rotatingMachine/src/flow/flowController.js

/**
 * Dispatches inbound control actions (execSequence / execMovement /
 * flowMovement / emergencyStop / enter|exitMaintenance / statusCheck)
 * to the state machine and motion helpers on the host.
 *
 * Behaviour mirrors the original specificClass.handleInput exactly:
 * - actions are lower-cased
 * - mode/source gating runs first
 * - flow-setpoints are unit-converted (output -> canonical) before
 *   calcCtrl + setpoint
 * - thrown errors are caught + logged (no re-throw) so a misbehaving
 *   parent never crashes the FSM
 */

class FlowController {
  constructor(ctx) {
    if (!ctx || !ctx.host) {
      throw new Error('FlowController: ctx.host is required');
    }
    this.host = ctx.host;
    this.logger = ctx.logger || ctx.host.logger;
  }

  async handle(source, action, parameter) {
    const host = this.host;

    if (typeof action !== 'string') {
      this.logger.error('Action must be string');
      return;
    }
    action = action.toLowerCase();

    if (!host.isValidActionForMode(action, host.currentMode)) return;
    if (!host.isValidSourceForMode(source, host.currentMode)) return;

    this.logger.info(
      `Handling input from source '${source}' with action '${action}' in mode '${host.currentMode}'.`,
    );

    try {
      switch (action) {
        case 'execsequence':
          return await host.executeSequence(parameter);

        case 'execmovement':
          return await host.setpoint(parameter);

        case 'entermaintenance':
        case 'exitmaintenance':
          return await host.executeSequence(parameter);

        case 'flowmovement': {
          const canonicalFlowSetpoint = host.unitPolicy.convert(
            parameter,
            host.unitPolicy.output.flow,
            host.unitPolicy.canonical.flow,
            'flowmovement setpoint',
          );
          const pos = host.calcCtrl(canonicalFlowSetpoint);
          return await host.setpoint(pos);
        }

        case 'emergencystop':
          this.logger.warn(`Emergency stop activated by '${source}'.`);
          return await host.executeSequence('emergencystop');

        case 'statuscheck':
          this.logger.info(
            `Status Check: Mode = '${host.currentMode}', Source = '${source}'.`,
          );
          break;

        default:
          this.logger.warn(`Action '${action}' is not implemented.`);
          break;
      }
      this.logger.debug(`Action '${action}' successfully executed`);
      return { status: true, feedback: `Action '${action}' successfully executed.` };
    } catch (error) {
      this.logger.error(`Error handling input: ${error}`);
    }
  }
}

module.exports = FlowController;