Polish v0.40 operational fidelity and delivery

e2e/master-refinement.spec.ts

@@ -263,7 +263,12 @@ test.describe('MillOS master refinement runtime', () => {
       name: 'Select MillOS version',
     });
     await expect(versionSelector).toHaveValue('v0.40');
-    await expect(versionSelector.locator('option')).toHaveText(['0.40', '0.30', '0.20', '0.10']);
+    await expect(versionSelector.locator('option')).toHaveText([
+      '0.40 (current)',
+      '0.30 (historical)',
+      '0.20 (historical)',
+      '0.10 (historical)',
+    ]);
     await expect(
       overviewSidebar.getByRole('alert', { name: 'Mill Overview unavailable' })
     ).toHaveCount(0);

public/release-navigation.js

@@ -18,7 +18,7 @@
     for (const release of matrix.releases) {
       const option = document.createElement('option');
       option.value = release.version;
-      option.textContent = release.label;
+      option.textContent = `${release.label} (${release.type === 'current' ? 'current' : 'historical'})`;
       selector.append(option);
     }
     selector.value = matrix.releases.some((release) => release.version === activeVersion)

scripts/run-performance-benchmark.mjs

@@ -328,6 +328,7 @@ function summarizeMotion(samples) {
         distance: 0,
         phases: [],
         cargoStates: [],
+        stopReasons: [],
         telemetry: {},
         lastPosition: null,
       };
@@ -344,6 +345,9 @@ function summarizeMotion(samples) {
       if (entity.cargo && current.cargoStates.at(-1) !== entity.cargo) {
         current.cargoStates.push(entity.cargo);
       }
+      if (entity.stopReason && current.stopReasons.at(-1) !== entity.stopReason) {
+        current.stopReasons.push(entity.stopReason);
+      }
       for (const key of numericTelemetryKeys) {
         const value = entity[key];
         if (!Number.isFinite(value)) continue;
@@ -401,6 +405,10 @@ function evaluateMotionAcceptance(samples, summary) {
       .every((entity) => Math.abs(entity.articulation ?? 0) <= 0.701)
   );
   const movingEntities = summary.filter((entity) => entity.distance > 0.25);
+  const stationaryEntities = summary.filter((entity) => entity.distance <= 0.25);
+  const stationaryStatesExplained = stationaryEntities.every((entity) =>
+    entity.stopReasons.some((reason) => reason !== 'none')
+  );
   const wheelTravelFollowsMotion = movingEntities.every(
     (entity) => Math.abs(entity.telemetry.wheelTravel?.delta ?? 0) > 0.1
   );
@@ -410,6 +418,14 @@ function evaluateMotionAcceptance(samples, summary) {
     { id: 'bounded-steering', passed: boundedSteering },
     { id: 'bounded-articulation', passed: boundedArticulation },
     { id: 'vehicle-motion-observed', passed: movingEntities.length > 0 },
+    {
+      id: 'stationary-vehicles-have-interlock-reason',
+      passed: stationaryStatesExplained,
+      observed: stationaryEntities.map((entity) => ({
+        id: entity.id,
+        stopReasons: entity.stopReasons,
+      })),
+    },
     { id: 'wheel-travel-follows-motion', passed: wheelTravelFollowsMotion },
   ];
   return { passed: checks.every((check) => check.passed), checks };
@@ -789,7 +805,10 @@ async function main() {
     systemComparisons: {
       scada: scadaComparisons,
     },
-    passed: results.every((result) => result.budget.passed && result.motionAcceptance.passed),
+    passed: results.every(
+      (result) =>
+        result.budget.passed && (options.startupOnly || result.motionAcceptance?.passed === true)
+    ),
     results,
   };
   const reportPath = path.join(options.output, 'benchmark.json');

src/App.tsx

@@ -1,7 +1,6 @@
 import React, { useState, Suspense, useEffect, useCallback, useRef } from 'react';
 import { Canvas } from '@react-three/fiber';
-import { OrbitControls } from '@react-three/drei';
-import { OrbitControls as OrbitControlsImpl } from 'three-stdlib';
+import type { OrbitControls as OrbitControlsImpl } from 'three-stdlib';
 import * as THREE from 'three';
 import { trackRender } from './utils/renderProfiler';
 import './utils/perfMonitor';
@@ -58,6 +57,7 @@ import { installAtmosphericFogChunks } from './shaders/atmosphericFog';
 installAtmosphericFogChunks();
 
 const PhysicsScene = recoverableLazy(() => import('./components/PhysicsScene'));
+const DeferredOrbitControls = recoverableLazy(() => import('./components/SceneOrbitControls'));
 const AuthoredMillScene = recoverableLazy(() =>
   import('./components/MillScene').then((module) => ({ default: module.MillScene }))
 );
@@ -844,7 +844,7 @@ const App: React.FC = () => {
                         <FirstPersonController onLockChange={handleLockChange} />
                       )
                     ) : (
-                      <OrbitControls
+                      <DeferredOrbitControls
                         ref={orbitControlsRef}
                         maxPolarAngle={
                           runtimeMode.benchmark &&

src/components/ConveyorSystem.kinematics.test.ts

@@ -0,0 +1,16 @@
+import { describe, expect, it } from 'vitest';
+import { advanceBagPosition } from './ConveyorSystem';
+
+describe('advanceBagPosition', () => {
+  it('moves at belt speed and caps a resumed-frame delta', () => {
+    expect(advanceBagPosition(0, 5, 1, 1)).toBeCloseTo(0.5);
+  });
+
+  it('preserves overflow when a bag wraps around the belt', () => {
+    expect(advanceBagPosition(27.9, 5, 1, 0.1)).toBeCloseTo(-27.6);
+  });
+
+  it('does not reverse while production is stopped', () => {
+    expect(advanceBagPosition(4, 5, -1, 0.1)).toBe(4);
+  });
+});