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machineGroupControl/mgc.js

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const nameOfNode = 'machineGroupControl'; // this is the name of the node, it should match the file name and the node type in Node-RED
feat(mgc): rendezvous planner — same-time landing across all modes 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>
2026-05-17 19:43:55 +02:00
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}`);
}
});
feat(mgc): rendezvous planner — same-time landing across all modes 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>
2026-05-17 19:43:55 +02:00
// 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');
});
});
};