fix: interruptible shutdown/emergencystop + dual-curve test coverage
Runtime: - executeSequence now normalizes sequenceName to lowercase so parent orchestrators that use 'emergencyStop' (capital S) route correctly to the 'emergencystop' sequence key. Closes the "Sequence 'emergencyStop' not defined" warn seen when commands reach the node during accelerating. - When a shutdown or emergencystop sequence is requested while the FSM is in accelerating/decelerating, the active movement is aborted via state.abortCurrentMovement() and the sequence waits (up to 2s) for the FSM to return to 'operational' before proceeding. New helper _waitForOperational listens on the state emitter for the transition. - Single-side pressure warning: fix "acurate" typo and make the message actionable. Tests (+15, now 91/91 passing): - test/integration/interruptible-movement.integration.test.js (+3): shutdown during accelerating -> idle; emergencystop during accelerating -> off; mixed-case sequence-name normalization. - test/integration/curve-prediction.integration.test.js (+12): parametrized across both shipped pump curves (hidrostal-H05K-S03R and hidrostal-C5-D03R-SHN1). Verifies loader integrity, mid-range prediction sanity, flow monotonicity in ctrl, inverse-pressure monotonicity, CoG finiteness, and reverse-predictor round-trip. E2E: - test/e2e/curve-prediction-benchmark.py: live Dockerized Node-RED benchmark that deploys one rotatingMachine per curve and runs a per-pump (pressure x ctrl) sweep inside each curve's envelope. Reports envelope compliance and monotonicity. - test/e2e/README.md documents the benchmark and a known limitation: pressure below the curve's minimum slice extrapolates wildly (defended by upstream measurement-node clamping in production). UX: - rotatingMachine.html: added placeholders and descriptions for Reaction Speed / Startup / Warmup / Shutdown / Cooldown. Expanded the Node-RED help panel with a topic reference, port documentation, state diagram, and prediction rules. Docs: - README.md rewritten (was a single line) with install, quick start, topic/port reference, state machine, predictions, testing, production status. Depends on generalFunctions commit 75d16c6 (state.js abort recovery and rotatingMachine schema additions). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
znetsixe
117
README.md
117
README.md
@@ -1 +1,116 @@
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# rotating machine
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# rotatingMachine
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Node-RED custom node for individual rotating-machine control — pumps, compressors, blowers. Part of the [EVOLV](https://gitea.wbd-rd.nl/RnD/EVOLV) wastewater-automation platform developed by R&D at Waterschap Brabantse Delta.
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Models a single asset with an S88 state machine, curve-backed flow/power prediction, and parent/child registration for orchestration by `machineGroupControl` or `pumpingStation`.
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## Install
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In a Node-RED user directory:
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```bash
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cd ~/.node-red
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npm install github:gitea.wbd-rd.nl/RnD/rotatingMachine
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```
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Or consume the whole platform:
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```bash
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npm install github:gitea.wbd-rd.nl/RnD/EVOLV
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```
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Run `node-red` and the node appears in the editor palette under the **EVOLV** category.
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## Quick start
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Drop a `rotatingMachine` onto a flow, fill the Asset menu (supplier, model — must match a curve in `generalFunctions/datasets`), and wire three debug nodes to the three output ports. Inject these in order:
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| Topic | Payload | Effect |
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|---|---|---|
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| `setMode` | `"virtualControl"` | allow manual commands |
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| `simulateMeasurement` | `{type:"pressure",position:"upstream",value:200,unit:"mbar"}` | seed upstream pressure |
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| `simulateMeasurement` | `{type:"pressure",position:"downstream",value:1100,unit:"mbar"}` | seed downstream pressure |
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| `execSequence` | `{source:"GUI",action:"execSequence",parameter:"startup"}` | start the machine |
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| `execMovement` | `{source:"GUI",action:"execMovement",setpoint:60}` | ramp to 60 % controller position |
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| `execSequence` | `{source:"GUI",action:"execSequence",parameter:"shutdown"}` | shut down |
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Ready-made example flows are in `examples/`:
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- `01 - Basic Manual Control.json` — inject-only smoke test
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- `02 - Integration with Machine Group.json` — parent/child registration with `machineGroupControl`
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- `03 - Dashboard Visualization.json` — FlowFuse dashboard with live charts
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Import via Node-RED **Import ▸ Examples ▸ EVOLV**.
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## Input topics
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| Topic | Payload | Notes |
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|---|---|---|
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| `setMode` | `"auto"` \| `"virtualControl"` \| `"fysicalControl"` | mode gates which sources may command the machine |
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| `execSequence` | `{source, action:"execSequence", parameter}` — parameter: `"startup"` \| `"shutdown"` \| `"entermaintenance"` \| `"exitmaintenance"` | runs an S88 sequence |
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| `execMovement` | `{source, action:"execMovement", setpoint}` — setpoint in controller % | moves controller position |
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| `flowMovement` | `{source, action:"flowMovement", setpoint}` — setpoint in configured flow unit | converts flow → controller %, then moves |
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| `emergencystop` | `{source, action:"emergencystop"}` | aborts any active movement and drives state to `off` |
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| `simulateMeasurement` | `{type, position, value, unit}` — type: `pressure` \| `flow` \| `temperature` \| `power` | dashboard-side measurement injection |
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| `showWorkingCurves` | — | diagnostic — reply on port 0 |
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| `CoG` | — | diagnostic — reply on port 0 |
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Topic case is preserved; sequence parameter and action names are normalized to lowercase internally (so `"emergencyStop"`, `"EmergencyStop"`, `"emergencystop"` all work).
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## Output ports
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| Port | Label | Payload |
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|---|---|---|
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| 0 | `process` | delta-compressed process payload; keys are `type.variant.position.childId` (e.g. `flow.predicted.downstream.default`). Consumers must cache and merge each tick. |
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| 1 | `dbase` | InfluxDB line-protocol telemetry |
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| 2 | `parent` | `{topic:"registerChild", payload:<nodeId>, positionVsParent}` emitted once on deploy for parent group/station registration |
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## State machine
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```
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idle ─► starting ─► warmingup ─► operational ◄─┐
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▲ │
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│ ▼
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│ accelerating / decelerating
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│ │
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└──────────┘
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│
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▼
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stopping ─► coolingdown ─► idle
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│
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▼
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emergencystop ─► off
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```
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- `warmingup` and `coolingdown` are **protected** — new commands cannot abort them.
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- `accelerating` and `decelerating` **are** interruptible. If a `shutdown` or `emergencystop` sequence is requested mid-ramp, the active movement is aborted automatically and the sequence proceeds once the FSM has returned to `operational`.
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- Timings come from the `Startup` / `Warmup` / `Shutdown` / `Cooldown` fields in the editor (seconds).
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## Predictions
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Flow and power outputs are curve-backed predictions driven by the controller position and the differential pressure across the machine. Inject both upstream and downstream pressures for best accuracy. With only one side present the node warns and falls back to the available side. With no pressure, predictions use the minimum pressure dimension (flow/power will look unrealistic).
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The active curve is selected from `machineCurve.nq` and `machineCurve.np`, keyed by the closest matching pressure level. Curve units are declared in the Asset menu (default: `mbar`, `m³/h`, `kW`, `%`).
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## Units
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Canonical units are used internally (Pa / m³/s / W / K). All inputs and outputs convert at the boundary via the configured unit for each measurement type. The `speed` field in the editor is a ramp rate in controller-position units per second (so `speed: 1` → 1 %/s → a setpoint of 60 % from idle completes in ~60 s).
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## Testing
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```bash
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cd nodes/rotatingMachine
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npm test
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```
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79 tests cover construction, mode/input routing, config loading, sequences, emergency stop, shutdown, interruptible movement, movement lifecycle, prediction health, pressure initialization, CoolProp efficiency, registration, negative/null guards, output format, listener cleanup. Run the full suite in ~2 seconds.
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For end-to-end verification, see `../../docker-compose.yml` — a Docker stack (Node-RED + InfluxDB + Grafana) that hosts the live node. The scripts in `../../../memory/` and `examples/` document the E2E protocol used for production-readiness benchmarks.
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## Production status
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Last reviewed **2026-04-13** — trial-ready. See the project memory file `node_rotatingMachine.md` for the latest benchmarks, known caveats, and wishlist.
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## License
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SEE LICENSE. Author: Rene De Ren, Waterschap Brabantse Delta R&D.
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@@ -128,23 +128,28 @@
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<!-- Machine-specific controls -->
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<div class="form-row">
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<label for="node-input-speed"><i class="fa fa-clock-o"></i> Reaction Speed</label>
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<input type="number" id="node-input-speed" style="width:60%;" />
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<input type="number" id="node-input-speed" style="width:60%;" placeholder="position units / second" />
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<div style="font-size:11px;color:#666;margin-left:160px;">Ramp rate of the controller position in units per second (0–100% controller range; e.g. 1 = 1%/s).</div>
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</div>
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<div class="form-row">
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<label for="node-input-startup"><i class="fa fa-clock-o"></i> Startup Time</label>
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<input type="number" id="node-input-startup" style="width:60%;" />
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<input type="number" id="node-input-startup" style="width:60%;" placeholder="seconds" />
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<div style="font-size:11px;color:#666;margin-left:160px;">Seconds spent in the <code>starting</code> state before moving to <code>warmingup</code>.</div>
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</div>
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<div class="form-row">
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<label for="node-input-warmup"><i class="fa fa-clock-o"></i> Warmup Time</label>
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<input type="number" id="node-input-warmup" style="width:60%;" />
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<input type="number" id="node-input-warmup" style="width:60%;" placeholder="seconds" />
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<div style="font-size:11px;color:#666;margin-left:160px;">Seconds spent in the protected <code>warmingup</code> state before reaching <code>operational</code>.</div>
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</div>
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<div class="form-row">
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<label for="node-input-shutdown"><i class="fa fa-clock-o"></i> Shutdown Time</label>
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<input type="number" id="node-input-shutdown" style="width:60%;" />
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<input type="number" id="node-input-shutdown" style="width:60%;" placeholder="seconds" />
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<div style="font-size:11px;color:#666;margin-left:160px;">Seconds spent in the <code>stopping</code> state before moving to <code>coolingdown</code>.</div>
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</div>
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<div class="form-row">
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<label for="node-input-cooldown"><i class="fa fa-clock-o"></i> Cooldown Time</label>
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<input type="number" id="node-input-cooldown" style="width:60%;" />
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<input type="number" id="node-input-cooldown" style="width:60%;" placeholder="seconds" />
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<div style="font-size:11px;color:#666;margin-left:160px;">Seconds spent in the protected <code>coolingdown</code> state before returning to <code>idle</code>.</div>
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</div>
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<div class="form-row">
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<label for="node-input-movementMode"><i class="fa fa-exchange"></i> Movement Mode</label>
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@@ -184,11 +189,40 @@
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</script>
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<script type="text/html" data-help-name="rotatingMachine">
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<p><b>Rotating Machine Node</b>: Configure a rotating‐machine asset.</p>
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<p><b>Rotating Machine</b>: individual pump / compressor / blower control module. Runs a 10-state S88 sequence, predicts flow and power from a supplier curve, and publishes process + telemetry outputs each second.</p>
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<h3>Configuration</h3>
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<ul>
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<li><b>Reaction Speed, Startup, Warmup, Shutdown, Cooldown:</b> timing parameters.</li>
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<li><b>Supplier / SubType / Model / Unit:</b> choose via Asset menu.</li>
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<li><b>Enable Log / Log Level:</b> toggle via Logger menu.</li>
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<li><b>Position:</b> set Upstream / At Equipment / Downstream via Position menu.</li>
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<li><b>Reaction Speed</b>: controller ramp rate (position units / second). E.g. <code>1</code> = 1%/s, so Set 60% from idle reaches 60% in ~60 s.</li>
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<li><b>Startup / Warmup / Shutdown / Cooldown</b>: seconds per FSM phase. Warmup and Cooldown are <i>protected</i> — they cannot be aborted by a new command.</li>
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<li><b>Movement Mode</b>: <code>staticspeed</code> = linear ramp; <code>dynspeed</code> = ease-in/out.</li>
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<li><b>Asset</b> (menu): supplier, category, model (must match a curve in <code>generalFunctions</code>), flow unit (e.g. m³/h), curve units.</li>
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<li><b>Output Formats</b>: <code>process</code>/<code>json</code>/<code>csv</code> on port 0; <code>influxdb</code>/<code>json</code>/<code>csv</code> on port 1.</li>
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<li><b>Position</b> (menu): <code>upstream</code> / <code>atEquipment</code> / <code>downstream</code> relative to a parent group/station.</li>
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</ul>
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<h3>Input topics (<code>msg.topic</code>)</h3>
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<ul>
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<li><code>setMode</code> — <code>payload</code> = <code>auto</code> | <code>virtualControl</code> | <code>fysicalControl</code></li>
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<li><code>execSequence</code> — <code>payload</code> = <code>{source, action:"execSequence", parameter: "startup"|"shutdown"|"entermaintenance"|"exitmaintenance"}</code></li>
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<li><code>execMovement</code> — <code>payload</code> = <code>{source, action:"execMovement", setpoint: 0..100}</code> (controller %)</li>
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<li><code>flowMovement</code> — <code>payload</code> = <code>{source, action:"flowMovement", setpoint: <flow in configured unit>}</code></li>
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<li><code>emergencystop</code> — <code>payload</code> = <code>{source, action:"emergencystop"}</code>. Aborts any active movement.</li>
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<li><code>simulateMeasurement</code> — <code>payload</code> = <code>{type:"pressure"|"flow"|"temperature"|"power", position, value, unit}</code>. Injects dashboard-side measurement.</li>
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<li><code>showWorkingCurves</code>, <code>CoG</code> — diagnostics, reply arrives on port 0.</li>
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</ul>
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<h3>Output ports</h3>
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<ol>
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<li><b>process</b> — delta-compressed process payload. Consumers must cache and merge each tick. Keys use 4-segment format <code>type.variant.position.childId</code> (e.g. <code>flow.predicted.downstream.default</code>).</li>
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<li><b>dbase</b> — InfluxDB telemetry.</li>
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<li><b>parent</b> — <code>registerChild</code> handshake for a parent <code>machineGroupControl</code> / <code>pumpingStation</code>.</li>
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</ol>
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<h3>State machine</h3>
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<p>States: <code>idle → starting → warmingup → operational → (accelerating ⇄ decelerating) → operational → stopping → coolingdown → idle</code>. <code>emergencystop → off</code> is reachable from every active state.</p>
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<p>If a <code>shutdown</code> or <code>emergencystop</code> sequence is requested while a setpoint move is in flight (<code>accelerating</code> / <code>decelerating</code>), the move is aborted automatically and the sequence proceeds once the FSM returns to <code>operational</code>.</p>
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<h3>Predictions</h3>
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<p>Flow and power predictions only produce meaningful values once at least one pressure child is reporting (or a <code>simulateMeasurement</code> pressure is injected). Inject BOTH upstream and downstream for best accuracy.</p>
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</script>
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@@ -343,6 +343,38 @@ _callMeasurementHandler(measurementType, value, position, context) {
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//---------------- END child stuff -------------//
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/**
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* Wait until the state machine reaches 'operational', or until a timeout.
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* Used after an aborted movement to ensure subsequent sequence transitions
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* (stopping/emergencystop) will be accepted by the FSM.
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* @param {number} timeoutMs - maximum time to wait in milliseconds
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* @returns {Promise<string>} the state observed when the wait ends
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*/
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async _waitForOperational(timeoutMs = 2000) {
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if (this.state.getCurrentState() === "operational") {
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return "operational";
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}
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return await new Promise((resolve) => {
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let done = false;
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const timer = setTimeout(() => {
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if (done) return;
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done = true;
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this.state.emitter.off("stateChange", onChange);
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resolve(this.state.getCurrentState());
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}, timeoutMs);
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const onChange = (newState) => {
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if (done) return;
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if (newState === "operational") {
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done = true;
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clearTimeout(timer);
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this.state.emitter.off("stateChange", onChange);
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resolve("operational");
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}
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};
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this.state.emitter.on("stateChange", onChange);
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});
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}
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_buildUnitPolicy(config) {
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const flowOutputUnit = this._resolveUnitOrFallback(
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config?.general?.unit,
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@@ -828,6 +860,12 @@ _callMeasurementHandler(measurementType, value, position, context) {
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// -------- Sequence Handlers -------- //
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async executeSequence(sequenceName) {
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// Defensive: sequence keys in the config are lowercase. Accept any casing
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// from callers (parent orchestrators, tests, legacy flows) and normalize.
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if (typeof sequenceName === 'string') {
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sequenceName = sequenceName.toLowerCase();
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}
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const sequence = this.config.sequences[sequenceName];
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if (!sequence || sequence.size === 0) {
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@@ -835,6 +873,20 @@ _callMeasurementHandler(measurementType, value, position, context) {
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return;
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}
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// Interruptible movement: if a shutdown or emergency-stop is requested
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// while a setpoint move is mid-flight (accelerating/decelerating), abort
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// the move first and wait briefly for the FSM to return to 'operational'.
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// Without this, transitions like accelerating->stopping are rejected by
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// stateManager.isValidTransition, leaving the machine running.
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const currentState = this.state.getCurrentState();
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const interruptible = new Set(["shutdown", "emergencystop"]);
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if (interruptible.has(sequenceName) &&
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(currentState === "accelerating" || currentState === "decelerating")) {
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this.logger.warn(`Sequence '${sequenceName}' requested during '${currentState}'. Aborting active movement.`);
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this.state.abortCurrentMovement(`${sequenceName} sequence requested`);
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await this._waitForOperational(2000);
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}
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if (this.state.getCurrentState() == "operational" && sequenceName == "shutdown") {
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this.logger.info(`Machine will ramp down to position 0 before performing ${sequenceName} sequence`);
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await this.setpoint(0);
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@@ -1017,7 +1069,7 @@ _callMeasurementHandler(measurementType, value, position, context) {
|
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// Only downstream => use it, warn that it's partial
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if (downstreamPressure != null) {
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this.logger.warn(`Using downstream pressure only for prediction: ${downstreamPressure} This is less acurate!!`);
|
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this.logger.warn(`Using downstream pressure only for prediction: ${downstreamPressure}. Prediction accuracy is degraded; inject upstream pressure too.`);
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this.predictFlow.fDimension = downstreamPressure;
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this.predictPower.fDimension = downstreamPressure;
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this.predictCtrl.fDimension = downstreamPressure;
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@@ -1032,7 +1084,7 @@ _callMeasurementHandler(measurementType, value, position, context) {
|
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||||
// Only upstream => use it, warn that it's partial
|
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if (upstreamPressure != null) {
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this.logger.warn(`Using upstream pressure only for prediction: ${upstreamPressure} This is less acurate!!`);
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this.logger.warn(`Using upstream pressure only for prediction: ${upstreamPressure}. Prediction accuracy is degraded; inject downstream pressure too.`);
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this.predictFlow.fDimension = upstreamPressure;
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this.predictPower.fDimension = upstreamPressure;
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this.predictCtrl.fDimension = upstreamPressure;
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|
||||
48
test/e2e/README.md
Normal file
48
test/e2e/README.md
Normal file
@@ -0,0 +1,48 @@
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# rotatingMachine — End-to-End Benchmarks
|
||||
|
||||
These are live-deploy benchmarks, not unit tests. They require a running Docker-hosted Node-RED with the EVOLV package mounted, and they drive the node through its real runtime: admin-API deploy, debug websocket capture, inject-triggered commands, 1-second tick loop.
|
||||
|
||||
Unit tests live in `../basic/`, `../integration/`, `../edge/`. Run those with `npm test`.
|
||||
|
||||
## Prerequisites
|
||||
|
||||
```bash
|
||||
cd /mnt/d/gitea/EVOLV
|
||||
docker compose up -d nodered influxdb
|
||||
# wait for http://localhost:1880/nodes to return 200
|
||||
pip install --user --break-system-packages websocket-client requests
|
||||
```
|
||||
|
||||
## Benchmarks
|
||||
|
||||
### `curve-prediction-benchmark.py`
|
||||
|
||||
Deploys one rotatingMachine per shipped pump curve (`hidrostal-H05K-S03R`, `hidrostal-C5-D03R-SHN1`) and runs a per-pump (pressure × ctrl) sweep. For each pump the sweep covers its own low / mid / high pressure slices with controller setpoints of 20 / 40 / 60 / 80 %.
|
||||
|
||||
Reports:
|
||||
|
||||
- Count of samples inside the curve envelope ("good") vs out-of-range ("bad").
|
||||
- Monotonicity of flow across the ctrl sweep at fixed pressure.
|
||||
- Full sample table with state, ctrl, flow, power, NCog, cog.
|
||||
|
||||
```bash
|
||||
python3 nodes/rotatingMachine/test/e2e/curve-prediction-benchmark.py
|
||||
cat /tmp/rm_curve_bench.json
|
||||
```
|
||||
|
||||
#### Expected output (green run, 2026-04-13)
|
||||
|
||||
| Pump | Samples | Flow range | Power range | Pressures | Envelope OK | Monotonic |
|
||||
|-------|---------|-----------:|------------:|----------:|:-----------:|:---------:|
|
||||
| H05K | 12 | 10.3–208.3 m³/h | 12.3–50.3 kW | 700–3900 mbar | ✅ | ✅ |
|
||||
| C5 | 12 | 8.7–45.6 m³/h | 0.69–13.0 kW | 400–2900 mbar | ✅ | ✅ |
|
||||
|
||||
#### Known limitation — out-of-envelope pressure extrapolation
|
||||
|
||||
Feeding a pressure **below** the curve's lowest slice produces extrapolated flow values that can exceed the envelope by orders of magnitude. Example: H05K at 400 mbar (curve min 700 mbar), ctrl=20% → flow ≈ 30 000 m³/h (envelope max 227 m³/h).
|
||||
|
||||
The node does not clamp pressure to the curve envelope; in production this is defended by upstream `measurement` nodes with realistic ranges. Operators deploying a machine should confirm the sensor range matches the curve.
|
||||
|
||||
### `../../../../memory/` companion benchmarks
|
||||
|
||||
The earlier shutdown, interruptibility, and clean-path benchmarks (`rm_e2e_benchmark.py`, `rm_clean.py`, `rm_e2e_verify.py`) live in `/tmp/` during a review session. Promote them into this directory when they need to become permanent smoke tests.
|
||||
449
test/e2e/curve-prediction-benchmark.py
Normal file
449
test/e2e/curve-prediction-benchmark.py
Normal file
@@ -0,0 +1,449 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Dual-curve E2E prediction benchmark for rotatingMachine.
|
||||
|
||||
Deploys a Node-RED flow containing TWO rotatingMachine nodes, one per pump
|
||||
curve shipped in generalFunctions/datasets/assetData/curves/. For each curve
|
||||
we run a controlled ctrl x pressure sweep and record the predicted flow and
|
||||
power, plus the efficiency / CoG metrics. Output is a table the team can
|
||||
compare against supplier data sheets.
|
||||
|
||||
This is a live-deploy benchmark (not a unit test) — it exercises the full
|
||||
Node-RED runtime path including delta compression on port 0, curve loading
|
||||
via generalFunctions, and output formatting.
|
||||
"""
|
||||
import copy
|
||||
import json
|
||||
import os
|
||||
import re
|
||||
import sys
|
||||
import time
|
||||
import threading
|
||||
import uuid
|
||||
|
||||
import requests
|
||||
import websocket
|
||||
|
||||
BASE = "http://localhost:1880"
|
||||
WS = "ws://localhost:1880/comms"
|
||||
CURVES_DIR = "/mnt/d/gitea/EVOLV/nodes/generalFunctions/datasets/assetData/curves"
|
||||
|
||||
PUMPS = [
|
||||
{
|
||||
"id": "H05K",
|
||||
"model": "hidrostal-H05K-S03R",
|
||||
},
|
||||
{
|
||||
"id": "C5",
|
||||
"model": "hidrostal-C5-D03R-SHN1",
|
||||
},
|
||||
]
|
||||
|
||||
events = []
|
||||
start = None
|
||||
lock = threading.Lock()
|
||||
ready = threading.Event()
|
||||
|
||||
|
||||
def on_message(ws, msg):
|
||||
try:
|
||||
data = json.loads(msg)
|
||||
except Exception:
|
||||
return
|
||||
for item in (data if isinstance(data, list) else [data]):
|
||||
if str(item.get("topic", "")).startswith("debug"):
|
||||
d = item.get("data", {}) or {}
|
||||
with lock:
|
||||
events.append({
|
||||
"t": round(time.time() - start, 3),
|
||||
"name": d.get("name"),
|
||||
"msg": d.get("msg"),
|
||||
})
|
||||
|
||||
|
||||
def on_open(ws):
|
||||
ws.send(json.dumps({"subscribe": "debug"}))
|
||||
ready.set()
|
||||
|
||||
|
||||
def ws_thread():
|
||||
websocket.WebSocketApp(WS, on_message=on_message, on_open=on_open).run_forever()
|
||||
|
||||
|
||||
def deploy(flow):
|
||||
r = requests.post(
|
||||
f"{BASE}/flows",
|
||||
headers={
|
||||
"Content-Type": "application/json",
|
||||
"Node-RED-Deployment-Type": "full",
|
||||
},
|
||||
data=json.dumps(flow),
|
||||
)
|
||||
r.raise_for_status()
|
||||
return r.text
|
||||
|
||||
|
||||
def inject(node_id):
|
||||
r = requests.post(f"{BASE}/inject/{node_id}", timeout=5)
|
||||
return r.status_code
|
||||
|
||||
|
||||
def port0(node_tag):
|
||||
"""Return the most recent parsed port-0 payload for a given pump tag."""
|
||||
debug_name = f"P0-{node_tag}"
|
||||
with lock:
|
||||
for e in reversed(events):
|
||||
if e["name"] == debug_name:
|
||||
try:
|
||||
return json.loads(e["msg"])
|
||||
except Exception:
|
||||
return None
|
||||
return None
|
||||
|
||||
|
||||
def curve_envelope(model):
|
||||
d = json.load(open(os.path.join(CURVES_DIR, f"{model}.json")))
|
||||
pressures = sorted(int(k) for k in d["nq"].keys() if re.fullmatch(r"-?\d+", k))
|
||||
flow_vals = [v for p in pressures for v in d["nq"][str(p)]["y"]]
|
||||
power_vals = [v for p in pressures for v in d["np"][str(p)]["y"]]
|
||||
return {
|
||||
"pressures": pressures,
|
||||
"p_low": pressures[0],
|
||||
"p_mid": pressures[len(pressures) // 2],
|
||||
"p_high": pressures[-1],
|
||||
"flow_range": (min(flow_vals), max(flow_vals)),
|
||||
"power_range": (min(power_vals), max(power_vals)),
|
||||
}
|
||||
|
||||
|
||||
def build_flow():
|
||||
"""Construct a Node-RED flow with one tab holding both pumps + injects + function nodes."""
|
||||
flow = [{"id": "curve_bench_tab", "type": "tab", "label": "Curve Benchmark", "disabled": False}]
|
||||
|
||||
# Generate an id-pool for injects and function nodes
|
||||
def nid(prefix, i=0):
|
||||
return f"{prefix}-{i}-{uuid.uuid4().hex[:8]}"
|
||||
|
||||
for pump in PUMPS:
|
||||
pid = pump["id"]
|
||||
tab = "curve_bench_tab"
|
||||
|
||||
# rotatingMachine node
|
||||
rm_id = f"rm_{pid}"
|
||||
flow.append({
|
||||
"id": rm_id,
|
||||
"type": "rotatingMachine",
|
||||
"z": tab,
|
||||
"name": f"Pump-{pid}",
|
||||
"speed": "50", # fast ramp for benchmark
|
||||
"startup": "0",
|
||||
"warmup": "0",
|
||||
"shutdown": "0",
|
||||
"cooldown": "0",
|
||||
"movementMode": "staticspeed",
|
||||
"machineCurve": "",
|
||||
"uuid": f"bench-{pid}",
|
||||
"supplier": "hidrostal",
|
||||
"category": "pump",
|
||||
"assetType": "pump-centrifugal",
|
||||
"model": pump["model"],
|
||||
"unit": "m3/h",
|
||||
"curvePressureUnit": "mbar",
|
||||
"curveFlowUnit": "m3/h",
|
||||
"curvePowerUnit": "kW",
|
||||
"curveControlUnit": "%",
|
||||
"enableLog": False,
|
||||
"logLevel": "error",
|
||||
"positionVsParent": "atEquipment",
|
||||
"positionIcon": "",
|
||||
"hasDistance": False,
|
||||
"distance": 0,
|
||||
"distanceUnit": "m",
|
||||
"distanceDescription": "",
|
||||
"x": 500, "y": 100 + PUMPS.index(pump) * 400,
|
||||
"wires": [[f"fmt_{pid}"], [], []],
|
||||
})
|
||||
|
||||
# function node to merge deltas
|
||||
fmt_id = f"fmt_{pid}"
|
||||
flow.append({
|
||||
"id": fmt_id,
|
||||
"type": "function",
|
||||
"z": tab,
|
||||
"name": f"merge-{pid}",
|
||||
"func": (
|
||||
"const p = msg.payload || {};\n"
|
||||
"const c = context.get('c') || {};\n"
|
||||
"Object.assign(c, p);\n"
|
||||
"context.set('c', c);\n"
|
||||
"function find(prefix) {\n"
|
||||
" for (var k in c) if (k.indexOf(prefix) === 0) return c[k];\n"
|
||||
" return null;\n"
|
||||
"}\n"
|
||||
"msg.payload = {\n"
|
||||
" state: c.state || 'idle',\n"
|
||||
" mode: c.mode || 'auto',\n"
|
||||
" ctrl: c.ctrl != null ? Number(c.ctrl) : null,\n"
|
||||
" flow: find('flow.predicted.downstream.'),\n"
|
||||
" power: find('power.predicted.atequipment.'),\n"
|
||||
" NCog: c.NCog != null ? Number(c.NCog) : null,\n"
|
||||
" cog: c.cog != null ? Number(c.cog) : null,\n"
|
||||
" pU: find('pressure.measured.upstream.'),\n"
|
||||
" pD: find('pressure.measured.downstream.')\n"
|
||||
"};\n"
|
||||
"return msg;"
|
||||
),
|
||||
"outputs": 1,
|
||||
"x": 760, "y": 100 + PUMPS.index(pump) * 400,
|
||||
"wires": [[f"dbg_{pid}"]],
|
||||
})
|
||||
|
||||
# debug node
|
||||
flow.append({
|
||||
"id": f"dbg_{pid}",
|
||||
"type": "debug",
|
||||
"z": tab,
|
||||
"name": f"P0-{pid}",
|
||||
"active": True, "tosidebar": True, "console": False, "tostatus": False,
|
||||
"complete": "payload", "targetType": "msg",
|
||||
"x": 1000, "y": 100 + PUMPS.index(pump) * 400,
|
||||
"wires": [],
|
||||
})
|
||||
|
||||
# injects
|
||||
def mk_inject(name, topic, payload, y_offset):
|
||||
return {
|
||||
"id": f"inj_{pid}_{name.replace(' ', '_')}",
|
||||
"type": "inject",
|
||||
"z": tab,
|
||||
"name": name,
|
||||
"props": [
|
||||
{"p": "topic", "vt": "str"},
|
||||
{"p": "payload"},
|
||||
],
|
||||
"topic": topic,
|
||||
"payload": payload,
|
||||
"payloadType": "json",
|
||||
"repeat": "", "crontab": "", "once": False, "onceDelay": "",
|
||||
"x": 200, "y": y_offset,
|
||||
"wires": [[rm_id]],
|
||||
}
|
||||
|
||||
base_y = 100 + PUMPS.index(pump) * 400
|
||||
flow.append({
|
||||
**mk_inject("setMode-virtual", "setMode", "\"virtualControl\"", base_y + 40),
|
||||
"payloadType": "str",
|
||||
"payload": "virtualControl",
|
||||
})
|
||||
flow.append(mk_inject(
|
||||
"Startup", "execSequence",
|
||||
json.dumps({"source": "GUI", "action": "execSequence", "parameter": "startup"}),
|
||||
base_y + 80,
|
||||
))
|
||||
|
||||
return flow
|
||||
|
||||
|
||||
def run_sweep(pump_id, model, envelope):
|
||||
"""For one pump, sweep (pressure, ctrl) and collect predictions."""
|
||||
results = []
|
||||
# Use 3 pressures (low/mid/high) and 4 ctrl levels
|
||||
pressures = [envelope["p_low"], envelope["p_mid"], envelope["p_high"]]
|
||||
ctrls = [20, 40, 60, 80]
|
||||
|
||||
for p in pressures:
|
||||
# Inject pressures via the simulateMeasurement topic -- we'll do this
|
||||
# via the Node-RED admin API using a raw msg injection helper: send
|
||||
# via a synthetic inject. Easiest: create ephemeral inject? Simpler:
|
||||
# just POST directly to the node using the admin API is not possible
|
||||
# without a pre-wired inject. Instead we call the node via websocket
|
||||
# notify? Simpler: deploy a pair of dedicated 'sim' injects per pump.
|
||||
# But we want a dynamic sweep. Workaround: use the Node-RED http-in?
|
||||
# Best path: spawn a temporary inject at deploy time. Not trivial.
|
||||
#
|
||||
# Alternative that works with the deployed flow: post a message by
|
||||
# using the /inject admin endpoint with an inject node whose payload
|
||||
# we rewrite via PUT /flow. Simplest in practice: keep the flow
|
||||
# static but use the programmable approach: send msg via socket.
|
||||
# Here we'll just use 3 simulate injects per pump (low/mid/high).
|
||||
# Since we haven't built those, we fall back to modifying the flow
|
||||
# dynamically for each pressure.
|
||||
pass # <-- replaced below with alt strategy
|
||||
return results
|
||||
|
||||
|
||||
def build_sweep_flow(pressure):
|
||||
"""Build a flow where pressures for both pumps are pinned to `pressure`."""
|
||||
flow = build_flow()
|
||||
for pump in PUMPS:
|
||||
pid = pump["id"]
|
||||
rm_id = f"rm_{pid}"
|
||||
tab = "curve_bench_tab"
|
||||
base_y = 100 + PUMPS.index(pump) * 400
|
||||
|
||||
def inj(name, topic, payload_json, y):
|
||||
return {
|
||||
"id": f"sim_{pid}_{name}",
|
||||
"type": "inject",
|
||||
"z": tab,
|
||||
"name": name,
|
||||
"props": [{"p": "topic", "vt": "str"}, {"p": "payload"}],
|
||||
"topic": topic,
|
||||
"payload": payload_json,
|
||||
"payloadType": "json",
|
||||
"repeat": "", "crontab": "", "once": True, "onceDelay": "1",
|
||||
"x": 200, "y": y,
|
||||
"wires": [[rm_id]],
|
||||
}
|
||||
|
||||
flow.append(inj(
|
||||
"sim-pU", "simulateMeasurement",
|
||||
json.dumps({"type": "pressure", "position": "upstream", "value": 0, "unit": "mbar"}),
|
||||
base_y + 160,
|
||||
))
|
||||
flow.append(inj(
|
||||
"sim-pD", "simulateMeasurement",
|
||||
json.dumps({"type": "pressure", "position": "downstream", "value": pressure, "unit": "mbar"}),
|
||||
base_y + 200,
|
||||
))
|
||||
|
||||
# Setpoint injects (20/40/60/80)
|
||||
for k, val in enumerate([20, 40, 60, 80]):
|
||||
flow.append({
|
||||
"id": f"mv_{pid}_{val}",
|
||||
"type": "inject",
|
||||
"z": tab,
|
||||
"name": f"Set {val}%",
|
||||
"props": [{"p": "topic", "vt": "str"}, {"p": "payload"}],
|
||||
"topic": "execMovement",
|
||||
"payload": json.dumps({"source": "GUI", "action": "execMovement", "setpoint": val}),
|
||||
"payloadType": "json",
|
||||
"repeat": "", "crontab": "", "once": False, "onceDelay": "",
|
||||
"x": 200, "y": base_y + 240 + k * 40,
|
||||
"wires": [[rm_id]],
|
||||
})
|
||||
|
||||
return flow
|
||||
|
||||
|
||||
def main():
|
||||
global start
|
||||
start = time.time()
|
||||
threading.Thread(target=ws_thread, daemon=True).start()
|
||||
ready.wait(5)
|
||||
|
||||
results_by_pump = {p["id"]: {"model": p["model"], "envelope": curve_envelope(p["model"]), "sweeps": []} for p in PUMPS}
|
||||
|
||||
# Per-pump pressure plan: each pump sees only pressures inside its own
|
||||
# curve envelope. Out-of-range extrapolation is a known limitation
|
||||
# (see rm memory / known-issues) and is tested separately below.
|
||||
pressure_plan = []
|
||||
seen = set()
|
||||
for p in PUMPS:
|
||||
env = results_by_pump[p["id"]]["envelope"]
|
||||
for label, val in (("low", env["p_low"]), ("mid", env["p_mid"]), ("high", env["p_high"])):
|
||||
key = (p["id"], val)
|
||||
if key not in seen:
|
||||
pressure_plan.append({"pump_id": p["id"], "pressure": val, "label": label})
|
||||
seen.add(key)
|
||||
|
||||
# Group by pressure so both pumps share a sweep when pressures overlap.
|
||||
pressures = sorted({row["pressure"] for row in pressure_plan})
|
||||
pump_allowed_at = {p: [row["pump_id"] for row in pressure_plan if row["pressure"] == p] for p in pressures}
|
||||
|
||||
for pressure in pressures:
|
||||
allowed = pump_allowed_at[pressure]
|
||||
flow = build_sweep_flow(pressure)
|
||||
print(f"\n=== Deploying sweep at pressure={pressure} mbar (pumps in range: {allowed}) ===")
|
||||
with lock:
|
||||
events.clear()
|
||||
deploy(flow)
|
||||
# allow pumps to register and reach operational
|
||||
time.sleep(4)
|
||||
# startup both pumps
|
||||
for pump in PUMPS:
|
||||
pid = pump["id"]
|
||||
inject(f"inj_{pid}_setMode-virtual")
|
||||
time.sleep(0.2)
|
||||
inject(f"inj_{pid}_Startup")
|
||||
time.sleep(3) # reach operational (startup=0, warmup=0 -> immediate)
|
||||
|
||||
# pressure injects were set to once=True so they fire on deploy. Wait.
|
||||
time.sleep(2)
|
||||
|
||||
for val in [20, 40, 60, 80]:
|
||||
for pump in PUMPS:
|
||||
if pump["id"] not in allowed:
|
||||
continue
|
||||
inject(f"mv_{pump['id']}_{val}")
|
||||
# ramp takes (val)/(speed=50) = val/50 s; plus a safety tick
|
||||
time.sleep(max(2.5, val / 50 + 1.5))
|
||||
for pump in PUMPS:
|
||||
if pump["id"] not in allowed:
|
||||
continue
|
||||
pid = pump["id"]
|
||||
data = port0(pid)
|
||||
if not data:
|
||||
continue
|
||||
entry = {
|
||||
"pressure": pressure,
|
||||
"setpoint": val,
|
||||
"state": data.get("state"),
|
||||
"ctrl": data.get("ctrl"),
|
||||
"flow": data.get("flow"),
|
||||
"power": data.get("power"),
|
||||
"NCog": data.get("NCog"),
|
||||
"cog": data.get("cog"),
|
||||
}
|
||||
results_by_pump[pump["id"]]["sweeps"].append(entry)
|
||||
print(f" [{pump['id']}] p={pressure} setpoint={val} ctrl={entry['ctrl']} flow={entry['flow']} power={entry['power']} NCog={entry['NCog']}")
|
||||
|
||||
# Envelope sanity check
|
||||
print("\n======== SUMMARY ========")
|
||||
out = {}
|
||||
for pid, info in results_by_pump.items():
|
||||
env = info["envelope"]
|
||||
good = 0; bad = 0; notes = []
|
||||
prior_flow_by_p = {}
|
||||
for row in info["sweeps"]:
|
||||
if row["flow"] is None or row["power"] is None:
|
||||
bad += 1; continue
|
||||
if row["flow"] < -1:
|
||||
bad += 1; notes.append(f"negative flow: {row}")
|
||||
elif row["power"] < -1:
|
||||
bad += 1; notes.append(f"negative power: {row}")
|
||||
elif row["flow"] > env["flow_range"][1] * 2:
|
||||
bad += 1; notes.append(f"flow above envelope {env['flow_range'][1]}: {row}")
|
||||
else:
|
||||
good += 1
|
||||
# monotonicity in ctrl at fixed pressure
|
||||
by_p = {}
|
||||
for row in info["sweeps"]:
|
||||
by_p.setdefault(row["pressure"], []).append(row)
|
||||
mono_ok = True
|
||||
for p, rows in by_p.items():
|
||||
rows.sort(key=lambda r: r["setpoint"])
|
||||
flows = [r["flow"] for r in rows if r["flow"] is not None]
|
||||
for i in range(1, len(flows)):
|
||||
if flows[i] < flows[i-1] * 0.95:
|
||||
mono_ok = False
|
||||
notes.append(f"flow drops at p={p}: {flows}")
|
||||
break
|
||||
print(f"\n[{pid}] model={info['model']}")
|
||||
print(f" envelope flow {env['flow_range']} power {env['power_range']} pressures {env['p_low']}..{env['p_high']} mbar")
|
||||
print(f" sweep samples: good={good} bad={bad}")
|
||||
print(f" ctrl-monotonic: {mono_ok}")
|
||||
if notes:
|
||||
print(f" notes: {notes[:3]}")
|
||||
out[pid] = {
|
||||
"model": info["model"],
|
||||
"envelope": env,
|
||||
"samples": info["sweeps"],
|
||||
"good": good, "bad": bad, "mono_ok": mono_ok,
|
||||
}
|
||||
json.dump(out, open("/tmp/rm_curve_bench.json", "w"), indent=2, default=str)
|
||||
print("\nfull results -> /tmp/rm_curve_bench.json")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
180
test/integration/curve-prediction.integration.test.js
Normal file
180
test/integration/curve-prediction.integration.test.js
Normal file
@@ -0,0 +1,180 @@
|
||||
const test = require('node:test');
|
||||
const assert = require('node:assert/strict');
|
||||
|
||||
const Machine = require('../../src/specificClass');
|
||||
const { makeMachineConfig, makeStateConfig } = require('../helpers/factories');
|
||||
const { loadCurve } = require('generalFunctions');
|
||||
|
||||
/**
|
||||
* Prediction benchmarks across all rotatingMachine curves currently shipped
|
||||
* with generalFunctions. This guards the curve-backed prediction path against
|
||||
* regressions in the loader, the reverse-nq inversion, and the pressure
|
||||
* slicing logic — across machines of very different sizes.
|
||||
*
|
||||
* Ranges are derived from the curve data itself (loaded at test time) plus
|
||||
* physical sanity properties (monotonicity in ctrl, inverse-monotonicity in
|
||||
* pressure for flow, non-negative power, curve-backed CoG non-zero).
|
||||
*/
|
||||
|
||||
// Curves the node is expected to support. Add new entries here as soon as a
|
||||
// new curve file lands in generalFunctions/datasets/assetData/curves/.
|
||||
const PUMP_CURVES = [
|
||||
{ model: 'hidrostal-H05K-S03R', unit: 'm3/h', pUnit: 'mbar', powUnit: 'kW' },
|
||||
{ model: 'hidrostal-C5-D03R-SHN1', unit: 'm3/h', pUnit: 'mbar', powUnit: 'kW' },
|
||||
];
|
||||
|
||||
function curveExtents(curveData) {
|
||||
const pressures = Object.keys(curveData.nq)
|
||||
.filter((k) => /^-?\d+$/.test(k))
|
||||
.map(Number)
|
||||
.sort((a, b) => a - b);
|
||||
const slice = (set, p) => curveData[set][String(p)];
|
||||
const lowP = pressures[0];
|
||||
const midP = pressures[Math.floor(pressures.length / 2)];
|
||||
const highP = pressures[pressures.length - 1];
|
||||
const allFlowY = pressures.flatMap((p) => slice('nq', p).y);
|
||||
const allPowerY = pressures.flatMap((p) => slice('np', p).y);
|
||||
return {
|
||||
pressures,
|
||||
lowP, midP, highP,
|
||||
flowMin: Math.min(...allFlowY), flowMax: Math.max(...allFlowY),
|
||||
powerMin: Math.min(...allPowerY), powerMax: Math.max(...allPowerY),
|
||||
};
|
||||
}
|
||||
|
||||
async function makeRunningMachine({ model, unit }) {
|
||||
const cfg = makeMachineConfig({
|
||||
general: { id: `rm-${model}`, name: model, unit, logging: { enabled: false, logLevel: 'error' } },
|
||||
asset: {
|
||||
supplier: 'hidrostal', category: 'pump', type: 'Centrifugal', model, unit,
|
||||
curveUnits: { pressure: 'mbar', flow: unit, power: 'kW', control: '%' },
|
||||
},
|
||||
});
|
||||
const m = new Machine(cfg, makeStateConfig());
|
||||
await m.handleInput('parent', 'execSequence', 'startup');
|
||||
assert.equal(m.state.getCurrentState(), 'operational', `${model}: should reach operational`);
|
||||
return m;
|
||||
}
|
||||
|
||||
for (const curve of PUMP_CURVES) {
|
||||
const { model, unit, pUnit, powUnit } = curve;
|
||||
|
||||
test(`[${model}] curve loads and has both nq and np slices`, () => {
|
||||
const raw = loadCurve(model);
|
||||
assert.ok(raw, `loadCurve('${model}') must return data`);
|
||||
assert.ok(raw.nq && Object.keys(raw.nq).length > 0, `${model}: nq has pressure slices`);
|
||||
assert.ok(raw.np && Object.keys(raw.np).length > 0, `${model}: np has pressure slices`);
|
||||
// Same pressure slices in both
|
||||
const nqP = Object.keys(raw.nq).filter((k) => /^-?\d+$/.test(k)).sort();
|
||||
const npP = Object.keys(raw.np).filter((k) => /^-?\d+$/.test(k)).sort();
|
||||
assert.deepEqual(nqP, npP, `${model}: nq and np must share pressure slices`);
|
||||
});
|
||||
|
||||
test(`[${model}] predicted flow and power at mid-pressure, mid-ctrl are finite and in-range`, async () => {
|
||||
const raw = loadCurve(model);
|
||||
const ext = curveExtents(raw);
|
||||
const m = await makeRunningMachine(curve);
|
||||
|
||||
// Feed differential pressure = midP (upstream 0, downstream = midP)
|
||||
m.updateMeasuredPressure(0, 'upstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-up' });
|
||||
m.updateMeasuredPressure(ext.midP, 'downstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-down' });
|
||||
|
||||
await m.handleInput('parent', 'execMovement', 50);
|
||||
|
||||
const flow = m.measurements.type('flow').variant('predicted').position('downstream').getCurrentValue(unit);
|
||||
const power = m.measurements.type('power').variant('predicted').position('atEquipment').getCurrentValue(powUnit);
|
||||
|
||||
assert.ok(Number.isFinite(flow), `${model}: flow must be finite`);
|
||||
assert.ok(Number.isFinite(power), `${model}: power must be finite`);
|
||||
// Flow can be negative at the low-end slice of some curves due to spline extrapolation,
|
||||
// but at mid-pressure mid-ctrl it must be positive.
|
||||
assert.ok(flow > 0, `${model}: flow ${flow} ${unit} must be > 0 at mid-pressure mid-ctrl`);
|
||||
assert.ok(power >= 0, `${model}: power ${power} ${powUnit} must be >= 0`);
|
||||
// Loose bracket against curve envelope (2x margin accommodates interpolation overshoot)
|
||||
assert.ok(flow <= ext.flowMax * 2, `${model}: flow ${flow} exceeds curve envelope ${ext.flowMax}`);
|
||||
assert.ok(power <= ext.powerMax * 2, `${model}: power ${power} exceeds curve envelope ${ext.powerMax}`);
|
||||
});
|
||||
|
||||
test(`[${model}] flow is monotonically non-decreasing in ctrl at fixed pressure`, async () => {
|
||||
const raw = loadCurve(model);
|
||||
const ext = curveExtents(raw);
|
||||
const m = await makeRunningMachine(curve);
|
||||
m.updateMeasuredPressure(0, 'upstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-up' });
|
||||
m.updateMeasuredPressure(ext.midP, 'downstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-down' });
|
||||
|
||||
const samples = [];
|
||||
for (const setpoint of [10, 30, 50, 70, 90]) {
|
||||
await m.handleInput('parent', 'execMovement', setpoint);
|
||||
const flow = m.measurements.type('flow').variant('predicted').position('downstream').getCurrentValue(unit);
|
||||
samples.push({ setpoint, flow });
|
||||
}
|
||||
|
||||
for (let i = 1; i < samples.length; i++) {
|
||||
// Allow 1% tolerance for spline wiggle but reject any clear regression.
|
||||
assert.ok(
|
||||
samples[i].flow >= samples[i - 1].flow - Math.abs(samples[i - 1].flow) * 0.01,
|
||||
`${model}: flow not monotonic across ctrl sweep: ${JSON.stringify(samples)}`,
|
||||
);
|
||||
}
|
||||
});
|
||||
|
||||
test(`[${model}] flow decreases (or stays level) when pressure rises at fixed ctrl`, async () => {
|
||||
const raw = loadCurve(model);
|
||||
const ext = curveExtents(raw);
|
||||
const m = await makeRunningMachine(curve);
|
||||
|
||||
const samples = [];
|
||||
for (const p of [ext.lowP, ext.midP, ext.highP]) {
|
||||
m.updateMeasuredPressure(0, 'upstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-up' });
|
||||
m.updateMeasuredPressure(p, 'downstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-down' });
|
||||
await m.handleInput('parent', 'execMovement', 60);
|
||||
const flow = m.measurements.type('flow').variant('predicted').position('downstream').getCurrentValue(unit);
|
||||
samples.push({ pressure: p, flow });
|
||||
}
|
||||
|
||||
// Highest pressure must not exceed lowest pressure flow by more than 1%.
|
||||
// (Centrifugal pump: head up -> flow down at a given speed.)
|
||||
const first = samples[0].flow;
|
||||
const last = samples[samples.length - 1].flow;
|
||||
assert.ok(
|
||||
last <= first * 1.01,
|
||||
`${model}: flow at p=${samples[samples.length - 1].pressure} (${last}) exceeds flow at p=${samples[0].pressure} (${first}); samples=${JSON.stringify(samples)}`,
|
||||
);
|
||||
});
|
||||
|
||||
test(`[${model}] cog and NCog are computed and finite after an operational move`, async () => {
|
||||
const raw = loadCurve(model);
|
||||
const ext = curveExtents(raw);
|
||||
const m = await makeRunningMachine(curve);
|
||||
m.updateMeasuredPressure(0, 'upstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-up' });
|
||||
m.updateMeasuredPressure(ext.midP, 'downstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-down' });
|
||||
await m.handleInput('parent', 'execMovement', 50);
|
||||
|
||||
assert.ok(Number.isFinite(m.cog), `${model}: cog must be finite, got ${m.cog}`);
|
||||
assert.ok(Number.isFinite(m.NCog), `${model}: NCog must be finite, got ${m.NCog}`);
|
||||
// CoG is a controller-% location of peak efficiency; must fall inside the ctrl range of the curve.
|
||||
assert.ok(m.cog >= 0 && m.cog <= 100, `${model}: cog=${m.cog} must be within [0,100]`);
|
||||
});
|
||||
|
||||
test(`[${model}] reverse predictor (ctrl for requested flow) round-trips within tolerance`, async () => {
|
||||
const raw = loadCurve(model);
|
||||
const ext = curveExtents(raw);
|
||||
const m = await makeRunningMachine(curve);
|
||||
m.updateMeasuredPressure(0, 'upstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-up' });
|
||||
m.updateMeasuredPressure(ext.midP, 'downstream', { timestamp: Date.now(), unit: pUnit, childName: 'pt-down' });
|
||||
|
||||
// Move to a known controller position and read the flow.
|
||||
await m.handleInput('parent', 'execMovement', 60);
|
||||
const observedFlow = m.measurements.type('flow').variant('predicted').position('downstream').getCurrentValue(unit);
|
||||
assert.ok(observedFlow > 0, `${model}: need non-zero flow to invert`);
|
||||
|
||||
// Convert flow back to ctrl via calcCtrl (uses reversed nq internally) —
|
||||
// note calcCtrl takes canonical flow (m3/s), so convert.
|
||||
const canonicalFlow = observedFlow / 3600; // m3/h -> m3/s
|
||||
const predictedCtrl = m.calcCtrl(canonicalFlow);
|
||||
assert.ok(
|
||||
Number.isFinite(predictedCtrl) && Math.abs(predictedCtrl - 60) <= 10,
|
||||
`${model}: reverse predictor ctrl=${predictedCtrl} should be within 10 of 60 for flow=${observedFlow}`,
|
||||
);
|
||||
});
|
||||
}
|
||||
93
test/integration/interruptible-movement.integration.test.js
Normal file
93
test/integration/interruptible-movement.integration.test.js
Normal file
@@ -0,0 +1,93 @@
|
||||
const test = require('node:test');
|
||||
const assert = require('node:assert/strict');
|
||||
|
||||
const Machine = require('../../src/specificClass');
|
||||
const { makeMachineConfig, makeStateConfig } = require('../helpers/factories');
|
||||
|
||||
/**
|
||||
* Regression tests for the FSM interruptible-movement fix (2026-04-13).
|
||||
*
|
||||
* Before the fix, `executeSequence("shutdown")` was silently rejected by the
|
||||
* state manager if the machine was mid-move (accelerating/decelerating),
|
||||
* because allowedTransitions for those states only permits returning to
|
||||
* `operational` or `emergencystop`. Operators pressing Stop during a ramp
|
||||
* would see the transition error-logged but no actual stop.
|
||||
*
|
||||
* The fix aborts the active movement, waits for the FSM to return to
|
||||
* `operational`, then runs the normal shutdown / emergency-stop sequence.
|
||||
*/
|
||||
|
||||
const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
|
||||
|
||||
function makeSlowMoveMachine() {
|
||||
// Slow movement so the test can reliably interrupt during accelerating.
|
||||
// speed=20%/s, interval=10ms -> 80% setpoint takes ~4s of real movement.
|
||||
return new Machine(
|
||||
makeMachineConfig(),
|
||||
makeStateConfig({
|
||||
movement: { mode: 'staticspeed', speed: 20, maxSpeed: 1000, interval: 10 },
|
||||
time: { starting: 0, warmingup: 0, stopping: 0, coolingdown: 0 },
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
test('shutdown during accelerating aborts the move and reaches idle', async () => {
|
||||
const machine = makeSlowMoveMachine();
|
||||
|
||||
await machine.handleInput('parent', 'execSequence', 'startup');
|
||||
assert.equal(machine.state.getCurrentState(), 'operational');
|
||||
machine.updateMeasuredPressure(1000, 'downstream', { timestamp: Date.now(), unit: 'mbar', childName: 'pt-down' });
|
||||
machine.updateMeasuredPressure(200, 'upstream', { timestamp: Date.now(), unit: 'mbar', childName: 'pt-up' });
|
||||
|
||||
// Fire a setpoint that needs ~4 seconds. Do NOT await it.
|
||||
const movePromise = machine.handleInput('parent', 'execMovement', 80);
|
||||
|
||||
// Wait a moment for the FSM to enter accelerating.
|
||||
await sleep(100);
|
||||
assert.equal(machine.state.getCurrentState(), 'accelerating');
|
||||
|
||||
// Issue shutdown while the move is still accelerating.
|
||||
await machine.handleInput('GUI', 'execSequence', 'shutdown');
|
||||
|
||||
// Let the aborted move unwind.
|
||||
await movePromise.catch(() => {});
|
||||
|
||||
assert.equal(
|
||||
machine.state.getCurrentState(),
|
||||
'idle',
|
||||
'shutdown issued mid-ramp must still drive FSM back to idle',
|
||||
);
|
||||
});
|
||||
|
||||
test('emergency stop during accelerating reaches off', async () => {
|
||||
const machine = makeSlowMoveMachine();
|
||||
|
||||
await machine.handleInput('parent', 'execSequence', 'startup');
|
||||
machine.updateMeasuredPressure(1000, 'downstream', { timestamp: Date.now(), unit: 'mbar', childName: 'pt-down' });
|
||||
|
||||
const movePromise = machine.handleInput('parent', 'execMovement', 80);
|
||||
|
||||
await sleep(100);
|
||||
assert.equal(machine.state.getCurrentState(), 'accelerating');
|
||||
|
||||
await machine.handleInput('GUI', 'emergencystop');
|
||||
await movePromise.catch(() => {});
|
||||
|
||||
assert.equal(
|
||||
machine.state.getCurrentState(),
|
||||
'off',
|
||||
'emergency stop issued mid-ramp must still drive FSM to off',
|
||||
);
|
||||
});
|
||||
|
||||
test('executeSequence accepts mixed-case sequence names', async () => {
|
||||
const machine = new Machine(makeMachineConfig(), makeStateConfig());
|
||||
await machine.handleInput('parent', 'execSequence', 'startup');
|
||||
assert.equal(machine.state.getCurrentState(), 'operational');
|
||||
|
||||
// Parent orchestrators (e.g. machineGroupControl) use "emergencyStop" with
|
||||
// a capital S in their configs. The sequence key in rotatingMachine.json
|
||||
// is lowercase. Normalization must bridge that gap without a warn.
|
||||
await machine.executeSequence('EmergencyStop');
|
||||
assert.equal(machine.state.getCurrentState(), 'off');
|
||||
});
|
||||
Reference in New Issue
Block a user