Access resources from mission model in procedures

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/Accumulator.java

@@ -7,7 +7,7 @@
 import gov.nasa.jpl.aerie.merlin.framework.resources.real.RealResource;
 import gov.nasa.jpl.aerie.merlin.protocol.types.RealDynamics;
 
-public final class Accumulator implements RealResource {
+public final class Accumulator extends NamedResource<RealDynamics> implements RealResource {
   private final CellRef<LinearAccumulationEvent, LinearIntegrationCell> ref;
 
   public final Rate rate = new Rate();

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/NamedResource.java

@@ -0,0 +1,20 @@
+package gov.nasa.jpl.aerie.contrib.models;
+
+import gov.nasa.jpl.aerie.merlin.framework.resources.NameableResource;
+
+/**
+ * Provides a field for setting the string name of the resource.
+ */
+public abstract class NamedResource<D> implements NameableResource<D> {
+  private String name = "ERROR: Name was not set during model construction";
+
+  @Override
+  public String getName() {
+    return name;
+  }
+
+  @Override
+  public void setName(final String name) {
+    this.name = name;
+  }
+}

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/Pointing.java

@@ -54,7 +54,7 @@ public void slew(final Vector3D target, final Duration duration) {
     addRate(previousRate);         // Reset rate to previous rate
   }
 
-  public static final class Component implements RealResource {
+  public static final class Component extends NamedResource<RealDynamics> implements RealResource {
     private final Accumulator acc;
     public final Accumulator.Rate rate;
 

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/Register.java

@@ -7,7 +7,7 @@
 
 import java.util.function.UnaryOperator;
 
-public final class Register<Value> implements DiscreteResource<Value> {
+public final class Register<Value> extends NamedResource<Value> implements DiscreteResource<Value> {
   public final CellRef<Value, RegisterCell<Value>> ref;
 
   private Register(final UnaryOperator<Value> duplicator, final Value initialValue) {

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/SampledResource.java

@@ -13,7 +13,7 @@
  * Simple resource that samples arbitrarily many existing resources/values at a specified period (default period is once
  * per second).
  */
-public class SampledResource<T> implements DiscreteResource<T> {
+public class SampledResource<T> extends NamedResource<T> implements DiscreteResource<T> {
   private final Register<T> result;
   private final Supplier<T> sampler;
   private final Register<Double> period;

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/ValidationResult.java

@@ -1,5 +1,3 @@
 package gov.nasa.jpl.aerie.contrib.models;
 
-import java.util.Optional;
-
 public record ValidationResult(boolean success, String subject, String message) {}

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/models/counters/Counter.java

@@ -1,14 +1,15 @@
 package gov.nasa.jpl.aerie.contrib.models.counters;
 
 import gov.nasa.jpl.aerie.contrib.cells.counters.CounterCell;
+import gov.nasa.jpl.aerie.contrib.models.NamedResource;
 import gov.nasa.jpl.aerie.merlin.framework.CellRef;
 import gov.nasa.jpl.aerie.merlin.framework.resources.discrete.DiscreteResource;
 
 import java.util.function.BinaryOperator;
 import java.util.function.Function;
 import java.util.function.UnaryOperator;
 
-public final class Counter<T> implements DiscreteResource<T> {
+public final class Counter<T> extends NamedResource<T> implements DiscreteResource<T> {
   private final CellRef<T, CounterCell<T>> ref;
 
   public Counter(final T initialValue, final T zero, final BinaryOperator<T> adder, final UnaryOperator<T> duplicator) {

e2e-tests/build.gradle

@@ -60,10 +60,12 @@ dependencies {
   annotationProcessor project(':procedural:processor')
 
   implementation project(":procedural:scheduling")
+  implementation project(":procedural:constraints")
   implementation project(":procedural:timeline")
   implementation project(':merlin-sdk')
   implementation project(':type-utils')
   implementation project(':contrib')
+  implementation project(':examples:banananation')
 
   testImplementation "com.zaxxer:HikariCP:5.1.0"
   testImplementation("org.postgresql:postgresql:42.6.0")
@@ -118,6 +120,9 @@ tasks.create("generateProcedureJarTasks") {
       manifest {
         attributes 'Main-Class': getMainClassFromGeneratedFile(file)
       }
+      dependencies {
+        exclude(project(":examples:banananation"))
+      }
       minimize()
     }
   }

e2e-tests/src/main/java/gov/nasa/jpl/aerie/e2e/procedural/constraints/procedures/ModelIntegrationConstraint.java

@@ -0,0 +1,30 @@
+package gov.nasa.jpl.aerie.e2e.procedural.constraints.procedures;
+
+import gov.nasa.ammos.aerie.procedural.constraints.Constraint;
+import gov.nasa.ammos.aerie.procedural.constraints.Violations;
+import gov.nasa.ammos.aerie.procedural.constraints.annotations.ConstraintProcedure;
+import gov.nasa.ammos.aerie.procedural.timeline.plan.Plan;
+import gov.nasa.ammos.aerie.procedural.timeline.plan.SimulationResults;
+import gov.nasa.ammos.aerie.procedural.timeline.util.WithModel;
+import gov.nasa.jpl.aerie.banananation.Mission;
+import org.jetbrains.annotations.NotNull;
+
+import java.util.List;
+
+/**
+ * A simple constraint that verifies access to the mission model through the WithModel interface
+ */
+@ConstraintProcedure
+public record ModelIntegrationConstraint() implements Constraint, WithModel<Mission> {
+  @Override
+  public @NotNull Violations run(@NotNull Plan plan, @NotNull SimulationResults simResults) {
+    // Access the mission model through the WithModel interface
+    // This should work without ClassCastException if the class loader fix is working
+    final var mission = model();
+
+    // Simple constraint: fruit should never go below 2.0
+    final var lowFruit = simResults.resource(mission.fruit).lessThan(2.0);
+
+    return Violations.inside(lowFruit.highlightTrue());
+  }
+}

e2e-tests/src/main/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/package-info.java → e2e-tests/src/main/java/gov/nasa/jpl/aerie/e2e/procedural/package-info.java

@@ -1,5 +1,5 @@
 @WithMappers(BasicValueMappers.class)
-package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
+package gov.nasa.jpl.aerie.e2e.procedural;
 
 import gov.nasa.jpl.aerie.contrib.serialization.rulesets.BasicValueMappers;
 import gov.nasa.ammos.aerie.procedural.scheduling.annotations.WithMappers;

e2e-tests/src/main/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/procedures/ModelIntegrationGoal.java

@@ -0,0 +1,27 @@
+package gov.nasa.jpl.aerie.e2e.procedural.scheduling.procedures;
+
+import gov.nasa.ammos.aerie.procedural.scheduling.Goal;
+import gov.nasa.ammos.aerie.procedural.scheduling.annotations.SchedulingProcedure;
+import gov.nasa.ammos.aerie.procedural.scheduling.plan.EditablePlan;
+import gov.nasa.ammos.aerie.procedural.timeline.payloads.activities.DirectiveStart;
+import gov.nasa.ammos.aerie.procedural.timeline.util.WithModel;
+import gov.nasa.jpl.aerie.banananation.Mission;
+import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
+import org.jetbrains.annotations.NotNull;
+
+import java.util.Map;
+
+/**
+ * Creates a bite banana every time /producer changes
+ */
+@SchedulingProcedure
+public record ModelIntegrationGoal() implements Goal, WithModel<Mission> {
+  @Override
+  public void run(@NotNull final EditablePlan plan) {
+    final var changes = plan.simulate().resource(model().producer).changes().highlightTrue();
+    for (final var interval: changes) {
+      plan.create("BiteBanana", new DirectiveStart.Absolute(interval.start), Map.of("biteSize", SerializedValue.of(1)));
+    }
+    plan.commit();
+  }
+}

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/ProceduralSchedulingSetup.java → e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/ProceduralSetup.java

@@ -1,4 +1,4 @@
-package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
+package gov.nasa.jpl.aerie.e2e.procedural;
 
 import com.microsoft.playwright.Playwright;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
@@ -12,7 +12,7 @@
 import java.io.IOException;
 
 @TestInstance(TestInstance.Lifecycle.PER_CLASS)
-public abstract class ProceduralSchedulingSetup {
+public abstract class ProceduralSetup {
 
   // Requests
   protected Playwright playwright;

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/constraints/ModelIntegrationConstraintTests.java

@@ -0,0 +1,64 @@
+package gov.nasa.jpl.aerie.e2e.procedural.constraints;
+
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
+import gov.nasa.jpl.aerie.e2e.types.ConstraintInvocationId;
+import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
+import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import javax.json.Json;
+import java.io.IOException;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+public class ModelIntegrationConstraintTests extends ProceduralSetup {
+  private int constraintJarId;
+  private ConstraintInvocationId constraintId;
+
+  @BeforeEach
+  void localBeforeEach() throws IOException {
+    try (final var gateway = new GatewayRequests(playwright)) {
+      constraintJarId = gateway.uploadJarFile("build/libs/ModelIntegrationConstraint.jar");
+      // Add Constraint Procedure
+      constraintId = hasura.insertPlanConstraintJar(
+          "Test Model Integration Constraint",
+          planId,
+          constraintJarId
+      );
+    }
+  }
+
+  @AfterEach
+  void localAfterEach() throws IOException {
+    hasura.deleteConstraint(constraintId.id());
+  }
+
+  @Test
+  void testModelIntegrationConstraint() throws IOException {
+    // Add an activity that will cause fruit to go below 2.0
+    hasura.insertActivityDirective(
+        planId,
+        "BiteBanana",
+        "1h",
+        Json.createObjectBuilder().add("biteSize", Json.createValue(4)).build()
+    );
+
+    // Simulate the plan
+    hasura.awaitSimulation(planId);
+
+    // Run constraints and check that our constraint can access the mission model
+    final var results = hasura.checkConstraints(planId);
+    final var run = results.constraintsRun().getFirst();
+
+    assertEquals("Test Model Integration Constraint", run.constraintName());
+
+    // The constraint should run without ClassCastException and detect violations
+    assertTrue(run.success());
+    assertEquals(1, run.result().get().violations().size());
+
+    assertEquals(Duration.hours(1), Duration.microseconds(run.result().get().violations().getFirst().windows().getFirst().start()));
+  }
+}

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/AutoDeletionTests.java

@@ -1,5 +1,6 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import org.junit.jupiter.api.AfterEach;
@@ -10,13 +11,12 @@
 import java.io.IOException;
 import java.util.Objects;
 import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.atomic.AtomicReference;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class AutoDeletionTests extends ProceduralSchedulingSetup {
+public class AutoDeletionTests extends ProceduralSetup {
   private GoalInvocationId edslId;
   private GoalInvocationId procedureId;
 

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/BasicTests.java

@@ -1,5 +1,6 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import org.junit.jupiter.api.AfterEach;
@@ -13,7 +14,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class BasicTests extends ProceduralSchedulingSetup {
+public class BasicTests extends ProceduralSetup {
   private int procedureJarId;
   private GoalInvocationId procedureId;
 

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/DatabaseDeletionTests.java

@@ -1,5 +1,6 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import org.junit.jupiter.api.AfterEach;
@@ -16,7 +17,7 @@
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class DatabaseDeletionTests extends ProceduralSchedulingSetup {
+public class DatabaseDeletionTests extends ProceduralSetup {
   private GoalInvocationId procedureId;
 
   @BeforeEach

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/DeletionTests.java

@@ -1,5 +1,6 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import org.junit.jupiter.api.AfterEach;
@@ -14,7 +15,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class DeletionTests extends ProceduralSchedulingSetup {
+public class DeletionTests extends ProceduralSetup {
   private GoalInvocationId procedureId;
 
   @BeforeEach

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/ExternalEventsSchedulingTests.java

@@ -1,5 +1,6 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.types.Plan;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
@@ -17,7 +18,7 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-public class ExternalEventsSchedulingTests extends ProceduralSchedulingSetup {
+public class ExternalEventsSchedulingTests extends ProceduralSetup {
   private GoalInvocationId procedureId;
   private final static String SOURCE_TYPE = "TestType";
   private final static String EVENT_TYPE = "TestType";

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/ExternalProfilesTests.java

@@ -1,6 +1,7 @@
 package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
 
 import gov.nasa.jpl.aerie.e2e.ExternalDatasetsTest;
+import gov.nasa.jpl.aerie.e2e.procedural.ProceduralSetup;
 import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import org.junit.jupiter.api.AfterEach;
@@ -14,7 +15,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-public class ExternalProfilesTests extends ProceduralSchedulingSetup {
+public class ExternalProfilesTests extends ProceduralSetup {
   private GoalInvocationId procedureId;
   private int datasetId;