+  // flow unchanged → dropped; ctrl unchanged but forced → still emitted.
+  const second = out.formatMsg({ ctrl: 40, flow: 12 }, config, 'influxdb');
+  assert.deepEqual(second.payload.fields, { ctrl: 40 });
+
+  // ctrl changed → emitted with its new value.
+  const third = out.formatMsg({ ctrl: 41, flow: 12 }, config, 'influxdb');
+  assert.deepEqual(third.payload.fields, { ctrl: 41 });
+});
+
+test('alwaysEmit is per-format and does not force a missing/undefined field', () => {
+  const out = new OutputUtils({ alwaysEmit: ['ctrl'] });
+  // ctrl absent from the output → nothing to force; with no other change the
+  // message is suppressed as usual.
+  out.formatMsg({ flow: 5 }, config, 'influxdb');
+  assert.equal(out.formatMsg({ flow: 5 }, config, 'influxdb'), null);
+});
+
+test('default OutputUtils keeps pure delta compression (no alwaysEmit)', () => {
+  const out = new OutputUtils();
+  out.formatMsg({ ctrl: 40 }, config, 'influxdb');
+  assert.equal(out.formatMsg({ ctrl: 40 }, config, 'influxdb'), null);
+});
+
 test('influx format flattens tags and stringifies tag values', () => {
   const out = new OutputUtils();
   const msg = out.formatMsg({ value: 10 }, config, 'influxdb');
@@ -41,3 +70,38 @@ test('influx format flattens tags and stringifies tag values', () => {
   assert.equal(msg.payload.tags.tagcode, 't1');
   assert.ok(msg.payload.timestamp instanceof Date);
 });
+
+test('influx format omits tags whose config value is unset', () => {
+  const out = new OutputUtils();
+  // No asset block at all: uuid/tagcode/geoLocation/category/type/model are
+  // all undefined and must NOT appear as `="undefined"` tags.
+  const sparse = {
+    functionality: { softwareType: 'measurement' },
+    general: { id: 'abc' },
+  };
+  const msg = out.formatMsg({ value: 10 }, sparse, 'influxdb');
+
+  for (const t of ['geoLocation', 'category', 'type', 'model', 'uuid', 'tagcode', 'unit', 'role']) {
+    assert.ok(!(t in msg.payload.tags), `tag "${t}" should be omitted when unset, got "${msg.payload.tags[t]}"`);
+  }
+  // Tags that DO have values still come through.
+  assert.equal(msg.payload.tags.id, 'abc');
+  assert.equal(msg.payload.tags.softwareType, 'measurement');
+  // Nothing should stringify to the literal "undefined".
+  for (const v of Object.values(msg.payload.tags)) {
+    assert.notEqual(v, 'undefined');
+  }
+});
+
+test('influx format drops empty-string tag values too', () => {
+  const out = new OutputUtils();
+  const cfg = {
+    functionality: { softwareType: 'pump', role: '' },
+    general: { id: 'p1' },
+    asset: { category: '', model: 'M9' },
+  };
+  const msg = out.formatMsg({ value: 1 }, cfg, 'influxdb');
+  assert.ok(!('role' in msg.payload.tags));
+  assert.ok(!('category' in msg.payload.tags));
+  assert.equal(msg.payload.tags.model, 'M9');
+});