c0be50d02c
- 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>
79 lines
3.3 KiB
JavaScript
79 lines
3.3 KiB
JavaScript
const test = require('node:test');
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const assert = require('node:assert/strict');
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const EventEmitter = require('events');
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const MovementManager = require('../src/state/movementManager');
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const noopLogger = { debug() {}, info() {}, warn() {}, error() {} };
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const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
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function makeManager({ mode = 'staticspeed', speed = 50, interval = 1000, initial = 0 } = {}) {
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// speed%/s on a 0..100 range → velocity = speed %/s. interval defaults to the
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// production 1000ms so the abort-before-first-tick race is reproduced exactly.
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return new MovementManager(
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{
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position: { min: 0, max: 100, initial },
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movement: { mode, speed, maxSpeed: 1000, interval },
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},
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noopLogger,
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new EventEmitter(),
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);
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}
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// Regression: before the time-based fix, currentPosition only advanced inside
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// setInterval(…, interval). An abort landing before the first tick (the MGC's
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// ~1s re-command cadence vs the 1000ms tick) left the pump frozen at the start.
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for (const mode of ['staticspeed', 'dynspeed']) {
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test(`${mode}: abort before the first tick still advances position (no freeze)`, async () => {
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const mgr = makeManager({ mode, speed: 50, interval: 1000 });
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const ac = new AbortController();
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const moving = mgr.moveTo(80, ac.signal); // ~1.6s of travel; first tick at 1000ms
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await sleep(200); // interrupt well before the first tick
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ac.abort();
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await moving;
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const pos = mgr.getCurrentPosition();
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// The fix: any non-zero progress means the abort re-based instead of
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// freezing at the start. (dynspeed eases in, so its early travel is small
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// but must still be > 0; staticspeed travels ~velocity·elapsed.)
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assert.ok(pos > 0, `expected partial progress, got frozen at ${pos}`);
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assert.ok(pos < 80, `should not have reached target, got ${pos}`);
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});
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test(`${mode}: a fresh setpoint re-bases from the interrupted position`, async () => {
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const mgr = makeManager({ mode, speed: 50, interval: 1000 });
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const ac1 = new AbortController();
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const m1 = mgr.moveTo(80, ac1.signal);
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await sleep(200);
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ac1.abort();
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await m1;
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const afterFirst = mgr.getCurrentPosition();
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// New command toward 0 must start from afterFirst, not from 80 or a reset.
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const ac2 = new AbortController();
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const m2 = mgr.moveTo(0, ac2.signal);
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await sleep(100);
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ac2.abort();
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await m2;
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const afterSecond = mgr.getCurrentPosition();
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assert.ok(afterSecond < afterFirst, `expected re-base downward from ${afterFirst}, got ${afterSecond}`);
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assert.ok(afterSecond >= 0, `position must stay in range, got ${afterSecond}`);
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});
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}
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test('staticspeed: an uninterrupted move reaches the exact target', async () => {
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const mgr = makeManager({ mode: 'staticspeed', speed: 500, interval: 10 }); // fast
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await mgr.moveTo(40, new AbortController().signal);
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assert.equal(mgr.getCurrentPosition(), 40);
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});
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test('position is clamped to [min,max] on a re-based abort', async () => {
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const mgr = makeManager({ mode: 'staticspeed', speed: 5000, interval: 1000, initial: 0 });
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const ac = new AbortController();
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const moving = mgr.moveTo(100, ac.signal);
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await sleep(150);
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ac.abort();
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await moving;
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const pos = mgr.getCurrentPosition();
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assert.ok(pos >= 0 && pos <= 100, `clamped, got ${pos}`);
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});
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