Merge pull request #1323 from NASA-AMMOS/prototype/duplicatable-sim-e…

…ngine In-memory checkpoint simulation
NASA-AMMOS · Jun 20, 2024 · 8ac4188 · 8ac4188
2 parents f66a53c + 50ec917
commit 8ac4188
Show file tree

Hide file tree

Showing 113 changed files with 4,473 additions and 2,315 deletions.
diff --git a/constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/DiscreteProfile.java b/constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/DiscreteProfile.java
@@ -144,33 +144,37 @@ public Optional<SerializedValue> valueAt(final Duration timepoint) {
   }
 
   public static DiscreteProfile fromSimulatedProfile(final List<ProfileSegment<SerializedValue>> simulatedProfile) {
-    return fromProfileHelper(Duration.ZERO, simulatedProfile, Optional::of);
+    return fromProfileHelper(Duration.ZERO, simulatedProfile, Optional::of, true);
   }
 
   public static DiscreteProfile fromExternalProfile(final Duration offsetFromPlanStart, final List<ProfileSegment<Optional<SerializedValue>>> externalProfile) {
-    return fromProfileHelper(offsetFromPlanStart, externalProfile, $ -> $);
+    return fromProfileHelper(offsetFromPlanStart, externalProfile, $ -> $, false);
   }
 
   private static <T> DiscreteProfile fromProfileHelper(
       final Duration offsetFromPlanStart,
       final List<ProfileSegment<T>> profile,
-      final Function<T, Optional<SerializedValue>> transform
+      final Function<T, Optional<SerializedValue>> transform,
+      final boolean close
   ) {
     final var result = new IntervalMap.Builder<SerializedValue>();
     var cursor = offsetFromPlanStart;
+    var c = 0;
     for (final var pair: profile) {
       final var nextCursor = cursor.plus(pair.extent());
 
       final var value = transform.apply(pair.dynamics());
       final Duration finalCursor = cursor;
+      final var isLast = c == profile.size() - 1;
       value.ifPresent(
           $ -> result.set(
-              Interval.between(finalCursor, Inclusive, nextCursor, Exclusive),
+              Interval.between(finalCursor, Inclusive, nextCursor, (close && isLast) ? Inclusive : Exclusive),
               $
           )
       );
 
       cursor = nextCursor;
+      c++;
     }
 
     return new DiscreteProfile(result.build());

diff --git a/constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/LinearProfile.java b/constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/LinearProfile.java
@@ -175,28 +175,30 @@ public LinearProfile shiftBy(final Duration duration) {
   }
 
   public static LinearProfile fromSimulatedProfile(final List<ProfileSegment<RealDynamics>> simulatedProfile) {
-    return fromProfileHelper(Duration.ZERO, simulatedProfile, Optional::of);
+    return fromProfileHelper(Duration.ZERO, simulatedProfile, Optional::of, true);
   }
 
   public static LinearProfile fromExternalProfile(final Duration offsetFromPlanStart, final List<ProfileSegment<Optional<RealDynamics>>> externalProfile) {
-    return fromProfileHelper(offsetFromPlanStart, externalProfile, $ -> $);
+    return fromProfileHelper(offsetFromPlanStart, externalProfile, $ -> $, false);
   }
 
   private static <T> LinearProfile fromProfileHelper(
       final Duration offsetFromPlanStart,
       final List<ProfileSegment<T>> profile,
-      final Function<T, Optional<RealDynamics>> transform
+      final Function<T, Optional<RealDynamics>> transform,
+      final boolean close
   ) {
     final var result = new IntervalMap.Builder<LinearEquation>();
     var cursor = offsetFromPlanStart;
+    var c = 0;
     for (final var pair: profile) {
       final var nextCursor = cursor.plus(pair.extent());
-
+      final var isLast = c == profile.size() - 1;
       final var value = transform.apply(pair.dynamics());
       final Duration finalCursor = cursor;
       value.ifPresent(
           $ -> result.set(
-              Interval.between(finalCursor, Inclusive, nextCursor, Exclusive),
+              Interval.between(finalCursor, Inclusive, nextCursor, (close && isLast) ? Inclusive :Exclusive),
               new LinearEquation(
                   finalCursor,
                   $.initial,
@@ -206,6 +208,7 @@ private static <T> LinearProfile fromProfileHelper(
       );
 
       cursor = nextCursor;
+      c++;
     }
 
     return new LinearProfile(result.build());

diff --git a/deployment/Environment.md b/deployment/Environment.md
@@ -69,6 +69,7 @@ See the [environment variables document](https://github.com/NASA-AMMOS/aerie-gat
 | `SCHEDULER_DB_PASSWORD`       | Password of the Scheduler DB User                                     | `string` |                                                    |
 | `SCHEDULER_OUTPUT_MODE`       | How scheduler output is sent back to Aerie                            | `string` | UpdateInputPlanWithNewActivities                   |
 | `SCHEDULER_RULES_JAR`         | Jar file to load scheduling rules from (until user input to database) | `string` | /usr/src/app/merlin_file_store/scheduler_rules.jar |
+| `MAX_NB_CACHED_SIMULATION_ENGINES` | The maximum number of simulation engines to cache in memory during a scheduling run. Must be at least 1 | `number` | 1                                                  |
 
 ## Aerie Sequencing
 

diff --git a/deployment/docker-compose.yml b/deployment/docker-compose.yml
@@ -100,6 +100,7 @@ services:
       SCHEDULER_OUTPUT_MODE: UpdateInputPlanWithNewActivities
       MERLIN_LOCAL_STORE: /usr/src/app/merlin_file_store
       SCHEDULER_RULES_JAR: /usr/src/app/merlin_file_store/scheduler_rules.jar
+      MAX_NB_CACHED_SIMULATION_ENGINES: 1
       JAVA_OPTS: >
         -Dorg.slf4j.simpleLogger.log.com.zaxxer.hikari=INFO
         -Dorg.slf4j.simpleLogger.logFile=System.err

diff --git a/docker-compose.yml b/docker-compose.yml
@@ -178,6 +178,7 @@ services:
       SCHEDULER_OUTPUT_MODE: UpdateInputPlanWithNewActivities
       MERLIN_LOCAL_STORE: /usr/src/app/merlin_file_store
       SCHEDULER_RULES_JAR: /usr/src/app/merlin_file_store/scheduler_rules.jar
+      MAX_NB_CACHED_SIMULATION_ENGINES: 1
       JAVA_OPTS: >
         -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5005
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG
@@ -204,6 +205,7 @@ services:
       SCHEDULER_OUTPUT_MODE: UpdateInputPlanWithNewActivities
       MERLIN_LOCAL_STORE: /usr/src/app/merlin_file_store
       SCHEDULER_RULES_JAR: /usr/src/app/merlin_file_store/scheduler_rules.jar
+      MAX_NB_CACHED_SIMULATION_ENGINES: 1
       JAVA_OPTS: >
         -agentlib:jdwp=transport=dt_socket,server=y,suspend=n,address=*:5005
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG

diff --git a/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/SchedulingTests.java b/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/SchedulingTests.java
@@ -6,6 +6,7 @@
 import gov.nasa.jpl.aerie.e2e.types.Plan;
 import gov.nasa.jpl.aerie.e2e.types.ProfileSegment;
 import gov.nasa.jpl.aerie.e2e.types.SchedulingRequest.SchedulingStatus;
+import gov.nasa.jpl.aerie.e2e.types.SimulationDataset;
 import gov.nasa.jpl.aerie.e2e.types.ValueSchema;
 import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
 import gov.nasa.jpl.aerie.e2e.utils.HasuraRequests;
@@ -381,22 +382,17 @@ void schedulingGoalPostsSimResults() throws IOException {
       final var plan = hasura.getPlan(planId);
       final var simResults = hasura.getSimulationDatasetByDatasetId(datasetId);
 
-      // All directive have their simulated activity
-      final var planActivities = plan.activityDirectives();
-      final var simActivities = simResults.activities();
-      assertEquals(4, planActivities.size());
-      assertEquals(planActivities.size(), simActivities.size());
-      for(int i = 0; i<planActivities.size(); ++i) {
-        boolean match = false;
-        for(int j = 0; j<simActivities.size(); ++j) {
-          if (planActivities.get(i).id() == simActivities.get(j).directiveId() &&
-              planActivities.get(i).startOffset().equals(simActivities.get(j).startOffset())) {
-            match = true;
-            break;
-          }
-        }
-        assertTrue(match);;
-      }
+    // All directive have their simulated activity
+    final var planActivities = plan.activityDirectives();
+    final var simActivities = simResults.activities();
+    planActivities.sort(Comparator.comparingInt(Plan.ActivityDirective::id));
+    simActivities.sort(Comparator.comparingInt(SimulationDataset.SimulatedActivity::directiveId));
+    assertEquals(4, planActivities.size());
+    assertEquals(planActivities.size(), simActivities.size());
+    for(int i = 0; i<planActivities.size(); ++i) {
+      assertEquals(planActivities.get(i).id(), simActivities.get(i).directiveId());
+      assertEquals(planActivities.get(i).startOffset(), simActivities.get(i).startOffset());
+    }
 
       // All directive have their simulated activity
       final var profiles = hasura.getProfiles(datasetId);
@@ -466,7 +462,7 @@ void schedulingGoalPostsSimResults() throws IOException {
    * and it only has satisfied goals
    */
   @Test
-  void schedulingPostsSimResultsWithSimulation() throws IOException {
+  void schedulingDoesNotPostSimResultsWithSimulation() throws IOException {
     insertActivities();
     insertSatisfyingActivities();
     final int coexistenceGoalId = hasura.createSchedulingSpecGoal(
@@ -475,9 +471,10 @@ void schedulingPostsSimResultsWithSimulation() throws IOException {
         schedulingSpecId,
         0);
     try{
-      hasura.awaitSimulation(planId);
+      final var response = hasura.awaitSimulation(planId);
+      final var simDataset = hasura.getSimulationDataset(response.simDatasetId());
       final var schedulingResults = hasura.awaitScheduling(schedulingSpecId);
-      assertNull(schedulingResults.datasetId());
+      assertEquals(schedulingResults.datasetId(), simDataset.datasetId());
     } finally {
       // Teardown: Delete Goal
       hasura.deleteSchedulingGoal(coexistenceGoalId);

diff --git a/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/SimulationTests.java b/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/SimulationTests.java
@@ -564,7 +564,7 @@ void noDirectiveIdOnDaemon() throws IOException {
       // The trace starts at the original exception and doesn't include the intermediary SimulationException
       final var expectedStart = """
           java.lang.RuntimeException: Daemon task exception raised.
-          \tat gov.nasa.jpl.aerie.foomissionmodel.Mission.lambda$new$1(Mission.java""";
+          \tat gov.nasa.jpl.aerie.foomissionmodel.Mission.lambda$new$0(Mission.java""";
       assertTrue(reason.trace().startsWith(expectedStart));
     }
 

diff --git a/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/types/SimulationDataset.java b/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/types/SimulationDataset.java
@@ -10,7 +10,8 @@ public record SimulationDataset(
     boolean canceled,
     String simStartTime,
     String simEndTime,
-    List<SimulatedActivity> activities) {
+    List<SimulatedActivity> activities,
+    Integer datasetId) {
   public record SimulatedActivity(
       int spanId,
       Integer directiveId,
@@ -58,7 +59,8 @@ public static SimulationDataset fromJSON(JsonObject json) {
         json.getBoolean("canceled"),
         json.getString("simulation_start_time"),
         json.getString("simulation_end_time"),
-        simActivities);
+        simActivities,
+        json.getInt("dataset_id"));
   }
 
   public enum SimulationStatus{ pending, incomplete, failed, success }

diff --git a/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/utils/GQL.java b/e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/utils/GQL.java
@@ -434,6 +434,7 @@ query GetSimulationDataset($id: Int!) {
         status
         reason
         canceled
+        dataset_id
         simulation_start_time
         simulation_end_time
         simulated_activities {
@@ -453,6 +454,7 @@ query GetSimulationDataset($id: Int!) {
         status
         reason
         canceled
+        dataset_id
         simulation_start_time
         simulation_end_time
         simulated_activities {

diff --git a/examples/foo-missionmodel/src/main/java/gov/nasa/jpl/aerie/foomissionmodel/Mission.java b/examples/foo-missionmodel/src/main/java/gov/nasa/jpl/aerie/foomissionmodel/Mission.java
@@ -41,6 +41,8 @@ public final class Mission {
 
   public final TimeTrackerDaemon timeTrackerDaemon = new TimeTrackerDaemon();
 
+  public final Counter<Integer> counter = Counter.ofInteger();
+
   public Mission(final Registrar registrar, final Instant planStart, final Configuration config) {
     this.cachedRegistrar = registrar;
 
@@ -74,13 +76,20 @@ public Mission(final Registrar registrar, final Instant planStart, final Configu
     registrar.real("/simple_data/b/rate", this.simpleData.b.rate);
     registrar.real("/simple_data/total_volume", this.simpleData.totalVolume);
 
+    registrar.discrete("/counter", this.counter, new IntegerValueMapper());
+
     spawn(timeTrackerDaemon::run);
 
-    spawn(() -> { // Register a never-ending daemon task
-      while (true) {
-        ModelActions.delay(Duration.SECOND);
+    spawn(replaying(new Runnable() {
+      @Override
+      public void run() { // Register a never-ending daemon task
+        for (int i = 0; i < 1000; i++) {
+          ModelActions.delay(Duration.SECOND);
+        }
+        counter.add(1);
+        spawn(replaying(this));
       }
-    });
+    }));
 
     if(config.raiseException) {
       spawn(() -> {