feat(wcs): coordinate lift joint resources

2026-08-11 10:46:13 +08:00
parent 0d09eb93da
commit 6030deb227
8 changed files with 579 additions and 5 deletions
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/application/device/LiftCoordinator.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/application/device/LiftCoordinator.java
@@ -0,0 +1,181 @@
+package com.ruoyi.wcs.application.device;
+
+import com.ruoyi.wcs.domain.equipment.LiftDecision;
+import com.ruoyi.wcs.domain.equipment.LiftDecisionType;
+import com.ruoyi.wcs.domain.equipment.LiftTransfer;
+import com.ruoyi.wcs.domain.equipment.LiftTransferState;
+import com.ruoyi.wcs.domain.execution.CommandOutboxEntry;
+import com.ruoyi.wcs.domain.execution.DeviceCommand;
+import com.ruoyi.wcs.domain.execution.DeviceCommandType;
+import com.ruoyi.wcs.domain.execution.DeviceSnapshot;
+import com.ruoyi.wcs.domain.shared.DomainRuleViolation;
+import com.ruoyi.wcs.domain.shared.IdGenerator;
+import com.ruoyi.wcs.domain.traffic.ReservationDecision;
+import com.ruoyi.wcs.domain.traffic.ReservationRequest;
+import com.ruoyi.wcs.domain.traffic.ReservationState;
+import com.ruoyi.wcs.domain.traffic.ResourceLedger;
+import com.ruoyi.wcs.port.out.CommandOutboxRepository;
+import com.ruoyi.wcs.port.out.DeviceCommandRepository;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.time.Instant;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.Map;
+import java.util.Objects;
+import java.util.function.Supplier;
+
+public final class LiftCoordinator {
+    private final ResourceLedger ledger;
+    private final DeviceCommandRepository commandRepository;
+    private final CommandOutboxRepository outboxRepository;
+    private final IdGenerator idGenerator;
+    private final long topologyVersion;
+    private final Supplier<Instant> clock;
+
+    public LiftCoordinator(ResourceLedger ledger,
+                           DeviceCommandRepository commandRepository,
+                           CommandOutboxRepository outboxRepository,
+                           IdGenerator idGenerator, long topologyVersion,
+                           Supplier<Instant> clock) {
+        this.ledger = Objects.requireNonNull(ledger, "ledger");
+        this.commandRepository = Objects.requireNonNull(commandRepository,
+                "commandRepository");
+        this.outboxRepository = Objects.requireNonNull(outboxRepository,
+                "outboxRepository");
+        this.idGenerator = Objects.requireNonNull(idGenerator, "idGenerator");
+        if (topologyVersion <= 0L) {
+            throw new IllegalArgumentException("topologyVersion must be positive");
+        }
+        this.topologyVersion = topologyVersion;
+        this.clock = Objects.requireNonNull(clock, "clock");
+    }
+
+    @Transactional
+    public LiftDecision prepare(String stepId, String vehicleId, String liftId,
+                                String sourcePort, String targetPort) {
+        String step = requireSafe(stepId, "stepId");
+        String vehicle = requireSafe(vehicleId, "vehicleId");
+        String lift = requireSafe(liftId, "liftId");
+        String source = requireSafe(sourcePort, "sourcePort");
+        String target = requireSafe(targetPort, "targetPort");
+        String reservationId = "LIFT-RES:" + step;
+        ReservationRequest request = new ReservationRequest(reservationId,
+                "LIFT-ORDER:" + step, step, vehicle, Arrays.asList(
+                "LIFT_PORT:" + source, "LIFT:" + lift,
+                "LIFT_PORT:" + target));
+        ReservationDecision reservation = ledger.reserve(request);
+        if (!reservation.isGranted()) {
+            return new LiftDecision(LiftDecisionType.BLOCKED,
+                    reservation.getReasonCode(), null);
+        }
+        if (ledger.reservation(reservationId).getState()
+                == ReservationState.GRANTED) {
+            ledger.occupy(reservationId, reservation.getFencingToken());
+        }
+
+        String commandKey = "LIFT:" + step;
+        LiftTransfer transfer = LiftTransfer.prepared(step, vehicle, lift,
+                source, target, commandKey, reservationId,
+                reservation.getFencingToken());
+        DeviceCommand existing = commandRepository.findByCommandKey(commandKey);
+        if (existing == null) {
+            Instant now = Objects.requireNonNull(clock.get(), "clock returned null");
+            String payload = "stepId=" + step + "|vehicleId=" + vehicle
+                    + "|sourcePort=" + source + "|targetPort=" + target;
+            DeviceCommand command = DeviceCommand.pending(
+                    requireSafe(idGenerator.nextId(), "generated commandId"),
+                    commandKey, lift, DeviceCommandType.LIFT_TRANSFER,
+                    payload, 1, now);
+            commandRepository.save(command);
+            outboxRepository.saveIfAbsent(CommandOutboxEntry.pending(
+                    command.getCommandId(), commandKey, payload, now,
+                    topologyVersion, reservation.getFencingToken()));
+        } else if (!existing.getDeviceId().equals(lift)) {
+            throw new DomainRuleViolation(
+                    "lift command key reused for another lift");
+        }
+        return new LiftDecision(LiftDecisionType.READY,
+                "JOINT_RESOURCES_RESERVED", transfer);
+    }
+
+    @Transactional
+    public LiftDecision onVehicleLeftTarget(LiftTransfer transfer,
+                                            DeviceSnapshot snapshot) {
+        Objects.requireNonNull(transfer, "transfer");
+        Objects.requireNonNull(snapshot, "snapshot");
+        String mismatch = mismatchReason(transfer, snapshot);
+        if (mismatch != null) {
+            if (ledger.reservation(transfer.getReservationId()).getState()
+                    == ReservationState.OCCUPIED) {
+                ledger.markRecoveryUnresolved(transfer.getReservationId());
+            }
+            return new LiftDecision(LiftDecisionType.RECOVERY_REQUIRED,
+                    mismatch, transfer);
+        }
+        transfer.completeAfterVehicleLeft(snapshot.getSnapshotId());
+        com.ruoyi.wcs.domain.traffic.ResourceReservation held =
+                ledger.reservation(transfer.getReservationId());
+        if (held.isCommandUnknown() || held.isRecoveryUnresolved()) {
+            ledger.clearProtectionAfterRecovery(transfer.getReservationId(),
+                    snapshot.getSnapshotId());
+        }
+        ledger.release(transfer.getReservationId(), snapshot.getSnapshotId(),
+                transfer.getFencingToken());
+        return new LiftDecision(LiftDecisionType.COMPLETED,
+                "VEHICLE_LEFT_TARGET_PORT", transfer);
+    }
+
+    private String mismatchReason(LiftTransfer transfer, DeviceSnapshot snapshot) {
+        if (transfer.getState() != LiftTransferState.TARGET_EXIT_COMMITTED) {
+            return "TARGET_EXIT_NOT_COMMITTED";
+        }
+        if (!snapshot.isConnected()) {
+            return "COMMUNICATION_LOST";
+        }
+        if (!transfer.getVehicleId().equals(snapshot.getDeviceId())) {
+            return "VEHICLE_MISMATCH";
+        }
+        if (!transfer.getCommandKey().equals(snapshot.getCommandKey())) {
+            return "COMMAND_KEY_MISMATCH";
+        }
+        if (!transfer.getStepId().equals(snapshot.getTaskNumber())) {
+            return "TASK_NUMBER_MISMATCH";
+        }
+        if (snapshot.getTopologyVersion() != topologyVersion) {
+            return "TOPOLOGY_VERSION_MISMATCH";
+        }
+        if (snapshot.getFencingToken() != transfer.getFencingToken()) {
+            return "FENCING_TOKEN_MISMATCH";
+        }
+        if (!transfer.getTargetPort().equals(snapshot.getCurrentNodeId())
+                || !snapshot.isCommandCompleted()) {
+            return "VEHICLE_NOT_CLEAR_OF_TARGET";
+        }
+        Map<String, String> facts = snapshot.getFacts();
+        if (!transfer.getLiftId().equals(facts.get("liftId"))) {
+            return "LIFT_ID_MISMATCH";
+        }
+        if (!transfer.getTargetPort().equals(facts.get("liftFloor"))) {
+            return "LIFT_FLOOR_MISMATCH";
+        }
+        if (!"true".equals(facts.get("liftDoorOpen"))) {
+            return "LIFT_DOOR_NOT_PROVEN_OPEN";
+        }
+        if (!"true".equals(facts.get("targetPortClear"))) {
+            return "TARGET_PORT_NOT_PROVEN_CLEAR";
+        }
+        return null;
+    }
+
+    private static String requireSafe(String value, String field) {
+        if (value == null || value.trim().isEmpty()) {
+            throw new IllegalArgumentException(field + " must not be blank");
+        }
+        String text = value.trim();
+        if (text.indexOf('|') >= 0 || text.indexOf('=') >= 0) {
+            throw new IllegalArgumentException(field + " contains reserved delimiter");
+        }
+        return text;
+    }
+}
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftDecision.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftDecision.java
@@ -0,0 +1,25 @@
+package com.ruoyi.wcs.domain.equipment;
+
+public final class LiftDecision {
+    private final LiftDecisionType type;
+    private final String reasonCode;
+    private final LiftTransfer transfer;
+
+    public LiftDecision(LiftDecisionType type, String reasonCode,
+                        LiftTransfer transfer) {
+        this.type = java.util.Objects.requireNonNull(type, "type");
+        this.reasonCode = requireText(reasonCode, "reasonCode");
+        this.transfer = transfer;
+    }
+
+    public LiftDecisionType getType() { return type; }
+    public String getReasonCode() { return reasonCode; }
+    public LiftTransfer getTransfer() { return transfer; }
+
+    private static String requireText(String value, String field) {
+        if (value == null || value.trim().isEmpty()) {
+            throw new IllegalArgumentException(field + " must not be blank");
+        }
+        return value.trim();
+    }
+}
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftDecisionType.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftDecisionType.java
@@ -0,0 +1,9 @@
+package com.ruoyi.wcs.domain.equipment;
+
+public enum LiftDecisionType {
+    READY,
+    BLOCKED,
+    ADVANCED,
+    COMPLETED,
+    RECOVERY_REQUIRED
+}
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftTransfer.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftTransfer.java
@@ -0,0 +1,96 @@
+package com.ruoyi.wcs.domain.equipment;
+
+import com.ruoyi.wcs.domain.shared.DomainRuleViolation;
+
+public final class LiftTransfer {
+    private final String stepId;
+    private final String vehicleId;
+    private final String liftId;
+    private final String sourcePort;
+    private final String targetPort;
+    private final String commandKey;
+    private final String reservationId;
+    private final long fencingToken;
+    private LiftTransferState state;
+    private String lastEvidenceId;
+
+    private LiftTransfer(String stepId, String vehicleId, String liftId,
+                         String sourcePort, String targetPort, String commandKey,
+                         String reservationId, long fencingToken) {
+        this.stepId = requireText(stepId, "stepId");
+        this.vehicleId = requireText(vehicleId, "vehicleId");
+        this.liftId = requireText(liftId, "liftId");
+        this.sourcePort = requireText(sourcePort, "sourcePort");
+        this.targetPort = requireText(targetPort, "targetPort");
+        this.commandKey = requireText(commandKey, "commandKey");
+        this.reservationId = requireText(reservationId, "reservationId");
+        if (fencingToken <= 0L) {
+            throw new IllegalArgumentException("fencingToken must be positive");
+        }
+        this.fencingToken = fencingToken;
+        this.state = LiftTransferState.SOURCE_ENTRY_COMMITTED;
+    }
+
+    public static LiftTransfer prepared(String stepId, String vehicleId,
+                                        String liftId, String sourcePort,
+                                        String targetPort, String commandKey,
+                                        String reservationId,
+                                        long fencingToken) {
+        return new LiftTransfer(stepId, vehicleId, liftId, sourcePort,
+                targetPort, commandKey, reservationId, fencingToken);
+    }
+
+    public void vehicleEnteredLift(String evidenceId) {
+        transition(LiftTransferState.SOURCE_ENTRY_COMMITTED,
+                LiftTransferState.VEHICLE_IN_LIFT, evidenceId);
+    }
+
+    public void liftStartedMoving(String evidenceId) {
+        transition(LiftTransferState.VEHICLE_IN_LIFT,
+                LiftTransferState.LIFT_MOVING, evidenceId);
+    }
+
+    public void arrivedAtTarget(String evidenceId) {
+        transition(LiftTransferState.LIFT_MOVING,
+                LiftTransferState.AT_TARGET, evidenceId);
+    }
+
+    public void commitTargetExit(String evidenceId) {
+        transition(LiftTransferState.AT_TARGET,
+                LiftTransferState.TARGET_EXIT_COMMITTED, evidenceId);
+    }
+
+    public void completeAfterVehicleLeft(String evidenceId) {
+        transition(LiftTransferState.TARGET_EXIT_COMMITTED,
+                LiftTransferState.VEHICLE_LEFT_LIFT, evidenceId);
+        state = LiftTransferState.COMPLETED;
+    }
+
+    private void transition(LiftTransferState required, LiftTransferState next,
+                            String evidenceId) {
+        if (state != required) {
+            throw new DomainRuleViolation("lift transfer state must be " + required
+                    + " but was " + state);
+        }
+        lastEvidenceId = requireText(evidenceId, "evidenceId");
+        state = next;
+    }
+
+    public String getStepId() { return stepId; }
+    public String getVehicleId() { return vehicleId; }
+    public String getLiftId() { return liftId; }
+    public String getSourcePort() { return sourcePort; }
+    public String getTargetPort() { return targetPort; }
+    public String getCommandKey() { return commandKey; }
+    public String getReservationId() { return reservationId; }
+    public long getFencingToken() { return fencingToken; }
+    public LiftTransferState getState() { return state; }
+    public String getLastEvidenceId() { return lastEvidenceId; }
+
+    private static String requireText(String value, String field) {
+        if (value == null || value.trim().isEmpty()) {
+            throw new IllegalArgumentException(field + " must not be blank");
+        }
+        return value.trim();
+    }
+}
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftTransferState.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/equipment/LiftTransferState.java
@@ -0,0 +1,12 @@
+package com.ruoyi.wcs.domain.equipment;
+
+public enum LiftTransferState {
+    WAITING_SOURCE,
+    SOURCE_ENTRY_COMMITTED,
+    VEHICLE_IN_LIFT,
+    LIFT_MOVING,
+    AT_TARGET,
+    TARGET_EXIT_COMMITTED,
+    VEHICLE_LEFT_LIFT,
+    COMPLETED
+}
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/execution/DeviceSnapshot.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/execution/DeviceSnapshot.java
@@ -4,6 +4,8 @@ import java.time.Instant;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
+import java.util.LinkedHashMap;
+import java.util.Map;
 import java.util.Objects;

 public final class DeviceSnapshot {
@@ -20,6 +22,7 @@ public final class DeviceSnapshot {
    private final String currentNodeId;
    private final List<String> remainingRouteNodes;
    private final boolean commandCompleted;
+    private final Map<String, String> facts;

    public DeviceSnapshot(String snapshotId, String deviceId, String commandKey,
                          String taskNumber, long deviceSequence,
@@ -28,6 +31,19 @@ public final class DeviceSnapshot {
                          long fencingToken, String currentNodeId,
                          List<String> remainingRouteNodes,
                          boolean commandCompleted) {
+        this(snapshotId, deviceId, commandKey, taskNumber, deviceSequence,
+                observedAt, connected, deviceBootId, topologyVersion,
+                fencingToken, currentNodeId, remainingRouteNodes,
+                commandCompleted, Collections.<String, String>emptyMap());
+    }
+
+    public DeviceSnapshot(String snapshotId, String deviceId, String commandKey,
+                          String taskNumber, long deviceSequence,
+                          Instant observedAt, boolean connected,
+                          String deviceBootId, long topologyVersion,
+                          long fencingToken, String currentNodeId,
+                          List<String> remainingRouteNodes,
+                          boolean commandCompleted, Map<String, String> facts) {
        this.snapshotId = requireText(snapshotId, "snapshotId");
        this.deviceId = requireText(deviceId, "deviceId");
        this.commandKey = requireText(commandKey, "commandKey");
@@ -44,6 +60,7 @@ public final class DeviceSnapshot {
        this.currentNodeId = requireText(currentNodeId, "currentNodeId");
        this.remainingRouteNodes = immutable(remainingRouteNodes);
        this.commandCompleted = commandCompleted;
+        this.facts = immutableFacts(facts);
    }

    public String getSnapshotId() { return snapshotId; }
@@ -59,6 +76,19 @@ public final class DeviceSnapshot {
    public String getCurrentNodeId() { return currentNodeId; }
    public List<String> getRemainingRouteNodes() { return remainingRouteNodes; }
    public boolean isCommandCompleted() { return commandCompleted; }
+    public Map<String, String> getFacts() { return facts; }
+
+    private static Map<String, String> immutableFacts(Map<String, String> source) {
+        if (source == null) {
+            throw new IllegalArgumentException("facts must not be null");
+        }
+        Map<String, String> copy = new LinkedHashMap<String, String>();
+        for (Map.Entry<String, String> entry : source.entrySet()) {
+            copy.put(requireText(entry.getKey(), "fact key"),
+                    requireText(entry.getValue(), "fact value"));
+        }
+        return Collections.unmodifiableMap(copy);
+    }

    private static List<String> immutable(List<String> source) {
        if (source == null || source.isEmpty()) {
--- a/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/traffic/ResourceLedger.java
+++ b/ruoyi-wcs/src/main/java/com/ruoyi/wcs/domain/traffic/ResourceLedger.java
@@ -62,11 +62,16 @@ public final class ResourceLedger {
            if (!existing.matches(request)) {
                throw new DomainRuleViolation("reservation id reused with different request");
            }
-            return existing.getState() == ReservationState.GRANTED
-                    || existing.getState() == ReservationState.OCCUPIED
-                    ? ReservationDecision.granted(existing)
-                    : ReservationDecision.rejected(existing.getReservationId(),
-                    existing.getResourceKeys(), existing.getState().name());
+            if (existing.getState() == ReservationState.REJECTED
+                    && "CAPACITY_CONFLICT".equals(existing.getTerminalReason())) {
+                reservations.remove(request.getReservationId());
+            } else {
+                return existing.getState() == ReservationState.GRANTED
+                        || existing.getState() == ReservationState.OCCUPIED
+                        ? ReservationDecision.granted(existing)
+                        : ReservationDecision.rejected(existing.getReservationId(),
+                        existing.getResourceKeys(), existing.getState().name());
+            }
        }

        ResourceReservation reservation = new ResourceReservation(request);
--- a/ruoyi-wcs/src/test/java/com/ruoyi/wcs/application/device/LiftCoordinatorTest.java
+++ b/ruoyi-wcs/src/test/java/com/ruoyi/wcs/application/device/LiftCoordinatorTest.java
@@ -0,0 +1,216 @@
+package com.ruoyi.wcs.application.device;
+
+import com.ruoyi.wcs.domain.equipment.LiftDecision;
+import com.ruoyi.wcs.domain.equipment.LiftDecisionType;
+import com.ruoyi.wcs.domain.equipment.LiftTransfer;
+import com.ruoyi.wcs.domain.equipment.LiftTransferState;
+import com.ruoyi.wcs.domain.execution.CommandOutboxEntry;
+import com.ruoyi.wcs.domain.execution.DeviceCommand;
+import com.ruoyi.wcs.domain.execution.DeviceSnapshot;
+import com.ruoyi.wcs.domain.shared.IdGenerator;
+import com.ruoyi.wcs.domain.traffic.ReservationDecision;
+import com.ruoyi.wcs.domain.traffic.ReservationRequest;
+import com.ruoyi.wcs.domain.traffic.ResourceLedger;
+import com.ruoyi.wcs.port.out.CommandOutboxRepository;
+import com.ruoyi.wcs.port.out.DeviceCommandRepository;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import java.time.Instant;
+import java.util.Arrays;
+import java.util.Collections;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class LiftCoordinatorTest {
+    private ResourceLedger ledger;
+    private FakeCommandRepository commands;
+    private FakeOutboxRepository outbox;
+    private LiftCoordinator coordinator;
+
+    @BeforeEach
+    void setUp() {
+        Map<String, Integer> capacities = new LinkedHashMap<String, Integer>();
+        capacities.put("LIFT_PORT:P1", 1);
+        capacities.put("LIFT:L1", 1);
+        capacities.put("LIFT_PORT:P2", 1);
+        ledger = new ResourceLedger(capacities);
+        commands = new FakeCommandRepository();
+        outbox = new FakeOutboxRepository();
+        coordinator = new LiftCoordinator(ledger, commands, outbox,
+                new IdGenerator() {
+                    @Override
+                    public String nextId() {
+                        return "LIFT-CMD-1";
+                    }
+                }, 7L, new java.util.function.Supplier<Instant>() {
+                    @Override
+                    public Instant get() {
+                        return Instant.EPOCH;
+                    }
+                });
+    }
+
+    @Test
+    void doesNotEnterLiftWhenTargetExitCannotBeReserved() {
+        ReservationDecision occupied = ledger.reserve(new ReservationRequest(
+                "OTHER-RES", "OTHER-ORDER", "OTHER-STEP", "OTHER",
+                Collections.singletonList("LIFT_PORT:P2")));
+        ledger.occupy("OTHER-RES", occupied.getFencingToken());
+
+        LiftDecision decision = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2");
+
+        assertEquals(LiftDecisionType.BLOCKED, decision.getType());
+        assertEquals(0, commands.values.size());
+        assertEquals(0, outbox.values.size());
+    }
+
+    @Test
+    void blockedPreparationCanRetryAfterTheTargetPortBecomesAvailable() {
+        ReservationDecision occupied = ledger.reserve(new ReservationRequest(
+                "OTHER-RES", "OTHER-ORDER", "OTHER-STEP", "OTHER",
+                Collections.singletonList("LIFT_PORT:P2")));
+        ledger.occupy("OTHER-RES", occupied.getFencingToken());
+        LiftDecision blocked = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2");
+        ledger.release("OTHER-RES", "OTHER-LEFT",
+                occupied.getFencingToken());
+
+        LiftDecision retried = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2");
+
+        assertEquals(LiftDecisionType.BLOCKED, blocked.getType());
+        assertEquals(LiftDecisionType.READY, retried.getType());
+        assertEquals(1, commands.values.size());
+    }
+
+    @Test
+    void releasesLiftOnlyAfterVehicleLeavesTargetPort() {
+        LiftDecision prepared = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2");
+        LiftTransfer transfer = prepared.getTransfer();
+        transfer.vehicleEnteredLift("VEHICLE-IN-LIFT");
+        transfer.liftStartedMoving("LIFT-MOVING");
+        transfer.arrivedAtTarget("AT-TARGET");
+        transfer.commitTargetExit("TARGET-EXIT");
+
+        LiftDecision completed = coordinator.onVehicleLeftTarget(
+                transfer, matchingFacts());
+
+        assertEquals(LiftDecisionType.COMPLETED, completed.getType());
+        assertEquals(LiftTransferState.COMPLETED, transfer.getState());
+        assertEquals(1, ledger.availableCapacity("LIFT:L1"));
+        assertEquals(1, ledger.availableCapacity("LIFT_PORT:P2"));
+    }
+
+    @Test
+    void mismatchingDoorOrFloorFactsKeepAllJointResourcesIsolated() {
+        LiftTransfer transfer = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2").getTransfer();
+        transfer.vehicleEnteredLift("VEHICLE-IN-LIFT");
+        transfer.liftStartedMoving("LIFT-MOVING");
+        transfer.arrivedAtTarget("AT-TARGET");
+        transfer.commitTargetExit("TARGET-EXIT");
+        Map<String, String> facts = matchingFactMap();
+        facts.put("liftDoorOpen", "false");
+
+        LiftDecision decision = coordinator.onVehicleLeftTarget(
+                transfer, snapshot(facts));
+
+        assertEquals(LiftDecisionType.RECOVERY_REQUIRED, decision.getType());
+        assertEquals(0, ledger.availableCapacity("LIFT:L1"));
+        assertEquals(0, ledger.availableCapacity("LIFT_PORT:P2"));
+    }
+
+    @Test
+    void laterMatchingCombinedFactsCanResolveTheIsolationAndRelease() {
+        LiftTransfer transfer = coordinator.prepare(
+                "STEP-1", "V1", "L1", "P1", "P2").getTransfer();
+        transfer.vehicleEnteredLift("VEHICLE-IN-LIFT");
+        transfer.liftStartedMoving("LIFT-MOVING");
+        transfer.arrivedAtTarget("AT-TARGET");
+        transfer.commitTargetExit("TARGET-EXIT");
+        Map<String, String> mismatch = matchingFactMap();
+        mismatch.put("liftFloor", "P1");
+        coordinator.onVehicleLeftTarget(transfer, snapshot(mismatch));
+
+        LiftDecision recovered = coordinator.onVehicleLeftTarget(
+                transfer, matchingFacts());
+
+        assertEquals(LiftDecisionType.COMPLETED, recovered.getType());
+        assertEquals(1, ledger.availableCapacity("LIFT:L1"));
+    }
+
+    private static DeviceSnapshot matchingFacts() {
+        return snapshot(matchingFactMap());
+    }
+
+    private static Map<String, String> matchingFactMap() {
+        Map<String, String> facts = new LinkedHashMap<String, String>();
+        facts.put("liftId", "L1");
+        facts.put("liftFloor", "P2");
+        facts.put("liftDoorOpen", "true");
+        facts.put("targetPortClear", "true");
+        return facts;
+    }
+
+    private static DeviceSnapshot snapshot(Map<String, String> facts) {
+        return new DeviceSnapshot("LIFT-SNAPSHOT-1", "V1",
+                "LIFT:STEP-1", "STEP-1", 10L, Instant.EPOCH.plusSeconds(10),
+                true, "BOOT-1", 7L, 1L, "P2",
+                Collections.singletonList("P2"), true, facts);
+    }
+
+    private static final class FakeCommandRepository
+            implements DeviceCommandRepository {
+        private final Map<String, DeviceCommand> values =
+                new LinkedHashMap<String, DeviceCommand>();
+
+        @Override
+        public DeviceCommand findByCommandKey(String commandKey) {
+            for (DeviceCommand command : values.values()) {
+                if (command.getCommandKey().equals(commandKey)) {
+                    return command;
+                }
+            }
+            return null;
+        }
+
+        @Override
+        public DeviceCommand findByCommandId(String commandId) {
+            return values.get(commandId);
+        }
+
+        @Override
+        public void save(DeviceCommand command) {
+            values.put(command.getCommandId(), command);
+        }
+    }
+
+    private static final class FakeOutboxRepository
+            implements CommandOutboxRepository {
+        private final Map<String, CommandOutboxEntry> values =
+                new LinkedHashMap<String, CommandOutboxEntry>();
+
+        @Override
+        public void saveIfAbsent(CommandOutboxEntry entry) {
+            if (!values.containsKey(entry.getCommandId())) {
+                values.put(entry.getCommandId(), entry);
+            }
+        }
+
+        @Override
+        public void save(CommandOutboxEntry entry) {
+            values.put(entry.getCommandId(), entry);
+        }
+
+        @Override
+        public List<CommandOutboxEntry> claimDue(int limit, Instant now) {
+            return Collections.emptyList();
+        }
+    }
+}