finished actions => handlers refacto, small bux fix in maestro => Test maestro1 OK

GPS/gpsServer.js

@@ -8,7 +8,7 @@ import {
     positionAt,
     needsPrismRefresh,
     advanceAgentSegment,
-} from './actions/arena/worldline.js'
+} from './handlers/arena/worldline.js'
 
 export class gpsServer {
 

GPS/p42Gps.js

@@ -6,8 +6,8 @@ import {RedisConnexion} from '../redisConnexion.js'
 import { busReplyRoute } from '../bus/publishActionReply.js'
 import {configHelper} from '../configHelper.js'
 import {gpsServer} from './gpsServer.js'
-import * as systemMesh from './actions/system/index.js'
-import * as arenaMesh from './actions/arena/index.js'
+import * as systemMesh from './handlers/system/index.js'
+import * as arenaMesh from './handlers/arena/index.js'
 
 const meshModules = {
     system: systemMesh,

GPS/startGps.sh

@@ -1,5 +1,11 @@
 #!/bin/sh
 
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck source=../lib/resolveConfigPath.sh
+. "$SCRIPT_DIR/../lib/resolveConfigPath.sh"
+
+CONFIG="$(resolveConfigPath "$SCRIPT_DIR" "${1:-${CONFIG:-../config.json}}")"
+
 set -a
 . /etc/p42/secrets.env
 set +a
@@ -7,12 +13,16 @@ set +a
 daemon=p42Gps
 logfile=gps.log
 
+if [ ! -f "$CONFIG" ]; then
+    echo "Config file not found: $CONFIG" >&2
+    exit 1
+fi
 
 pid=$(pgrep -f "$daemon")
 
 if [ -z "$pid" ]
 then
-    node "${daemon}.js" --debug > "$logfile" 2>&1 &
+    node "${daemon}.js" --config "$CONFIG" --debug > "$logfile" 2>&1 &
     pid=$!
 
     sleep 1
@@ -20,16 +30,16 @@ then
     if kill -0 "$pid" 2>/dev/null
     then
         echo ""
-        echo "$daemon is now running with PID=$pid"
+        echo "$daemon is now running with PID=$pid (config=$CONFIG)"
         echo ""
     else
         echo ""
         echo "Failed to start $daemon. Check gps.log"
         echo ""
+        exit 1
     fi
 else
     echo ""
     echo "$daemon is already running with PID=$pid"
     echo ""
 fi
-

Maestro/maestroServer.js

@@ -78,9 +78,9 @@ export class maestroServer {
 
     refreshPrepareQuorum() {
         if(!this.arenaCnx) return
-        const { prepareAckChannel, readyTimeoutMs } = this.getMaestroSettings()
+        const { lifecycle, readyTimeoutMs } = this.getMaestroSettings()
         this.prepareQuorum = new PrepareQuorum({
-            ackChannel: prepareAckChannel,
+            ackChannel: lifecycle.prepareAckChannel,
             timeoutMs: readyTimeoutMs,
             matchesChan: this.arenaCnx.matchesChan.bind(this.arenaCnx),
             debug: this.debug,

Maestro/p42Maestro.js

@@ -6,8 +6,8 @@ import { RedisConnexion } from '../redisConnexion.js'
 import { busReplyRoute } from '../bus/publishActionReply.js'
 import { configHelper } from '../configHelper.js'
 import { maestroServer } from './maestroServer.js'
-import * as systemMesh from './actions/system/index.js'
-import * as arenaMesh from './actions/arena/index.js'
+import * as systemMesh from './handlers/system/index.js'
+import * as arenaMesh from './handlers/arena/index.js'
 
 const meshModules = {
     system: systemMesh,

Maestro/startMaestro.sh

@@ -1,5 +1,11 @@
 #!/bin/sh
 
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck source=../lib/resolveConfigPath.sh
+. "$SCRIPT_DIR/../lib/resolveConfigPath.sh"
+
+CONFIG="$(resolveConfigPath "$SCRIPT_DIR" "${1:-${CONFIG:-../config.json}}")"
+
 set -a
 . /etc/p42/secrets.env
 set +a
@@ -7,11 +13,16 @@ set +a
 daemon=p42Maestro
 logfile=maestro.log
 
+if [ ! -f "$CONFIG" ]; then
+    echo "Config file not found: $CONFIG" >&2
+    exit 1
+fi
+
 pid=$(pgrep -f "$daemon")
 
 if [ -z "$pid" ]
 then
-    node "${daemon}.js" --debug > "$logfile" 2>&1 &
+    node "${daemon}.js" --config "$CONFIG" --debug > "$logfile" 2>&1 &
     pid=$!
 
     sleep 1
@@ -19,12 +30,13 @@ then
     if kill -0 "$pid" 2>/dev/null
     then
         echo ""
-        echo "$daemon is now running with PID=$pid"
+        echo "$daemon is now running with PID=$pid (config=$CONFIG)"
         echo ""
     else
         echo ""
         echo "Failed to start $daemon. Check maestro.log"
         echo ""
+        exit 1
     fi
 else
     echo ""

Observer/gpsStorageReader.js

@@ -1,4 +1,4 @@
-import { positionAt } from '../GPS/actions/arena/worldline.js'
+import { positionAt } from '../GPS/handlers/arena/worldline.js'
 
 export class GpsStorageReader {
 

Observer/p42Observer.js

@@ -6,8 +6,8 @@ import { RedisConnexion } from '../redisConnexion.js'
 import { busReplyRoute } from '../bus/publishActionReply.js'
 import { configHelper } from '../configHelper.js'
 import { observerServer } from './observerServer.js'
-import * as systemMesh from './actions/system/index.js'
-import * as arenaMesh from './actions/arena/index.js'
+import * as systemMesh from './handlers/system/index.js'
+import * as arenaMesh from './handlers/arena/index.js'
 
 const meshModules = {
     system: systemMesh,

Observer/requestorRegistry.js

@@ -1,4 +1,4 @@
-import { positionAt } from '../GPS/actions/arena/worldline.js'
+import { positionAt } from '../GPS/handlers/arena/worldline.js'
 import { Frustum } from './frustum.js'
 
 export class RequestorRegistry {

Observer/startObserver.sh

@@ -1,5 +1,11 @@
 #!/bin/sh
 
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+# shellcheck source=../lib/resolveConfigPath.sh
+. "$SCRIPT_DIR/../lib/resolveConfigPath.sh"
+
+CONFIG="$(resolveConfigPath "$SCRIPT_DIR" "${1:-${CONFIG:-../config.json}}")"
+
 set -a
 . /etc/p42/secrets.env
 set +a
@@ -7,11 +13,16 @@ set +a
 daemon=p42Observer
 logfile=observer.log
 
+if [ ! -f "$CONFIG" ]; then
+    echo "Config file not found: $CONFIG" >&2
+    exit 1
+fi
+
 pid=$(pgrep -f "$daemon")
 
 if [ -z "$pid" ]
 then
-    node "${daemon}.js" --debug > "$logfile" 2>&1 &
+    node "${daemon}.js" --config "$CONFIG" --debug > "$logfile" 2>&1 &
     pid=$!
 
     sleep 1
@@ -19,12 +30,13 @@ then
     if kill -0 "$pid" 2>/dev/null
     then
         echo ""
-        echo "$daemon is now running with PID=$pid"
+        echo "$daemon is now running with PID=$pid (config=$CONFIG)"
         echo ""
     else
         echo ""
         echo "Failed to start $daemon. Check observer.log"
         echo ""
+        exit 1
     fi
 else
     echo ""

config_test.json

@@ -0,0 +1,110 @@
+{
+    "accessRights": [
+        {
+            "canDo": [
+                "RELOADCONFIG",
+                "GETCONFIG"
+            ],
+            "roles": [
+                "admin"
+            ]
+        },
+        {
+            "canDo": [
+                "GETAGENTPOSITION",
+                "GETAGENTSINFRUSTUM",
+                "SUBSCRIBEFRUSTUM"
+            ],
+            "roles": "*"
+        },
+        {
+            "canDo": [
+                "STARTSIMULATION",
+                "STOPSIMULATION"
+            ],
+            "roles": "*"
+        }
+    ],
+    "gps": {
+        "primordialDaemon": true,
+        "gpsActionsChannel": "system:requests:gps",
+        "gpsActionsReply": "system:replies:[UID]",
+        "GPSstorage": {
+            "agentHashKey": "system:gps:agent:[UID]",
+            "agentsIndexKey": "system:gps:agents",
+            "positionsStream": "system:gps:positions",
+            "streamMaxLen": 100000
+        },
+        "agentVectorChangeChannel": "arena:agents:*",
+        "collisionsChannel": "arena:agents:[UID]",
+        "lifecycle": {
+            "arenaChannel": "arena:lifecycle",
+            "godsReadyChannel": "arena:gods:ready"
+        },
+        "arenaStorage": {
+            "agentHashKey": "arena:agents:[UID]",
+            "agentsIndexKey": "arena:agents"
+        },
+        "senderId": "gps",
+        "nearMissDistance": 1,
+        "prismTimeHeight": 60,
+        "collisionTickMs": 100,
+        "prismRefreshLeadSeconds": 1
+    },
+    "maestro": {
+        "maestroActionsChannel": "system:requests:maestro",
+        "maestroActionsReply": "system:replies:[UID]",
+        "senderId": "maestro",
+        "lifecycle": {
+            "arenaChannel": "arena:lifecycle",
+            "godsReadyChannel": "arena:gods:ready"
+        },
+        "readyTimeoutMs": 30000
+    },
+    "mysql": {
+        "socketPath": "/var/run/mysqld/mysqld.sock",
+        "guiDatabase": "test_p42GUI",
+        "simDatabase": "test_p42SIM"
+    },
+    "observer": {
+        "primordialDaemon": false,
+        "observerActionsChannel": "system:requests:observer",
+        "observerActionsReply": "system:replies:[UID]",
+        "senderId": "observer",
+        "scanIntervalMs": 300,
+        "lifecycle": {
+            "arenaChannel": "arena:lifecycle",
+            "godsReadyChannel": "arena:gods:ready"
+        }
+    },
+    "systemMesh": {
+        "redis": [
+            {
+                "redisId": "SYS_1",
+                "role": "primary",
+                "host": "127.0.0.1",
+                "tls": false,
+                "port": 6380,
+                "user": "",
+                "pass": "",
+                "chansNamespace": "system:",
+                "basePrefix": "messageBus:"
+            }
+        ]
+    },
+    "arenaMesh": {
+        "redis": [
+            {
+                "redisId": "ARN_1",
+                "role": "primary",
+                "host": "127.0.0.1",
+                "tls": false,
+                "port": 6379,
+                "user": "",
+                "pass": "",
+                "chansNamespace": "arena:",
+                "basePrefix": "messageBus:"
+            }
+        ]
+    }
+}

lib/resolveConfigPath.sh

@@ -0,0 +1,22 @@
+#!/bin/sh
+# resolveConfigPath BASE PATH
+# Turn PATH into an absolute path; relative segments are resolved from BASE.
+resolveConfigPath() {
+    _base=$1
+    _path=$2
+
+    case "$_path" in
+        /*)
+            printf '%s\n' "$_path"
+            ;;
+        *)
+            _dir=$(dirname "$_path")
+            _name=$(basename "$_path")
+            if [ "$_dir" = . ]; then
+                printf '%s\n' "$_base/$_name"
+            else
+                printf '%s\n' "$(cd "$_base/$_dir" && pwd)/$_name"
+            fi
+            ;;
+    esac
+}

startAllGods.sh

@@ -0,0 +1,75 @@
+#!/bin/bash
+
+GOD_FOLDERS="Maestro GPS Observer"
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck source=lib/resolveConfigPath.sh
+. "$ROOT/lib/resolveConfigPath.sh"
+
+CONFIG="config.json"
+
+usage() {
+    echo "Usage: $(basename "$0") [-c|--config PATH]" >&2
+    echo "  PATH is relative to $ROOT unless absolute." >&2
+}
+
+while [ $# -gt 0 ]; do
+    case "$1" in
+        -c|--config)
+            if [ -z "${2:-}" ]; then
+                echo "Missing value for $1" >&2
+                usage
+                exit 1
+            fi
+            CONFIG="$2"
+            shift 2
+            ;;
+        -h|--help)
+            usage
+            exit 0
+            ;;
+        *)
+            CONFIG="$1"
+            shift
+            ;;
+    esac
+done
+
+CONFIG="$(resolveConfigPath "$ROOT" "$CONFIG")"
+
+if [ ! -f "$CONFIG" ]; then
+    echo "Config file not found: $CONFIG" >&2
+    exit 1
+fi
+
+failed=0
+
+for folder in $GOD_FOLDERS; do
+    dir="$ROOT/$folder"
+    if [ ! -d "$dir" ]; then
+        echo "Missing daemon folder: $dir" >&2
+        failed=1
+        continue
+    fi
+
+    shopt -s nullglob
+    scripts=("$dir"/start*.sh)
+    shopt -u nullglob
+
+    if [ ${#scripts[@]} -eq 0 ]; then
+        echo "No start script in $dir" >&2
+        failed=1
+        continue
+    fi
+    if [ ${#scripts[@]} -gt 1 ]; then
+        echo "Multiple start scripts in $dir, using ${scripts[0]}" >&2
+    fi
+
+    echo "=== Starting $folder (config=$CONFIG) ==="
+    (cd "$dir" && bash "${scripts[0]}" "$CONFIG") || {
+        echo "Failed to start $folder" >&2
+        failed=1
+    }
+done
+
+exit $failed

stopAllGods.sh

@@ -0,0 +1,38 @@
+#!/bin/bash
+
+GOD_FOLDERS="Maestro GPS Observer"
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+failed=0
+
+read -ra folders <<< "$GOD_FOLDERS"
+for((i=${#folders[@]}-1; i>=0; i--)); do
+    folder="${folders[i]}"
+    dir="$ROOT/$folder"
+    if [ ! -d "$dir" ]; then
+        echo "Missing daemon folder: $dir" >&2
+        failed=1
+        continue
+    fi
+
+    shopt -s nullglob
+    scripts=("$dir"/stop*.sh)
+    shopt -u nullglob
+
+    if [ ${#scripts[@]} -eq 0 ]; then
+        echo "No stop script in $dir" >&2
+        failed=1
+        continue
+    fi
+    if [ ${#scripts[@]} -gt 1 ]; then
+        echo "Multiple stop scripts in $dir, using ${scripts[0]}" >&2
+    fi
+
+    echo "=== Stopping $folder ==="
+    (cd "$dir" && bash "${scripts[0]}") || {
+        echo "Failed to stop $folder" >&2
+        failed=1
+    }
+done
+
+exit $failed

tests/commands.txt

@@ -1,4 +1,11 @@
-clear; node test.js --guiDatabase test_p42GUI --simDatabase test_p42SIM maestro1 --userUuid a4f33373-6adf-4d2d-9a6d-7fa0abf8b01f --simulationUuid 0x019ec742e12175c685a97bf9300b6b49
-
-
+# Test DBs: point all gods at the same config (or edit config.json mysql section).
+# Example:
+#   ./startAllGods.sh --config /opt/p42GodDaemons/config.json
+#   ./Maestro/startMaestro.sh /opt/p42GodDaemons/config.json
 
+clear; node test.js maestro1 \
+  --config ../config.json \
+  --guiDatabase test_p42GUI --simDatabase test_p42SIM \
+  --fakeAgentsReady --fakeGpsReady \
+  --userUuid a4f33373-6adf-4d2d-9a6d-7fa0abf8b01f \
+  --simulationUuid 0x019ec742e12175c685a97bf9300b6b49

tests/modules/maestro1.js

@@ -64,6 +64,54 @@ async function findSimulationFixture(ctx) {
     })
 }
 
+function godsReadyChannel(config) {
+    return(config.maestro?.lifecycle?.godsReadyChannel
+        ?? config.gps?.lifecycle?.godsReadyChannel
+        ?? 'arena:gods:ready')
+}
+
+async function publishFakeReadyToStart(ctx, { sender, simulationId, agentIds }) {
+    const { arenaCnx } = ctx
+    const payload = {
+        success: true,
+        simulationId,
+        err: null,
+    }
+    if(agentIds) payload.agentIds = agentIds
+
+    await arenaCnx.redisPublish(godsReadyChannel(ctx.config), {
+        eventType: 'readyToStart',
+        sender,
+        payload,
+    })
+}
+
+async function publishFakeReadies(ctx, simulationId, agentIds) {
+    const { argv, config, log } = ctx
+
+    if(argv.fakeGpsReady) {
+        const senderId = config.gps?.senderId ?? 'gps'
+        log('action', `Faking GPS readyToStart (sender=${senderId})...`)
+        await publishFakeReadyToStart(ctx, {
+            sender: senderId,
+            simulationId,
+            agentIds,
+        })
+        log('success', 'Published fake GPS readyToStart')
+    }
+
+    if(argv.fakeAgentsReady) {
+        log('action', `Faking readyToStart for ${agentIds.length} agent(s)...`)
+        for(const agentId of agentIds) {
+            await publishFakeReadyToStart(ctx, {
+                sender: agentId,
+                simulationId,
+            })
+        }
+        log('success', `Published fake readyToStart for ${agentIds.length} agent(s)`)
+    }
+}
+
 function waitForLifecycleEvent(ctx, eventType, timeoutMs) {
     return(new Promise((resolve, reject) => {
         const lifecyclePattern = ctx.config.maestro.lifecycle.arenaChannel
@@ -99,6 +147,16 @@ export function configureYargs(yargsBuilder) {
             default: 15000,
             type: 'number',
         },
+        fakeAgentsReady: {
+            describe: 'After onYourMarks, publish fake readyToStart for each seeded agent',
+            type: 'boolean',
+            default: false,
+        },
+        fakeGpsReady: {
+            describe: 'After onYourMarks, publish fake GPS readyToStart',
+            type: 'boolean',
+            default: false,
+        },
     }))
 }
 
@@ -163,24 +221,29 @@ export async function run(ctx) {
 
     log('success', `Received onYourMarks for simulationId=${payload.simulationId}`)
 
-    log('action', 'Reading arena store...')
-    const indexIds = await arenaCnx.redisSmembers(arenaStorage.agentsIndexKey)
-    const expectedIds = [...expectedById.keys()].sort()
-    const actualIds = [...indexIds].sort()
-
-    if(actualIds.length !== expectedIds.length) {
-        throw(new Error(`Agent index count mismatch: expected ${expectedIds.length}, got ${actualIds.length}`))
+    const expectedIds = [...expectedById.keys()]
+    if(argv.fakeAgentsReady || argv.fakeGpsReady) {
+        await publishFakeReadies(ctx, payload.simulationId, expectedIds)
     }
 
-    for(let i = 0; i < expectedIds.length; i++) {
-        if(actualIds[i] !== expectedIds[i]) {
-            throw(new Error(`Agent index mismatch at ${i}: expected ${expectedIds[i]}, got ${actualIds[i]}`))
+    log('action', 'Reading arena store...')
+    const indexIds = await arenaCnx.redisSmembers(arenaStorage.agentsIndexKey)
+    const sortedExpectedIds = [...expectedIds].sort()
+    const actualIds = [...indexIds].sort()
+
+    if(actualIds.length !== sortedExpectedIds.length) {
+        throw(new Error(`Agent index count mismatch: expected ${sortedExpectedIds.length}, got ${actualIds.length}`))
+    }
+
+    for(let i = 0; i < sortedExpectedIds.length; i++) {
+        if(actualIds[i] !== sortedExpectedIds[i]) {
+            throw(new Error(`Agent index mismatch at ${i}: expected ${sortedExpectedIds[i]}, got ${actualIds[i]}`))
         }
     }
 
     log('success', `Arena agents index contains ${actualIds.length} agent(s)`)
 
-    for(const agentId of expectedIds) {
+    for(const agentId of sortedExpectedIds) {
         const key = agentHashKey(arenaStorage.agentHashKey, agentId)
         const hash = await arenaCnx.redisHgetall(key)
         const expected = expectedById.get(agentId)
@@ -218,5 +281,9 @@ export async function run(ctx) {
         log('success', `Agent ${agentId}: position, vector, and store values match MySQL`)
     }
 
+    if(argv.fakeAgentsReady || argv.fakeGpsReady) {
+        log('success', 'Arena store seeded correctly from MySQL; fake prepare acks published')
+    } else {
         log('success', 'Arena store seeded correctly from MySQL (Maestro will wait for agent + primordial daemon readyToStart until timeout)')
     }
+}