SAFETY-85: no false 'not keeping up' while maintenance or the peak guard sets the battery

The loop's integrator bound counts only on a cycle the loop decided. A battery
another owner set (maintenance, the peak guard, a safety limit) alarms only
when it gives more than saturation_w less than told for saturation_cycles
cycles. At N>=2 the loop is bounded while maintenance holds a battery, so it
does not wind and control comes back one slew step a cycle. The status row
counts episodes, not cycles. Digests re-pinned where behaviour changed on
purpose; DECISIONS/SAFETY-85-no-false-not-keeping-up.md has the list.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_019DBUfvndgHwaV339Fvd2gr

goodwe_controller/DECISIONS/SAFETY-85-no-false-not-keeping-up.md

@@ -0,0 +1,80 @@
+# SAFETY-85 - no false "not keeping up" while another owner sets the battery
+
+**Status: implemented 2026-10-01, for review.** Tests: `test_safety85.py`.
+
+**The defect.** "Battery is not keeping up" (SAFETY-40, `goodwe_integrator_bound`)
+fired about every 2.5 min during maintenance (drain, charge, HOLD) and under the
+peak guard, while the battery gave exactly what it was told. Each warning
+re-created the HA notification. Rig counts: 24 in an hour (SAFETY-83 F1), 43 in
+7 episodes (SAFETY-86), 35 in 16 (SAFETY-87), 12 in 6 (SAFETY-84). The page
+counter counted cycles (861), not episodes.
+
+**Cause, measured on the real Controller.**
+- N=1: when a higher claim decides, `cycle()` re-seeds the integrator from the
+  target each cycle, then `compute()` adds `gain * error` for a grid error the
+  loop does not own. Target + kick crosses the rail and sets `i_clamped`. The
+  carried integrator is not wound (SAFETY-48 caps the lead at one slew step),
+  so control comes back one slew step at a time.
+- N>=2: a maintenance pin is a unit claim. The loop stays the site winner and
+  winds to its rail for watts the pinned battery may not give. When the pin
+  lifts, the site jumps: 2500 W in one cycle when a HOLD ends under a 4500 W
+  house, 1390 W when a charge pin lifts (`s84 n2_charge_dear`, t=1800 s).
+
+**Decision.** Three rules; the alarm, its text and its id are unchanged.
+1. **The loop's clamp counts only on a cycle the loop decided.** The winner is
+   the loop. Its number is on the wire, or only a rating (`device`,
+   `supervised`) cut it. No bound held it, and nothing was unmet.
+   (`Controller._loop_alarm_input`.)
+2. **A battery another owner set alarms when it gives less than it was told.**
+   This covers every battery on a cycle the loop did not decide, and a battery
+   with its own pin otherwise. The test is more than `saturation_w` short in
+   the told direction, for `saturation_cycles` cycles in a row, against what
+   stands on the wire (`clamp.delivery_short`). It covers a real shortfall
+   during maintenance. Before, that shortfall was silent unless the kick
+   happened to reach the rail (house 1000 W, drain 2000 W, battery gives
+   nothing: 0 warnings before, 4 in 10 min now).
+3. **At N>=2, while maintenance holds a battery, the loop is bounded** by
+   OPT-11's `loop_bound()` (what the batteries may place). It does not wind,
+   and control comes back one slew step a cycle. Why maintenance only: that is
+   where the jump was measured and where the owner order puts maintenance
+   above the loop. Other N>=2 limits (pack cut-out, SAFETY-73 refusal) keep
+   the old law. Rule 1 still silences them (the target is unmet), so they no
+   longer warn either.
+
+Fixing the windup was chosen over only ignoring the wound part, because at
+N>=2 the wound integrator moves real watts at hand-back. At N=1 there was
+nothing to fix: re-seeding already prevents windup.
+
+**What SAFETY-03/40 protect is kept.** With the loop in charge, the integrator
+bound still warns (a runaway, a house above the rating), and a saturated
+inverter under the loop's own command still does not alarm (SAFETY-03 AC 2):
+rule 2 grades only batteries another owner set.
+
+**The counter.** `ClampWatchdog.bound_episodes` counts episodes that had a
+bound engagement. The status row shows it ("N times since start").
+`bound` (cycles) stays for the log and the tests.
+
+**Re-pinned digests.** Every change is intended; nothing at N=1 moves a watt.
+
+| digest | what changed |
+|---|---|
+| s78 `n1_drain_owner` | the false clamp rows are gone from the log; commands identical |
+| s78 `n2_drain`, s84 `n2_charge`, `n2_charge_banked`, s79 `n2_maint` (test_peak_margin) | loop reason (`mode-bound`), integrator and loop claim while bounded; commands identical |
+| opt11 `n2_maint` (test_modes) | A drops out at t=1655 s: B follows the house at once, 8 cycles differ (max 920 W) |
+| s84 `n2_charge_dear` | A's pin lifts at t=1800 s: 400 W a cycle, not a 1390 W jump; the surplus step after it; 98 cycles |
+
+test_safety86's "without the ceiling the log floods" now needs the ceiling
+and the bound both removed: either one alone keeps the loop inside what the
+batteries can give. The `alarmed()` helpers in test_safety84/86 also read
+SAFETY-81's quarter stamp, because ALLOCATOR rows can push its row out of
+the 40-row log.
+
+**Not changed, open for the owner.**
+- With the loop in charge and the house above the batteries' total rating,
+  it still warns (SAFETY-40). On the rig's 2 x 2000 W N=2, most of SAFETY-84's
+  count came from houses of 4500 and 6500 W.
+- A battery that tapers near full during a charge, more than `saturation_w`
+  under its command for 15 s, now warns (rule 2). The text already says
+  "check it is not empty or full".
+- TEL-10's `loop_reason` reads `mode-bound` while the maintenance bound holds
+  the loop, with modes off.