472402c62d
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>
52 lines
2.4 KiB
JavaScript
52 lines
2.4 KiB
JavaScript
const nameOfNode = 'machineGroupControl'; // this is the name of the node, it should match the file name and the node type in Node-RED
|
|
const path = require('path');
|
|
const nodeClass = require('./src/nodeClass.js'); // this is the specific node class
|
|
const { MenuManager, configManager } = require('generalFunctions');
|
|
|
|
// This is the main entry point for the Node-RED node, it will register the node and setup the endpoints
|
|
module.exports = function(RED) {
|
|
// Register the node type
|
|
RED.nodes.registerType(nameOfNode, function(config) {
|
|
// Initialize the Node-RED node first
|
|
RED.nodes.createNode(this, config);
|
|
// Then create your custom class and attach it
|
|
this.nodeClass = new nodeClass(config, RED, this, nameOfNode);
|
|
});
|
|
|
|
// Setup admin UIs
|
|
const menuMgr = new MenuManager(); //this will handle the menu endpoints so we can load them dynamically
|
|
const cfgMgr = new configManager(); // this will handle the config endpoints so we can load them dynamically
|
|
|
|
// Register the different menu's for the node
|
|
RED.httpAdmin.get(`/${nameOfNode}/menu.js`, (req, res) => {
|
|
try {
|
|
const script = menuMgr.createEndpoint(nameOfNode, ['logger','position']);
|
|
res.type('application/javascript').send(script);
|
|
} catch (err) {
|
|
res.status(500).send(`// Error generating menu: ${err.message}`);
|
|
}
|
|
});
|
|
|
|
// Endpoint to get the configuration data for the specific node
|
|
RED.httpAdmin.get(`/${nameOfNode}/configData.js`, (req, res) => {
|
|
try {
|
|
const script = cfgMgr.createEndpoint(nameOfNode);
|
|
// Send the configuration data as JSON response
|
|
res.type('application/javascript').send(script);
|
|
} catch (err) {
|
|
res.status(500).send(`// Error generating configData: ${err.message}`);
|
|
}
|
|
});
|
|
|
|
// Editor JS modules — loaded by mgc.html via <script src="/machineGroupControl/editor/*.js">.
|
|
// Files live in src/editor/. Filename restricted to a safe charset to prevent
|
|
// path-traversal. Mirrors pumpingStation.js:44-51.
|
|
RED.httpAdmin.get(`/${nameOfNode}/editor/:file`, (req, res) => {
|
|
const safe = String(req.params.file || '').replace(/[^a-zA-Z0-9._-]/g, '');
|
|
if (!safe.endsWith('.js')) return res.status(400).send('// invalid');
|
|
res.type('application/javascript');
|
|
res.sendFile(path.join(__dirname, 'src', 'editor', safe), (err) => {
|
|
if (err && !res.headersSent) res.status(404).send('// editor module not found');
|
|
});
|
|
});
|
|
}; |