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feat(commands): adopt unified command envelope — msg.origin provenance

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Resolve command origin via msg.origin (registry-stamped, default parent) with a
legacy fallback to the previous payload.source/msg.source field. Feeds the
existing mode/allowedSources arbitration unchanged.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
znetsixe
2026-05-29 18:41:15 +02:00
parent 74951e7a23
commit b40b2c736f
1 changed files with 14 additions and 4 deletions
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18
src/commands/handlers.js
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@@ -7,23 +7,33 @@
function _logger(source, ctx) { return ctx?.logger || source?.logger || null; } function _logger(source, ctx) { return ctx?.logger || source?.logger || null; }
function _send(ctx, ports) { if (typeof ctx?.send === 'function') ctx.send(ports); } function _send(ctx, ports) { if (typeof ctx?.send === 'function') ctx.send(ports); }
// Resolve the command origin (control authority: parent | GUI | fysical).
// The shared commandRegistry stamps msg.origin (default 'parent'); legacy flows
// carried it as payload.source. Prefer the legacy field when present so existing
// flows keep working, otherwise use the registry-stamped msg.origin.
function _origin(msg) {
const p = msg && msg.payload;
if (p && typeof p === 'object' && typeof p.source === 'string' && p.source) return p.source;
return (typeof msg?.origin === 'string' && msg.origin) ? msg.origin : 'parent';
}
exports.setMode = (source, msg) => { exports.setMode = (source, msg) => {
source.setMode(msg.payload); source.setMode(msg.payload);
}; };
exports.startup = async (source, msg) => { exports.startup = async (source, msg) => {
const p = msg.payload || {}; const p = msg.payload || {};
await source.handleInput(p.source ?? 'parent', 'execSequence', 'startup'); await source.handleInput(_origin(msg), 'execSequence', 'startup');
}; };
exports.shutdown = async (source, msg) => { exports.shutdown = async (source, msg) => {
const p = msg.payload || {}; const p = msg.payload || {};
await source.handleInput(p.source ?? 'parent', 'execSequence', 'shutdown'); await source.handleInput(_origin(msg), 'execSequence', 'shutdown');
}; };
exports.estop = async (source, msg) => { exports.estop = async (source, msg) => {
const p = msg.payload || {}; const p = msg.payload || {};
await source.handleInput(p.source ?? 'parent', p.action ?? 'emergencystop'); await source.handleInput(_origin(msg), p.action ?? 'emergencystop');
}; };
// Legacy umbrella: payload.action selects the canonical verb. // Legacy umbrella: payload.action selects the canonical verb.
@@ -41,7 +51,7 @@ exports.execSequenceAlias = async (source, msg, ctx) => {
exports.setPosition = async (source, msg) => { exports.setPosition = async (source, msg) => {
const p = msg.payload || {}; const p = msg.payload || {};
const action = p.action ?? 'execMovement'; const action = p.action ?? 'execMovement';
await source.handleInput(p.source ?? 'parent', action, Number(p.setpoint)); await source.handleInput(_origin(msg), action, Number(p.setpoint));
}; };
exports.dataFlow = (source, msg) => { exports.dataFlow = (source, msg) => {