crdtosphere 0.1.0

Universal embedded CRDTs for distributed coordination across automotive, robotics, IoT, and industrial applications
Documentation
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
//! Process Control for Industrial Systems
//!
//! This module implements CRDTs for distributed industrial process coordination,
//! enabling synchronization of manufacturing processes across control systems.

use crate::clock::CompactTimestamp;
use crate::error::{CRDTError, CRDTResult};
use crate::memory::{MemoryConfig, NodeId};
use crate::traits::{BoundedCRDT, CRDT, RealTimeCRDT};

/// Industrial process states
#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
#[repr(u8)]
pub enum ProcessState {
    /// Process is stopped/idle
    Stopped = 0,
    /// Process is starting up
    Starting = 1,
    /// Process is running normally
    Running = 2,
    /// Process is pausing
    Pausing = 3,
    /// Process is paused
    Paused = 4,
    /// Process is stopping
    Stopping = 5,
    /// Process has an error
    Error = 6,
    /// Process is in emergency stop
    Emergency = 7,
    /// Process is in maintenance mode
    Maintenance = 8,
}

impl ProcessState {
    /// Returns true if process is operational
    pub fn is_operational(&self) -> bool {
        matches!(
            self,
            ProcessState::Running | ProcessState::Starting | ProcessState::Pausing
        )
    }

    /// Returns true if process requires attention
    pub fn requires_attention(&self) -> bool {
        matches!(self, ProcessState::Error | ProcessState::Emergency)
    }

    /// Returns true if process can be started
    pub fn can_start(&self) -> bool {
        matches!(self, ProcessState::Stopped | ProcessState::Paused)
    }

    /// Returns true if process can be stopped
    pub fn can_stop(&self) -> bool {
        matches!(
            self,
            ProcessState::Running | ProcessState::Paused | ProcessState::Error
        )
    }
}

/// Control actions for processes
#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
#[repr(u8)]
pub enum ControlAction {
    /// Start the process
    Start = 1,
    /// Stop the process
    Stop = 2,
    /// Pause the process
    Pause = 3,
    /// Resume the process
    Resume = 4,
    /// Emergency stop
    EmergencyStop = 5,
    /// Reset process after error
    Reset = 6,
    /// Enter maintenance mode
    Maintenance = 7,
    /// Exit maintenance mode
    ExitMaintenance = 8,
}

impl ControlAction {
    /// Returns true if this is an emergency action
    pub fn is_emergency(&self) -> bool {
        matches!(self, ControlAction::EmergencyStop)
    }

    /// Returns true if this action requires elevated privileges
    pub fn requires_privileges(&self) -> bool {
        matches!(
            self,
            ControlAction::EmergencyStop
                | ControlAction::Reset
                | ControlAction::Maintenance
                | ControlAction::ExitMaintenance
        )
    }
}

/// Individual process step information
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub struct ProcessStep {
    /// Process identifier
    pub process_id: NodeId,
    /// Current step number
    pub step_number: u16,
    /// Process state
    pub state: ProcessState,
    /// Progress percentage (0-100)
    pub progress: u8,
    /// Set point value (scaled as i32)
    pub setpoint: i32,
    /// Current value (scaled as i32)
    pub current_value: i32,
    /// Last control action applied
    pub last_action: ControlAction,
    /// Timestamp of last update
    pub timestamp: CompactTimestamp,
    /// Controller that manages this process
    pub controller_id: NodeId,
}

impl ProcessStep {
    /// Creates a new process step
    pub fn new(
        process_id: NodeId,
        step_number: u16,
        controller_id: NodeId,
        timestamp: u64,
    ) -> Self {
        Self {
            process_id,
            step_number,
            state: ProcessState::Stopped,
            progress: 0,
            setpoint: 0,
            current_value: 0,
            last_action: ControlAction::Stop,
            timestamp: CompactTimestamp::new(timestamp),
            controller_id,
        }
    }

    /// Updates process state
    pub fn update_state(&mut self, state: ProcessState, action: ControlAction, timestamp: u64) {
        self.state = state;
        self.last_action = action;
        self.timestamp = CompactTimestamp::new(timestamp);
    }

    /// Updates process values
    pub fn update_values(
        &mut self,
        setpoint: i32,
        current_value: i32,
        progress: u8,
        timestamp: u64,
    ) {
        self.setpoint = setpoint;
        self.current_value = current_value;
        self.progress = progress;
        self.timestamp = CompactTimestamp::new(timestamp);
    }

    /// Returns true if this step should override another
    pub fn should_override(&self, other: &ProcessStep) -> bool {
        // More recent updates win
        self.timestamp > other.timestamp
    }

    /// Returns true if process is at setpoint
    pub fn is_at_setpoint(&self, tolerance: i32) -> bool {
        (self.current_value - self.setpoint).abs() <= tolerance
    }

    /// Returns error from setpoint
    pub fn error_from_setpoint(&self) -> i32 {
        self.current_value - self.setpoint
    }
}

/// Industrial Process Control CRDT
///
/// This CRDT manages distributed process coordination across industrial control systems,
/// enabling synchronization of manufacturing processes and control actions.
///
/// # Type Parameters
/// - `C`: Memory configuration
///
/// # Features
/// - Multi-process state coordination
/// - Control action synchronization
/// - Setpoint and value tracking
/// - Emergency stop coordination
///
/// # Example
/// ```rust
/// use crdtosphere::prelude::*;
/// use crdtosphere::industrial::{ProcessControl, ProcessState, ControlAction};
///
/// // Create process control
/// let mut control = ProcessControl::<DefaultConfig>::new(1); // Controller ID 1
///
/// // Register new process
/// control.register_process(
///     42,   // process ID
///     1,    // step number
///     1000  // timestamp
/// )?;
///
/// // Start process
/// control.apply_control_action(42, ControlAction::Start, 1001)?;
///
/// // Update process values
/// control.update_process_values(42, 1000, 950, 75, 1002)?; // setpoint, current, progress
/// # Ok::<(), crdtosphere::error::CRDTError>(())
/// ```
#[derive(Debug, Clone)]
pub struct ProcessControl<C: MemoryConfig> {
    /// Array of process steps
    processes: [Option<ProcessStep>; 64], // Support up to 64 processes
    /// Number of processes currently managed
    process_count: usize,
    /// This controller's ID
    local_controller_id: NodeId,
    /// Last update timestamp
    last_update: CompactTimestamp,
    /// Phantom data for memory config
    _phantom: core::marker::PhantomData<C>,
}

impl<C: MemoryConfig> ProcessControl<C> {
    /// Creates a new process control system
    ///
    /// # Arguments
    /// * `controller_id` - The ID of this controller
    ///
    /// # Returns
    /// A new process control CRDT
    pub fn new(controller_id: NodeId) -> Self {
        Self {
            processes: [const { None }; 64],
            process_count: 0,
            local_controller_id: controller_id,
            last_update: CompactTimestamp::new(0),
            _phantom: core::marker::PhantomData,
        }
    }

    /// Registers a new process
    ///
    /// # Arguments
    /// * `process_id` - Process identifier
    /// * `step_number` - Initial step number
    /// * `timestamp` - Registration timestamp
    ///
    /// # Returns
    /// Ok(()) if successful, error otherwise
    pub fn register_process(
        &mut self,
        process_id: NodeId,
        step_number: u16,
        timestamp: u64,
    ) -> CRDTResult<()> {
        let process_step =
            ProcessStep::new(process_id, step_number, self.local_controller_id, timestamp);
        self.add_process_step(process_step)?;
        self.last_update = CompactTimestamp::new(timestamp);
        Ok(())
    }

    /// Applies a control action to a process
    ///
    /// # Arguments
    /// * `process_id` - Process to control
    /// * `action` - Control action to apply
    /// * `timestamp` - Action timestamp
    ///
    /// # Returns
    /// Ok(()) if successful, error otherwise
    pub fn apply_control_action(
        &mut self,
        process_id: NodeId,
        action: ControlAction,
        timestamp: u64,
    ) -> CRDTResult<()> {
        if let Some(process) = self.find_process_mut(process_id) {
            let new_state = match action {
                ControlAction::Start => {
                    if process.state.can_start() {
                        ProcessState::Starting
                    } else {
                        return Err(CRDTError::InvalidOperation);
                    }
                }
                ControlAction::Stop => {
                    if process.state.can_stop() {
                        ProcessState::Stopping
                    } else {
                        return Err(CRDTError::InvalidOperation);
                    }
                }
                ControlAction::Pause => ProcessState::Pausing,
                ControlAction::Resume => ProcessState::Starting,
                ControlAction::EmergencyStop => ProcessState::Emergency,
                ControlAction::Reset => ProcessState::Stopped,
                ControlAction::Maintenance => ProcessState::Maintenance,
                ControlAction::ExitMaintenance => ProcessState::Stopped,
            };

            process.update_state(new_state, action, timestamp);
            self.last_update = CompactTimestamp::new(timestamp);
            Ok(())
        } else {
            Err(CRDTError::InvalidNodeId)
        }
    }

    /// Updates process values
    ///
    /// # Arguments
    /// * `process_id` - Process to update
    /// * `setpoint` - New setpoint value
    /// * `current_value` - Current process value
    /// * `progress` - Progress percentage (0-100)
    /// * `timestamp` - Update timestamp
    ///
    /// # Returns
    /// Ok(()) if successful, error otherwise
    pub fn update_process_values(
        &mut self,
        process_id: NodeId,
        setpoint: i32,
        current_value: i32,
        progress: u8,
        timestamp: u64,
    ) -> CRDTResult<()> {
        if let Some(process) = self.find_process_mut(process_id) {
            process.update_values(setpoint, current_value, progress, timestamp);
            self.last_update = CompactTimestamp::new(timestamp);
            Ok(())
        } else {
            Err(CRDTError::InvalidNodeId)
        }
    }

    /// Updates process state directly (for state transitions)
    ///
    /// # Arguments
    /// * `process_id` - Process to update
    /// * `state` - New process state
    /// * `timestamp` - Update timestamp
    ///
    /// # Returns
    /// Ok(()) if successful, error otherwise
    pub fn update_process_state(
        &mut self,
        process_id: NodeId,
        state: ProcessState,
        timestamp: u64,
    ) -> CRDTResult<()> {
        if let Some(process) = self.find_process_mut(process_id) {
            process.state = state;
            process.timestamp = CompactTimestamp::new(timestamp);
            self.last_update = CompactTimestamp::new(timestamp);
            Ok(())
        } else {
            Err(CRDTError::InvalidNodeId)
        }
    }

    /// Gets all processes
    ///
    /// # Returns
    /// Iterator over process steps
    pub fn all_processes(&self) -> impl Iterator<Item = &ProcessStep> {
        self.processes.iter().filter_map(|p| p.as_ref())
    }

    /// Gets processes by state
    ///
    /// # Arguments
    /// * `state` - Process state to filter by
    ///
    /// # Returns
    /// Iterator over processes in the specified state
    pub fn processes_by_state(&self, state: ProcessState) -> impl Iterator<Item = &ProcessStep> {
        self.all_processes().filter(move |p| p.state == state)
    }

    /// Gets running processes
    ///
    /// # Returns
    /// Iterator over running processes
    pub fn running_processes(&self) -> impl Iterator<Item = &ProcessStep> {
        self.processes_by_state(ProcessState::Running)
    }

    /// Gets processes requiring attention
    ///
    /// # Returns
    /// Iterator over processes with errors or emergency states
    pub fn processes_requiring_attention(&self) -> impl Iterator<Item = &ProcessStep> {
        self.all_processes()
            .filter(|p| p.state.requires_attention())
    }

    /// Gets processes by controller
    ///
    /// # Arguments
    /// * `controller_id` - Controller ID to filter by
    ///
    /// # Returns
    /// Iterator over processes managed by the controller
    pub fn processes_by_controller(
        &self,
        controller_id: NodeId,
    ) -> impl Iterator<Item = &ProcessStep> {
        self.all_processes()
            .filter(move |p| p.controller_id == controller_id)
    }

    /// Gets process by ID
    ///
    /// # Arguments
    /// * `process_id` - Process ID to look up
    ///
    /// # Returns
    /// Process step if found
    pub fn get_process(&self, process_id: NodeId) -> Option<&ProcessStep> {
        self.all_processes().find(|p| p.process_id == process_id)
    }

    /// Gets the number of processes
    ///
    /// # Returns
    /// Number of processes
    pub fn process_count(&self) -> usize {
        self.process_count
    }

    /// Emergency stops all processes
    ///
    /// # Arguments
    /// * `timestamp` - Emergency stop timestamp
    ///
    /// # Returns
    /// Number of processes stopped
    pub fn emergency_stop_all(&mut self, timestamp: u64) -> usize {
        let mut stopped = 0;

        for i in 0..64 {
            if let Some(ref mut process) = self.processes[i] {
                if process.state.is_operational() {
                    process.update_state(
                        ProcessState::Emergency,
                        ControlAction::EmergencyStop,
                        timestamp,
                    );
                    stopped += 1;
                }
            }
        }

        if stopped > 0 {
            self.last_update = CompactTimestamp::new(timestamp);
        }

        stopped
    }

    /// Finds a process by ID (mutable)
    fn find_process_mut(&mut self, process_id: NodeId) -> Option<&mut ProcessStep> {
        for process_opt in &mut self.processes {
            if let Some(process) = process_opt {
                if process.process_id == process_id {
                    return Some(process);
                }
            }
        }
        None
    }

    /// Adds a process step to the control system
    fn add_process_step(&mut self, process_step: ProcessStep) -> CRDTResult<()> {
        // Check for existing process
        for i in 0..64 {
            if let Some(ref mut existing) = self.processes[i] {
                if existing.process_id == process_step.process_id {
                    // Update if new step should override
                    if process_step.should_override(existing) {
                        *existing = process_step;
                    }
                    return Ok(());
                }
            } else {
                // Empty slot - add new process
                self.processes[i] = Some(process_step);
                self.process_count += 1;
                return Ok(());
            }
        }

        // If no space, try to replace oldest stopped process
        self.make_space_for_process(process_step)
    }

    /// Makes space for a new process by replacing old stopped processes
    fn make_space_for_process(&mut self, new_process: ProcessStep) -> CRDTResult<()> {
        // Find oldest stopped process to replace
        let mut oldest_idx = None;
        let mut oldest_time = u64::MAX;

        for (i, process_opt) in self.processes.iter().enumerate() {
            if let Some(process) = process_opt {
                if process.state == ProcessState::Stopped
                    && process.timestamp.as_u64() < oldest_time
                {
                    oldest_time = process.timestamp.as_u64();
                    oldest_idx = Some(i);
                }
            }
        }

        if let Some(idx) = oldest_idx {
            self.processes[idx] = Some(new_process);
            Ok(())
        } else {
            Err(CRDTError::BufferOverflow)
        }
    }

    /// Validates process control data
    ///
    /// # Returns
    /// Ok(()) if valid, error otherwise
    pub fn validate_control(&self) -> CRDTResult<()> {
        // Check process IDs are valid
        for process in self.all_processes() {
            if process.process_id as usize >= C::MAX_NODES {
                return Err(CRDTError::InvalidNodeId);
            }
            if process.controller_id as usize >= C::MAX_NODES {
                return Err(CRDTError::InvalidNodeId);
            }
        }

        Ok(())
    }
}

impl<C: MemoryConfig> CRDT<C> for ProcessControl<C> {
    type Error = CRDTError;

    fn merge(&mut self, other: &Self) -> CRDTResult<()> {
        // Merge all processes from other
        for process in other.all_processes() {
            self.add_process_step(*process)?;
        }

        // Update timestamp to latest
        if other.last_update > self.last_update {
            self.last_update = other.last_update;
        }

        Ok(())
    }

    fn eq(&self, other: &Self) -> bool {
        if self.process_count != other.process_count {
            return false;
        }

        // Check that all processes match
        for process in self.all_processes() {
            let mut found = false;
            for other_process in other.all_processes() {
                if process.process_id == other_process.process_id && process == other_process {
                    found = true;
                    break;
                }
            }
            if !found {
                return false;
            }
        }

        true
    }

    fn size_bytes(&self) -> usize {
        core::mem::size_of::<Self>()
    }

    fn validate(&self) -> CRDTResult<()> {
        self.validate_control()
    }

    fn state_hash(&self) -> u32 {
        let mut hash = self.local_controller_id as u32;
        for process in self.all_processes() {
            hash ^= (process.process_id as u32)
                ^ (process.timestamp.as_u64() as u32)
                ^ (process.state as u32);
        }
        hash ^= self.process_count as u32;
        hash
    }

    fn can_merge(&self, _other: &Self) -> bool {
        // Can always merge process controls (space is made by removing old processes)
        true
    }
}

impl<C: MemoryConfig> BoundedCRDT<C> for ProcessControl<C> {
    const MAX_SIZE_BYTES: usize = core::mem::size_of::<Self>();
    const MAX_ELEMENTS: usize = 64; // Maximum processes

    fn memory_usage(&self) -> usize {
        core::mem::size_of::<Self>()
    }

    fn element_count(&self) -> usize {
        self.process_count
    }

    fn compact(&mut self) -> CRDTResult<usize> {
        // Could implement cleanup of old stopped processes
        Ok(0)
    }

    fn can_add_element(&self) -> bool {
        self.process_count < Self::MAX_ELEMENTS
    }
}

impl<C: MemoryConfig> RealTimeCRDT<C> for ProcessControl<C> {
    const MAX_MERGE_CYCLES: u32 = 200; // Bounded by number of processes
    const MAX_VALIDATE_CYCLES: u32 = 100;
    const MAX_SERIALIZE_CYCLES: u32 = 150;

    fn merge_bounded(&mut self, other: &Self) -> CRDTResult<()> {
        // Process control merge is bounded
        self.merge(other)
    }

    fn validate_bounded(&self) -> CRDTResult<()> {
        // Validation is bounded
        self.validate()
    }

    fn remaining_budget(&self) -> Option<u32> {
        // For industrial systems, we don't track budget
        None
    }

    fn set_budget(&mut self, _cycles: u32) {
        // For industrial systems, we don't limit budget
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::memory::DefaultConfig;

    #[test]
    fn test_process_state_properties() {
        assert!(ProcessState::Running.is_operational());
        assert!(ProcessState::Starting.is_operational());
        assert!(!ProcessState::Stopped.is_operational());

        assert!(ProcessState::Error.requires_attention());
        assert!(ProcessState::Emergency.requires_attention());
        assert!(!ProcessState::Running.requires_attention());

        assert!(ProcessState::Stopped.can_start());
        assert!(ProcessState::Paused.can_start());
        assert!(!ProcessState::Running.can_start());

        assert!(ProcessState::Running.can_stop());
        assert!(ProcessState::Error.can_stop());
        assert!(!ProcessState::Stopped.can_stop());
    }

    #[test]
    fn test_control_action_properties() {
        assert!(ControlAction::EmergencyStop.is_emergency());
        assert!(!ControlAction::Start.is_emergency());

        assert!(ControlAction::EmergencyStop.requires_privileges());
        assert!(ControlAction::Reset.requires_privileges());
        assert!(!ControlAction::Start.requires_privileges());
    }

    #[test]
    fn test_process_step_creation() {
        let step = ProcessStep::new(42, 1, 1, 1000);

        assert_eq!(step.process_id, 42);
        assert_eq!(step.step_number, 1);
        assert_eq!(step.controller_id, 1);
        assert_eq!(step.state, ProcessState::Stopped);
        assert_eq!(step.progress, 0);
    }

    #[test]
    fn test_process_step_updates() {
        let mut step = ProcessStep::new(42, 1, 1, 1000);

        step.update_state(ProcessState::Running, ControlAction::Start, 1001);
        assert_eq!(step.state, ProcessState::Running);
        assert_eq!(step.last_action, ControlAction::Start);

        step.update_values(1000, 950, 75, 1002);
        assert_eq!(step.setpoint, 1000);
        assert_eq!(step.current_value, 950);
        assert_eq!(step.progress, 75);

        assert!(!step.is_at_setpoint(10)); // Error is 50, tolerance is 10
        assert!(step.is_at_setpoint(100)); // Error is 50, tolerance is 100
        assert_eq!(step.error_from_setpoint(), -50);
    }

    #[test]
    fn test_process_control_creation() {
        let control = ProcessControl::<DefaultConfig>::new(1);

        assert_eq!(control.process_count(), 0);
        assert_eq!(control.local_controller_id, 1);
    }

    #[test]
    fn test_process_registration_and_control() {
        let mut control = ProcessControl::<DefaultConfig>::new(1);

        // Register process
        control.register_process(42, 1, 1000).unwrap();
        assert_eq!(control.process_count(), 1);

        // Start process
        control
            .apply_control_action(42, ControlAction::Start, 1001)
            .unwrap();
        let process = control.get_process(42).unwrap();
        assert_eq!(process.state, ProcessState::Starting);

        // Update to running state
        control
            .update_process_state(42, ProcessState::Running, 1002)
            .unwrap();

        // Update process values
        control
            .update_process_values(42, 1000, 950, 75, 1003)
            .unwrap();

        let process = control.get_process(42).unwrap();
        assert_eq!(process.state, ProcessState::Running);
        assert_eq!(process.setpoint, 1000);
        assert_eq!(process.current_value, 950);
        assert_eq!(process.progress, 75);
    }

    #[test]
    fn test_process_control_queries() {
        let mut control = ProcessControl::<DefaultConfig>::new(1);

        // Register multiple processes
        control.register_process(1, 1, 1000).unwrap();
        control.register_process(2, 1, 1001).unwrap();
        control.register_process(3, 1, 1002).unwrap();

        // Start some processes
        control
            .apply_control_action(1, ControlAction::Start, 1003)
            .unwrap();
        control
            .update_process_state(1, ProcessState::Running, 1004)
            .unwrap();

        control
            .apply_control_action(2, ControlAction::Start, 1005)
            .unwrap();
        control
            .update_process_state(2, ProcessState::Error, 1006)
            .unwrap();

        // Test queries
        assert_eq!(control.running_processes().count(), 1);
        assert_eq!(control.processes_requiring_attention().count(), 1);
        assert_eq!(control.processes_by_controller(1).count(), 3);
        assert_eq!(control.processes_by_state(ProcessState::Stopped).count(), 1);
    }

    #[test]
    fn test_emergency_stop() {
        let mut control = ProcessControl::<DefaultConfig>::new(1);

        // Register and start multiple processes
        control.register_process(1, 1, 1000).unwrap();
        control.register_process(2, 1, 1001).unwrap();

        control
            .apply_control_action(1, ControlAction::Start, 1002)
            .unwrap();
        control
            .update_process_state(1, ProcessState::Running, 1003)
            .unwrap();

        control
            .apply_control_action(2, ControlAction::Start, 1004)
            .unwrap();
        control
            .update_process_state(2, ProcessState::Running, 1005)
            .unwrap();

        assert_eq!(control.running_processes().count(), 2);

        // Emergency stop all
        let stopped = control.emergency_stop_all(1006);
        assert_eq!(stopped, 2);
        assert_eq!(
            control.processes_by_state(ProcessState::Emergency).count(),
            2
        );
    }

    #[test]
    fn test_invalid_control_actions() {
        let mut control = ProcessControl::<DefaultConfig>::new(1);

        // Register stopped process
        control.register_process(42, 1, 1000).unwrap();

        // Try to stop a stopped process (should fail)
        let result = control.apply_control_action(42, ControlAction::Stop, 1001);
        assert!(result.is_err());

        // Start the process first
        control
            .apply_control_action(42, ControlAction::Start, 1002)
            .unwrap();
        control
            .update_process_state(42, ProcessState::Running, 1003)
            .unwrap();

        // Now stop should work
        let result = control.apply_control_action(42, ControlAction::Stop, 1004);
        assert!(result.is_ok());

        // Try to start a running process (should fail)
        let result = control.apply_control_action(42, ControlAction::Start, 1005);
        assert!(result.is_err());
    }

    #[test]
    fn test_process_control_merge() {
        let mut control1 = ProcessControl::<DefaultConfig>::new(1);
        let mut control2 = ProcessControl::<DefaultConfig>::new(2);

        // Add different processes to each control system
        control1.register_process(1, 1, 1000).unwrap();
        control2.register_process(2, 1, 1001).unwrap();

        // Merge
        control1.merge(&control2).unwrap();

        // Should have both processes
        assert_eq!(control1.process_count(), 2);
        assert!(control1.get_process(1).is_some());
        assert!(control1.get_process(2).is_some());
    }

    #[test]
    fn test_bounded_crdt_implementation() {
        let mut control = ProcessControl::<DefaultConfig>::new(1);

        assert_eq!(control.element_count(), 0);
        assert!(control.can_add_element());

        control.register_process(42, 1, 1000).unwrap();
        assert_eq!(control.element_count(), 1);
        assert!(control.memory_usage() > 0);
    }

    #[test]
    fn test_real_time_crdt_implementation() {
        let mut control1 = ProcessControl::<DefaultConfig>::new(1);
        let control2 = ProcessControl::<DefaultConfig>::new(2);

        assert!(control1.merge_bounded(&control2).is_ok());
        assert!(control1.validate_bounded().is_ok());
    }
}