fix(ft546): enforce shuttle motion command gate

ruoyi-admin/src/main/java/com/ruoyi/project/ft546/device/shuttle/Ft546LegacySrgvAdapter.java

@@ -22,7 +22,7 @@ public final class Ft546LegacySrgvAdapter
     private final Ft546DeviceRuntimeRegistry registry;
     private final Ft546DeviceProfile profile;
     private final CapabilityGateResult capabilities;
-    private final UnknownCommandGuard unknownCommandGuard;
+    private final MotionCommandGuard motionCommandGuard;
     private final SnapshotContextProvider snapshotContextProvider;
     private final Ft546SrgvCommandEncoder encoder =
             new Ft546SrgvCommandEncoder();
@@ -36,7 +36,7 @@ public final class Ft546LegacySrgvAdapter
                                   Ft546DeviceProfile profile,
                                   Ft546CapabilityEvidence evidence,
                                   Ft546CapabilityGate capabilityGate,
-                                  UnknownCommandGuard unknownCommandGuard,
+                                  MotionCommandGuard motionCommandGuard,
                                   SnapshotContextProvider contextProvider) {
         this.registry = Objects.requireNonNull(registry, "registry");
         this.profile = copyProfile(Objects.requireNonNull(profile,
@@ -46,12 +46,13 @@ public final class Ft546LegacySrgvAdapter
         if (!capabilities.isPublishable()) {
             throw new IllegalStateException(capabilities.getReasonCode());
         }
-        if (!capabilities.isEnabled("POINT_TO_POINT_COMMAND")) {
+        if (!capabilities.isEnabled("POINT_TO_POINT_COMMAND")
+                && !capabilities.isEnabled("TWO_STAGE_ATOMIC_TASK")) {
             throw new IllegalStateException(
-                    "POINT_TO_POINT_COMMAND is required");
+                    "a legacy shuttle movement capability is required");
         }
-        this.unknownCommandGuard = Objects.requireNonNull(
+        this.motionCommandGuard = Objects.requireNonNull(
-                unknownCommandGuard, "unknownCommandGuard");
+                motionCommandGuard, "motionCommandGuard");
         this.snapshotContextProvider = Objects.requireNonNull(contextProvider,
                 "contextProvider");
     }
@@ -65,10 +66,11 @@ public final class Ft546LegacySrgvAdapter
                     "profile belongs to another device");
         }
         if (locallyUnknownDevices.contains(envelope.getDeviceId())
-                || unknownCommandGuard.hasActiveUnknownCommand(
+                || motionCommandGuard.hasBlockingMotionCommand(
-                envelope.getDeviceId())) {
+                envelope.getDeviceId(), envelope.getCommandId())) {
             return SendReceipt.rejected(receiptId,
-                    "device has an active UNKNOWN command");
+                    "device has another active motion command or an "
+                            + "unresolved UNKNOWN command");
         }
 
         final Ft546SrgvCommandEncoder.EncodedCommand command;
@@ -147,8 +149,8 @@ public final class Ft546LegacySrgvAdapter
     }
 
     @FunctionalInterface
-    public interface UnknownCommandGuard {
+    public interface MotionCommandGuard {
-        boolean hasActiveUnknownCommand(String deviceId);
+        boolean hasBlockingMotionCommand(String deviceId, String commandId);
     }
 
     @FunctionalInterface

ruoyi-admin/src/main/java/com/ruoyi/project/ft546/device/shuttle/Ft546SrgvCommandEncoder.java

@@ -20,10 +20,6 @@ final class Ft546SrgvCommandEncoder {
             throw new IllegalArgumentException(
                     "legacy shuttle supports MOVE_ROUTE only");
         }
-        if (!capabilities.isEnabled("POINT_TO_POINT_COMMAND")) {
-            throw new IllegalStateException(
-                    "POINT_TO_POINT_COMMAND is not enabled");
-        }
         Map<String, String> values = parse(envelope.getPayload());
         int taskNo = positiveInt(required(values, "taskNo"), "taskNo");
         short taskType = shortValue(required(values, "taskType"),
@@ -31,6 +27,10 @@ final class Ft546SrgvCommandEncoder {
         int[] route = route(required(values, "route"));
         String stageValue = values.get("stage");
         if (stageValue == null) {
+            if (!capabilities.isEnabled("POINT_TO_POINT_COMMAND")) {
+                throw new IllegalStateException(
+                        "POINT_TO_POINT_COMMAND is not enabled");
+            }
             return main(profile, values, taskNo, taskType, route);
         }
         if (!capabilities.isEnabled("TWO_STAGE_ATOMIC_TASK")) {

ruoyi-admin/src/test/java/com/ruoyi/project/ft546/device/shuttle/Ft546LegacySrgvAdapterTest.java

@@ -37,7 +37,7 @@ class Ft546LegacySrgvAdapterTest {
         JsonNode fixture = fixture("srgv-point-to-point.json");
         FakePlcSrgvRead runtime = connectedRuntime("1");
         Ft546LegacySrgvAdapter adapter = adapter(runtime, pointProfile(),
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
 
         SendReceipt receipt = adapter.send(envelope("CMD-1",
                 fixture.get("payload").asText()));
@@ -54,7 +54,7 @@ class Ft546LegacySrgvAdapterTest {
         FakePlcSrgvRead runtime = connectedRuntime("1");
         runtime.throwAfterAddress = "4000";
         Ft546LegacySrgvAdapter adapter = adapter(runtime, pointProfile(),
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
 
         SendReceipt first = adapter.send(envelope("CMD-1",
                 fixture.get("payload").asText()));
@@ -72,7 +72,7 @@ class Ft546LegacySrgvAdapterTest {
     void disconnectedRuntimeIsNotSentWithoutAnyPlcWrite() {
         FakePlcSrgvRead runtime = runtime("1");
         Ft546LegacySrgvAdapter adapter = adapter(runtime, pointProfile(),
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
 
         SendReceipt receipt = adapter.send(envelope("CMD-1",
                 "taskNo=30001|taskType=1|route=070501>070502"));
@@ -86,7 +86,7 @@ class Ft546LegacySrgvAdapterTest {
         FakePlcSrgvRead runtime = connectedRuntime("1");
         runtime.returnFalseAfterAddress = "4004";
         Ft546LegacySrgvAdapter adapter = adapter(runtime, pointProfile(),
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
 
         SendReceipt receipt = adapter.send(envelope("CMD-1",
                 "taskNo=30001|taskType=1|route=070501>070502"));
@@ -104,7 +104,7 @@ class Ft546LegacySrgvAdapterTest {
         profile.getRegisters().put("crossFloorFlag", "4020");
         profile.getRegisters().put("crossFloorTarget", "4022");
         Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
 
         SendReceipt receipt = adapter.send(envelope("CMD-XF",
                 fixture.get("crossFloorPayload").asText()));
@@ -119,7 +119,7 @@ class Ft546LegacySrgvAdapterTest {
         FakePlcSrgvRead runtime = connectedRuntime("1");
         Ft546DeviceProfile profile = pointProfile();
         Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
-                null, deviceId -> false);
+                null, (deviceId, commandId) -> false);
         profile.getRegisters().put("path", "9999");
 
         SendReceipt receipt = adapter.send(envelope("CMD-1",
@@ -130,15 +130,21 @@ class Ft546LegacySrgvAdapterTest {
     }
 
     @Test
-    void coreReportedUnknownCommandRejectsAParallelMove() {
+    void coreReportedActiveCommandRejectsAParallelMove() {
         FakePlcSrgvRead runtime = connectedRuntime("1");
+        List<String> checkedCommands = new ArrayList<String>();
         Ft546LegacySrgvAdapter adapter = adapter(runtime, pointProfile(),
-                null, deviceId -> true);
+                null, (deviceId, commandId) -> {
+                    checkedCommands.add(deviceId + ":" + commandId);
+                    return true;
+                });
 
         SendReceipt receipt = adapter.send(envelope("CMD-1",
                 "taskNo=30001|taskType=1|route=070501>070502"));
 
         assertEquals(SendReceipt.Status.REJECTED, receipt.getStatus());
+        assertEquals(Collections.singletonList("1:CMD-1"),
+                checkedCommands);
         assertTrue(runtime.writes.isEmpty());
     }
 
@@ -147,7 +153,8 @@ class Ft546LegacySrgvAdapterTest {
         FakePlcSrgvRead runtime = connectedRuntime("1");
 
         assertThrows(IllegalStateException.class, () -> adapter(runtime,
-                twoStageProfile(), null, deviceId -> false));
+                twoStageProfile(), null,
+                (deviceId, commandId) -> false));
         assertTrue(runtime.writes.isEmpty());
     }
 
@@ -160,13 +167,13 @@ class Ft546LegacySrgvAdapterTest {
 
         FakePlcSrgvRead stageOneRuntime = connectedRuntime("1");
         Ft546LegacySrgvAdapter stageOneAdapter = adapter(stageOneRuntime,
-                profile, evidence, deviceId -> false);
+                profile, evidence, (deviceId, commandId) -> false);
         SendReceipt stageOne = stageOneAdapter.send(envelope("CMD-STAGE-1",
                 fixture.get("stageOnePayload").asText()));
 
         FakePlcSrgvRead stageTwoRuntime = connectedRuntime("1");
         Ft546LegacySrgvAdapter stageTwoAdapter = adapter(stageTwoRuntime,
-                profile, evidence, deviceId -> false);
+                profile, evidence, (deviceId, commandId) -> false);
         SendReceipt stageTwo = stageTwoAdapter.send(envelope("CMD-STAGE-2",
                 fixture.get("stageTwoPayload").asText()));
 
@@ -176,6 +183,24 @@ class Ft546LegacySrgvAdapterTest {
         assertWrites(fixture.get("stageTwoWrites"), stageTwoRuntime.writes);
     }
 
+    @Test
+    void evidenceGatedTwoStageProfileDoesNotRequirePointToPointCapability()
+            throws Exception {
+        JsonNode fixture = fixture("srgv-two-stage-gate.json");
+        Ft546DeviceProfile profile = twoStageProfile();
+        profile.getCapabilities().remove("POINT_TO_POINT_COMMAND");
+        FakePlcSrgvRead runtime = connectedRuntime("1");
+        Ft546LegacySrgvAdapter adapter = adapter(runtime, profile,
+                passingEvidence(profile),
+                (deviceId, commandId) -> false);
+
+        SendReceipt receipt = adapter.send(envelope("CMD-STAGE-ONLY",
+                fixture.get("stageOnePayload").asText()));
+
+        assertEquals(SendReceipt.Status.ACCEPTED, receipt.getStatus());
+        assertWrites(fixture.get("stageOneWrites"), runtime.writes);
+    }
+
     @Test
     void mapsLegacyFactsWithoutFabricatingDeviceSequenceOrBootSession() {
         FakePlcSrgvRead runtime = connectedRuntime("1");
@@ -216,12 +241,12 @@ class Ft546LegacySrgvAdapterTest {
     private static Ft546LegacySrgvAdapter adapter(
             FakePlcSrgvRead runtime, Ft546DeviceProfile profile,
             Ft546CapabilityEvidence evidence,
-            Ft546LegacySrgvAdapter.UnknownCommandGuard unknownGuard) {
+            Ft546LegacySrgvAdapter.MotionCommandGuard motionGuard) {
         Ft546DeviceRuntimeRegistry registry =
                 new Ft546DeviceRuntimeRegistry();
         registry.register("1", runtime);
         return new Ft546LegacySrgvAdapter(registry, profile, evidence,
-                new Ft546CapabilityGate(() -> NOW), unknownGuard,
+                new Ft546CapabilityGate(() -> NOW), motionGuard,
                 deviceId -> new Ft546SrgvSnapshotMapper.Context(
                         "SNAP-" + deviceId, "KEY-" + deviceId,
                         9L, 17L, NOW));