Routes every dispatch through a tick-aware planner so all pumps reach
their setpoint at the same wall-clock instant t* = max(eta_i),
regardless of control strategy or per-pump reaction speed.
Architecture (src/movement/):
- machineProfile.js – pure snapshot of a registered child (state,
position, velocityPctPerS, ladder timings,
flowAt / positionForFlow). Reads timings from
child.state.config.time (the actual storage
location — previous fallback paths silently
produced 0 s, collapsing every eta to ramp-only).
- moveTrajectory.js – seconds-to-target per machine; handles
idle / starting / warmingup / operational / cooling.
- movementScheduler.js – t* = max eta over ALL non-noop moves. Every
command is delayed so its move finishes at t*.
Startup execsequence fires at 0; its flowmovement
is gated by max(ladderS, t* − rampS) so a fast
pump waits before ramping rather than landing
early. useRendezvous=false collapses to all
fireAtTickN=0 (legacy fire-and-forget).
- movementExecutor.js – wall-clock virtual cursor: each tick fires
every command whose fireAtTickN ≤ floor(elapsed/tickS).
tick() no longer awaits pending fireCommand
promises — the synchronous prologue of
handleInput claims the latest-wins gate, which
is what race-favouring relies on.
Shared dispatch path (src/specificClass.js):
- _dispatchFlowDistribution(distribution) — extracted from
_optimalControl. Builds profiles, calls movementScheduler.plan,
replans the executor, ticks once. Reads
config.planner.useRendezvous (default true).
- _optimalControl computes its bestCombination and hands off.
- equalFlowControl (priorityControl mode) computes its
flowDistribution and hands off via ctx.mgc._dispatchFlowDistribution.
Same-time landing now applies in BOTH modes.
Editor toggle (mgc.html + src/nodeClass.js):
- New "Same-time landing" checkbox under Control Strategy.
- nodeClass.buildDomainConfig bridges uiConfig.useRendezvous →
config.planner.useRendezvous. Default ON.
Tests:
- New: planner-convergence.integration.test.js (real-time end-to-end
diagnostic — drives a 3-pump mixed-state dispatch and asserts both
convergence to the demand setpoint AND same-time landing within
one tick).
- New: planner-rendezvous.integration.test.js (schedule-shape
assertions against real pump objects).
- New: movementScheduler.basic.test.js — includes a mixed-speed
multi-startup case proving the fast pumps wait so all three land
together (the regression that prompted this work).
- New: movementExecutor.basic.test.js + moveTrajectory.basic.test.js.
- Updated executor contract test: tick() must NOT await pending fires.
Commands + wiki:
- handlers.js: source/mode allow-list gate moved into a shared _gate()
helper; every command now checks isValidActionForMode +
isValidSourceForMode before dispatching. Status-level commands
(set.mode, set.scaling) are allowed in every mode.
- commands.basic.test.js: coverage for the new gate behaviour.
- wiki regen: Home.md visual-first rewrite + Reference-{Architecture,
Contracts,Examples,Limitations}.md split with _Sidebar.md index.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Editor (mgc.html)
- Drag-in defaults now expose mode (optimalControl) and scaling (normalized)
via dropdowns in the edit dialog. Was: no control fields in the UI at all,
so users had to send set.mode/set.scaling after deploy or live with the
hidden schema defaults.
Wire-up (src/nodeClass.js)
- buildDomainConfig now bridges the flat editor fields (mode, scaling) into
the nested schema shape (mode.current, scaling.current). Was: returned {}
so the editor's mode/scaling never reached the runtime.
Mode-case bug fix (src/specificClass.js)
- Schema enum values are camelCase (optimalControl, priorityControl) but the
runtime switch in _runDispatch matched lowercase only. With the default
config, dispatch silently fell through to the warning branch and nothing
ran. Normalise via String(this.mode).toLowerCase() so both forms work.
Status badge (src/io/output.js)
- Compacted from ~80 chars (mode | Ⓝ: 💨=Q/Qmax | ⚡=P | N machine(s)) to
~50 chars (mode | norm | Q=Q/Qmax m³/h | P=P kW | active/total x).
Drops emoji glyphs that rendered inconsistently across themes; uses the
same dot+fill convention as pumpingStation.
Output extension (src/io/output.js)
- getOutput() now also emits flowCapacityMin/Max, machineCount,
machineCountActive. Was: only group-level totals + dist-from-peak +
mode/scaling, so dashboards couldn't show capacity / active count
without subscribing to each rotatingMachine individually.
Examples
- Drop pre-refactor stubs (basic.flow.json, integration.flow.json,
edge.flow.json). They had a single MGC + inject + debug, no children,
and never dispatched anything.
- 01-Basic.json: 1 MGC + 3 rotatingMachine pumps + Setup once-fires
virtualControl + cmd.startup on all pumps via fan-out function. Numbered
driver groups for Control mode / Scaling / Operator demand. Pumps
register with MGC via Port 2 (child.register, automatic).
- 02-Dashboard.json: same plumbing + FlowFuse Dashboard 2.0 page with
Controls (mode + scaling buttons, demand slider 0–100, stop + init
buttons), Status (7 ui-text rows), Trends (3 charts: flow + capacity,
power, BEP rel %), and a raw-output ui-template dumping every Port 0
field. Fan-out function caches last-known values so deltas don't blank.
Wiki + README
- examples/README.md rewritten for the two-file set with canonical command
surface table and "what to try" recipes.
- wiki/Home.md §11 (Examples) updated; §14 #4 (TODO flow item) replaced
with the actual current limitation (no per-pump fan-out on Port 0).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
For all 11 nodes with auto-gen markers: wiki/Home.md sections 5 (topic
contract) and 9 (data model) regenerated via npm run wiki:all. New
Unit column shows '<measure> (default <unit>)' for declared topics,
'—' otherwise. Effect column now uses descriptor.description (P11.2
field) overriding the generic per-prefix fallback.
For rotatingMachine + reactor: Phase 10 test rewrites — 3 + 8 files
moved off private nodeClass internals (_attachInputHandler, _commands,
_pendingExtras, _registerChild, _tick, etc.) to the public
BaseNodeAdapter surface (node.handlers.input, node.source.*).
+6 / +7 net new tests.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
