fix(bf-u7ds): forward simulator registry positions to fusion engine
The simulator→fleet-registry path landed node positions in SQLite but never reached the blob-producing 3D fusion engine at runtime — SyncToRegistry wrote through fleetRegistryAdapter, which had no forwarding hook, so the engine's nodePos mirror stayed stale and Fuse localized against wrong/missing geometry (seeded correctly only at startup). Add a forwardPos callback to fleetRegistryAdapter (AddVirtualNode / SetNodePosition) and wire it to fleetMgr.ForwardNodePosition in main, which already routes through the nodePositionSink → fusion.Engine.SetNodePosition. This converges all three registry-write paths (PATCH /position, OnNodeConnected, simulator sync) on the single ForwardNodePosition accessor. Lock-in: TestSimulatorHandlerToRegistry_PositionsReachFusionEngine recreates the full chain behind the SimulatorHandler (real Registry + Manager sink → fusion.Engine) and asserts the engine mirror updates on both AddNode and UpdateNode — mirroring the two bf-3p6g lock-ins for the simulator path. Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
jedarden
parent
fd7918f7fc
commit
dbb5cd0cc4
2 changed files with 141 additions and 7 deletions
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@ -358,16 +358,40 @@ func (a *fleetRoomConfigAdapter) GetRoom() (width, height, depth float64) {
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// lets the simulator API drive an immediate SyncToRegistry into the live fleet
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// registry (bf-5lii), and unblocks the periodic sync that previously passed
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// *fleet.Registry to a method expecting the simulator interface (bf-4pqj).
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//
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// bf-u7ds: AddVirtualNode/SetNodePosition also forward the new position through
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// forwardPos — wired to fleet.Manager.ForwardNodePosition in main — so a
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// simulator-driven registry write reaches the blob-producing 3D fusion engine
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// (internal/fusion.Engine) at runtime, not only at startup seeding. Without
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// this, SyncToRegistry lands the position in the DB but the engine's nodePos
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// mirror stays stale and Fuse localizes against the wrong geometry. This mirrors
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// the write the REST handler does after registry.SetNodePosition
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// (Handler.updateNodePosition → ForwardNodePosition) and the connect/register
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// write (Manager.OnNodeConnected → ForwardNodePosition), converging all three
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// registry-write paths on the single ForwardNodePosition accessor.
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type fleetRegistryAdapter struct {
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reg *fleet.Registry
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reg *fleet.Registry
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forwardPos func(mac string, x, y, z float64)
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}
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func (a *fleetRegistryAdapter) AddVirtualNode(mac, name string, x, y, z float64) error {
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return a.reg.AddVirtualNode(mac, name, x, y, z)
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if err := a.reg.AddVirtualNode(mac, name, x, y, z); err != nil {
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return err
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}
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if a.forwardPos != nil {
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a.forwardPos(mac, x, y, z)
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}
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return nil
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}
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func (a *fleetRegistryAdapter) SetNodePosition(mac string, x, y, z float64) error {
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return a.reg.SetNodePosition(mac, x, y, z)
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if err := a.reg.SetNodePosition(mac, x, y, z); err != nil {
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return err
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}
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if a.forwardPos != nil {
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a.forwardPos(mac, x, y, z)
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}
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return nil
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}
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func (a *fleetRegistryAdapter) SetNodeRole(mac, role string) error {
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@ -4276,8 +4300,14 @@ func main() {
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// (converting fleet.NodeRecord <-> simulator.NodeRecord). Shared by the
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// periodic sync below and by the immediate syncs the simulator API triggers
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// on node create/update, so both paths write through the same registry.
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// bf-u7ds: forwardPos routes each position write to the fusion engine via
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// the manager sink, so simulator-created/updated nodes reach the
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// accumulation grid without waiting for the next startup seeding.
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if fleetReg != nil {
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registryAdapter = &fleetRegistryAdapter{reg: fleetReg}
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registryAdapter = &fleetRegistryAdapter{
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reg: fleetReg,
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forwardPos: fleetMgr.ForwardNodePosition,
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}
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}
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// Start periodic sync from virtual node store to fleet registry (every 30 seconds).
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@ -14,6 +14,7 @@ import (
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"github.com/go-chi/chi/v5"
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"github.com/spaxel/mothership/internal/fleet"
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"github.com/spaxel/mothership/internal/fusion"
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"github.com/spaxel/mothership/internal/simulator"
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)
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@ -324,16 +325,35 @@ func TestImmediateSyncOnAddAndUpdate(t *testing.T) {
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// registry is what makes the tests below genuinely end-to-end: a position
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// written by the bridge is round-tripped through SQLite, not merely recorded by
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// a fake. (bf-69ym)
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//
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// bf-u7ds: AddVirtualNode/SetNodePosition also forward the new position through
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// forwardPos (mirroring the production adapter) so a simulator-driven registry
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// write reaches the blob-producing fusion engine at runtime, not only at
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// startup seeding. Tests set forwardPos to fleet.Manager.ForwardNodePosition,
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// exactly as cmd/mothership/main.go does.
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type fleetRegistryTestAdapter struct {
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reg *fleet.Registry
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reg *fleet.Registry
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forwardPos func(mac string, x, y, z float64)
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}
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func (a *fleetRegistryTestAdapter) AddVirtualNode(mac, name string, x, y, z float64) error {
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return a.reg.AddVirtualNode(mac, name, x, y, z)
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if err := a.reg.AddVirtualNode(mac, name, x, y, z); err != nil {
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return err
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}
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if a.forwardPos != nil {
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a.forwardPos(mac, x, y, z)
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}
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return nil
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}
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func (a *fleetRegistryTestAdapter) SetNodePosition(mac string, x, y, z float64) error {
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return a.reg.SetNodePosition(mac, x, y, z)
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if err := a.reg.SetNodePosition(mac, x, y, z); err != nil {
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return err
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}
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if a.forwardPos != nil {
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a.forwardPos(mac, x, y, z)
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}
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return nil
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}
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func (a *fleetRegistryTestAdapter) SetNodeRole(mac, role string) error {
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@ -487,6 +507,90 @@ func TestSimulatorHandlerToRegistry_CreateAndUpdate(t *testing.T) {
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}
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}
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// singleEnginePosition returns the fusion engine's single registered node
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// position, failing the test unless exactly one node is positioned. Used to
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// assert what the accumulation grid will localize against.
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func singleEnginePosition(t *testing.T, engine *fusion.Engine) simulator.Point {
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t.Helper()
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positions := engine.NodePositions()
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if len(positions) != 1 {
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t.Fatalf("expected exactly 1 fusion engine node position, got %d: %+v", len(positions), positions)
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}
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p := positions[0]
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return simulator.Point{X: p.X, Y: p.Y, Z: p.Z}
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}
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// TestSimulatorHandlerToRegistry_PositionsReachFusionEngine (bf-u7ds) is the
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// end-to-end lock-in for the third registry-write path: a simulator-driven node
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// create/update must reach the blob-producing 3D fusion engine, not just the
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// fleet DB. The production wiring (cmd/mothership/main.go) builds the adapter
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// with forwardPos = fleetMgr.ForwardNodePosition, and the manager's
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// nodePositionSink is wired to fusion.Engine.SetNodePosition; this test
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// recreates that exact chain behind the SimulatorHandler and asserts the
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// engine's nodePos mirror updates on both AddNode and UpdateNode.
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//
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// Without the forwardPos hook, SyncToRegistry lands the position in SQLite but
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// the engine mirror stays stale and Fuse localizes against wrong/missing
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// geometry — the regression this bead guards against. Mirrors the two bf-3p6g
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// lock-ins (PATCH /position and OnNodeConnected) for the simulator path.
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func TestSimulatorHandlerToRegistry_PositionsReachFusionEngine(t *testing.T) {
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reg := newFleetRegistry(t)
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mgr := fleet.NewManager(reg)
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engine := fusion.NewEngine(nil)
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mgr.SetNodePositionSink(func(mac string, x, y, z float64) {
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engine.SetNodePosition(mac, x, y, z)
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})
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adapter := &fleetRegistryTestAdapter{
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reg: reg,
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forwardPos: mgr.ForwardNodePosition,
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}
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h := newWiredHandler(t, adapter)
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space := simulator.DefaultSpace()
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// Sanity: before any node is added the engine holds nothing to localize on.
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if engine.NodeCount() != 0 {
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t.Fatalf("engine should hold no positions before AddNode, got %d", engine.NodeCount())
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}
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// AddNode with no position: the bridge assigns spread geometry and the
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// immediate sync must push it through to the engine's nodePos mirror.
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postNode(t, h, map[string]interface{}{
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"id": "node-A",
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"name": "Node A",
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})
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wantSpread := simulator.DefaultNodePositions(space, 1)
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if len(wantSpread) != 1 {
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t.Fatalf("DefaultNodePositions(1) returned %d slots, want 1", len(wantSpread))
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}
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got := singleEnginePosition(t, engine)
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if got != wantSpread[0] {
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t.Fatalf("AddNode: fusion engine position %v != spread %v", got, wantSpread[0])
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}
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if got.X == 0 && got.Y == 0 && got.Z == 0 {
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t.Fatalf("AddNode: fusion engine landed at (0,0,0) — engine mirror not seeded")
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}
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// UpdateNode with a new explicit position: the engine mirror must move with it.
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newPos := simulator.Point{X: 2.5, Y: 3.0, Z: 1.5}
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putNode(t, h, "node-A", map[string]interface{}{
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"id": "node-A",
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"name": "Node A",
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"position": map[string]interface{}{
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"x": newPos.X, "y": newPos.Y, "z": newPos.Z,
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},
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})
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got = singleEnginePosition(t, engine)
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if got != newPos {
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t.Fatalf("UpdateNode: fusion engine position %v != new position %v", got, newPos)
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}
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// Still a single positioned node — an update must not orphan the old entry.
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if engine.NodeCount() != 1 {
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t.Errorf("UpdateNode: expected 1 fusion engine node, got %d", engine.NodeCount())
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}
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}
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// TestSimulatorHandlerToRegistry_OriginNodesGetSpreadGeometry is the
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// end-to-end analogue of the bridge-level
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// TestSyncToRegistry_OriginNodesGetSpreadGeometry, but driven through the REST
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