Test: abort-deadlock regression guard

Two reproducers for the post-abort residue deadlock fixed in
generalFunctions state.js. The direct test forces the FSM into
'accelerating' (mimicking MGC's per-tick abortActiveMovements that
intentionally leaves the pump parked to avoid a bounce loop) and
issues a fresh setpoint — without the fix, currentPosition freezes
and delayedMove holds the new target forever; with the fix, residue
unparks and the move executes.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

test/integration/abort-deadlock.integration.test.js

@@ -0,0 +1,164 @@
+// Reproducer: pump's state machine deadlocks in 'accelerating' under
+// rapid setpoint retargeting.
+//
+// The demo flow drives MGC to call `abortActiveMovements` on every
+// handleInput. If a movement aborts mid-flight, state.moveTo's catch
+// block keeps the FSM in 'accelerating' (avoids a bounce loop). Any
+// NEXT setpoint then hits state.moveTo's early-return at the top:
+//
+//   if (this.stateManager.getCurrentState() !== "operational") {
+//     this.delayedMove = targetPosition;
+//     return;            // ← never moves
+//   }
+//
+// `delayedMove` only fires from the SUCCESS branch of an active
+// moveTo, which can't run because state is stuck. Result: pump's
+// currentPosition freezes; ctrl.predicted keeps updating (set inside
+// calcCtrl regardless of whether setpoint actually moves) so the
+// dashboard shows non-zero ctrl% but the editor badge stays at 0.
+
+const test = require('node:test');
+const assert = require('node:assert/strict');
+
+const Machine = require('../../src/specificClass');
+const { POSITIONS } = require('generalFunctions');
+
+const stateConfig = {
+  general: { logging: { enabled: false, logLevel: 'error' } },
+  state: { current: 'idle' },
+  movement: { mode: 'staticspeed', speed: 10, maxSpeed: 100, interval: 50 },
+  // Match demo's slow ramp.
+  time: { starting: 0, warmingup: 0, stopping: 0, coolingdown: 0 },
+};
+
+function machineConfig() {
+  return {
+    general: { id: 'p1', name: 'p1', unit: 'm3/h',
+               logging: { enabled: false, logLevel: 'error' } },
+    functionality: { softwareType: 'machine', role: 'rotationaldevicecontroller' },
+    asset: { category: 'pump', type: 'centrifugal',
+             model: 'hidrostal-H05K-S03R', supplier: 'hidrostal' },
+    mode: {
+      current: 'auto',
+      allowedActions: { auto: ['execsequence', 'execmovement', 'flowmovement', 'statuscheck'] },
+      allowedSources: { auto: ['parent', 'GUI'] },
+    },
+    sequences: {
+      startup: ['starting', 'warmingup', 'operational'],
+      shutdown: ['stopping', 'coolingdown', 'idle'],
+      emergencystop: ['emergencystop', 'off'],
+    },
+  };
+}
+
+function makeMachineOperational() {
+  const m = new Machine(machineConfig(), stateConfig);
+  m.updateMeasuredPressure(0,    'upstream',
+    { timestamp: Date.now(), unit: 'mbar', childName: 'up', childId: 'up-1' });
+  m.updateMeasuredPressure(1100, 'downstream',
+    { timestamp: Date.now(), unit: 'mbar', childName: 'dn', childId: 'dn-1' });
+  return m;
+}
+
+const sleep = (ms) => new Promise(r => setTimeout(r, ms));
+
+test('parking deadlock: state stuck in accelerating swallows new setpoints', async () => {
+  // Direct reproducer of state.moveTo's early-return path. Force the
+  // FSM into 'accelerating' (the post-abort residue), then issue a new
+  // setpoint. The early-return at state.js:68 saves delayedMove and
+  // returns; delayedMove never fires because nothing transitions back
+  // to operational.
+
+  const m = makeMachineOperational();
+  await m.handleInput('parent', 'execsequence', 'startup');
+  for (let i = 0; i < 50 && m.state.getCurrentState() !== 'operational'; i++) await sleep(20);
+  assert.equal(m.state.getCurrentState(), 'operational');
+
+  // Force state to 'accelerating' (mimic the post-abort residue) by
+  // poking the underlying stateManager directly. This bypasses the
+  // race conditions and isolates the early-return branch.
+  await m.state.stateManager.transitionTo('accelerating');
+  assert.equal(m.state.getCurrentState(), 'accelerating');
+  const positionBefore = m.state.getCurrentPosition();
+
+  // Issue a fresh setpoint (what MGC's optimalControl would do).
+  await m.handleInput('parent', 'flowmovement', 200);
+  await sleep(800);   // generous — at speed=10 u/s, 8 units in 0.8s.
+
+  const positionAfter = m.state.getCurrentPosition();
+  const stateFinal = m.state.getCurrentState();
+  console.log({
+    positionBefore, positionAfter,
+    stateFinal,
+    delayedMove: m.state.delayedMove,
+    delta: (positionAfter - positionBefore).toFixed(3),
+  });
+
+  assert.ok(positionAfter - positionBefore > 1,
+    `[BUG] currentPosition stuck at ${positionBefore.toFixed(2)} — moveTo's early-return at state.js:68 swallowed the setpoint. ` +
+    `delayedMove=${m.state.delayedMove} state=${stateFinal}`);
+});
+
+test('chain deadlock: aborted move + new setpoint freezes position (race-condition path)', async () => {
+  // Deterministic reproducer of the deadlock the user observed live in
+  // Node-RED. Key invariant being asserted: AFTER a routine abort, a
+  // subsequent setpoint MUST eventually move the pump toward the new
+  // target. Today it freezes because state.moveTo's early-return at
+  // the top stores the target in `delayedMove` but `delayedMove` only
+  // fires from inside an active moveTo's success branch — and there
+  // is none, since state stays in 'accelerating'.
+
+  const m = makeMachineOperational();
+
+  await m.handleInput('parent', 'execsequence', 'startup');
+  for (let i = 0; i < 50 && m.state.getCurrentState() !== 'operational'; i++) await sleep(20);
+  assert.equal(m.state.getCurrentState(), 'operational');
+
+  // Step 1: kick off a long traversal to position 80. Speed=10, so this
+  // takes ~8 s. We need it to be reliably in 'accelerating' when we abort.
+  m.setpoint(80);                          // not awaited
+  // movementManager interval is 50ms; wait two ticks so position has
+  // demonstrably advanced and state is firmly in 'accelerating'.
+  await sleep(150);
+  assert.equal(m.state.getCurrentState(), 'accelerating',
+    `precondition: pump should be accelerating mid-traversal; got ${m.state.getCurrentState()}`);
+  const positionDuringMove = m.state.getCurrentPosition();
+  assert.ok(positionDuringMove > 0 && positionDuringMove < 80,
+    `precondition: pump should be mid-traversal, got ${positionDuringMove}`);
+
+  // Step 2: routine abort, exactly what MGC's abortActiveMovements does.
+  m.abortMovement('routine retarget');
+  // Wait for the abort signal to propagate through the setInterval.
+  await sleep(120);
+
+  const stateAfterAbort = m.state.getCurrentState();
+  const positionAfterAbort = m.state.getCurrentPosition();
+
+  // Step 3: a fresh setpoint — what MGC's optimalControl issues next.
+  // Use a target DIFFERENT from current position so the early-return
+  // `targetPosition === currentPosition` doesn't apply.
+  await m.handleInput('parent', 'flowmovement', 200); // m³/h → distinct ctrl%
+  // Give it half a second, plenty of time for movement to advance at
+  // speed=10 u/s if it actually proceeds.
+  await sleep(500);
+
+  const stateFinal = m.state.getCurrentState();
+  const positionFinal = m.state.getCurrentPosition();
+
+  console.log({
+    positionDuringMove,
+    stateAfterAbort, positionAfterAbort,
+    stateFinal, positionFinal,
+    delayedMove: m.state?.delayedMove,
+    delta: (positionFinal - positionAfterAbort).toFixed(3),
+  });
+
+  // The bug: position stays parked exactly where the abort left it.
+  // Either the FSM is still in 'accelerating' (so moveTo's top-level
+  // early-return stored the new setpoint in delayedMove and bailed), or
+  // both — state stuck AND delayedMove holding the new target. After
+  // the fix, position should advance toward the new setpoint.
+  assert.ok(positionFinal - positionAfterAbort > 1,
+    `[BUG] currentPosition frozen at ${positionAfterAbort.toFixed(2)} — moveTo's early-return swallowed the new setpoint, ` +
+    `delayedMove=${m.state?.delayedMove}, finalState=${stateFinal}`);
+});