Expose mission model to procedures

Author: JoelCourtney

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

@@ -3,7 +3,7 @@
 import gov.nasa.jpl.aerie.merlin.framework.resources.NameableResource;
 
 public abstract class NamedResource<D> implements NameableResource<D> {
-  private String name = "";
+  private String name = "ERROR: Name was not set during model construction";
 
   @Override
   public String getName() {

e2e-tests/build.gradle

@@ -64,6 +64,7 @@ dependencies {
   implementation project(':merlin-sdk')
   implementation project(':type-utils')
   implementation project(':contrib')
+  compileOnly project(':examples:banananation')
 
   testImplementation "com.zaxxer:HikariCP:5.1.0"
   testImplementation("org.postgresql:postgresql:42.6.0")

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/ModelIntegrationTests.java

@@ -0,0 +1,57 @@
+package gov.nasa.jpl.aerie.e2e.procedural.scheduling;
+
+import gov.nasa.jpl.aerie.e2e.types.GoalInvocationId;
+import gov.nasa.jpl.aerie.e2e.utils.GatewayRequests;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import javax.json.Json;
+import javax.json.JsonValue;
+import java.io.IOException;
+import java.util.Objects;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+public class ModelIntegrationTests extends ProceduralSchedulingSetup {
+  private int procedureJarId;
+  private GoalInvocationId procedureId;
+
+  @BeforeEach
+  void localBeforeEach() throws IOException {
+    try (final var gateway = new GatewayRequests(playwright)) {
+      procedureJarId = gateway.uploadJarFile("build/libs/ModelIntegrationGoal.jar");
+      // Add Scheduling Procedure
+      procedureId = hasura.createSchedulingSpecProcedure(
+          "Test Scheduling Procedure",
+          procedureJarId,
+          specId,
+          0
+      );
+    }
+  }
+
+  @AfterEach
+  void localAfterEach() throws IOException {
+    hasura.deleteSchedulingGoal(procedureId.goalId());
+  }
+
+  @Test
+  void testModelIntegration() throws IOException {
+    hasura.insertActivityDirective(
+        planId,
+        "ChangeProducer",
+        "1h",
+        Json.createObjectBuilder().add("producer", Json.createValue("p")).build()
+    );
+    hasura.updatePlanRevisionSchedulingSpec(planId);
+
+    hasura.awaitScheduling(specId);
+
+    final var plan = hasura.getPlan(planId);
+    final var activities = plan.activityDirectives();
+
+    assertEquals(2, activities.size());
+  }
+}

merlin-driver/src/main/java/gov/nasa/jpl/aerie/merlin/driver/MissionModelLoader.java

@@ -66,7 +66,8 @@ public static MerlinPlugin loadMissionModelProvider(final Path path, final Strin
         final var className = getImplementingClassName(path, name, version);
 
         // Construct a ClassLoader with access to classes in the mission model location.
-        final var classLoader = new URLClassLoader(new URL[] {missionModelPathToUrl(path)});
+        final var parentClassLoader = Thread.currentThread().getContextClassLoader();
+        final var classLoader = new URLClassLoader(new URL[] {missionModelPathToUrl(path)}, parentClassLoader);
 
         try {
             final var pluginClass$ = classLoader.loadClass(className);

merlin-server/src/main/java/gov/nasa/jpl/aerie/merlin/server/models/ProcedureLoader.java

@@ -15,7 +15,8 @@ public static ProcedureMapper<?> loadProcedure(final Path path)
   throws ProcedureLoadException
   {
     final var className = getImplementingClassName(path);
-    final var classLoader = new URLClassLoader(new URL[] {pathToUrl(path)});
+    final var parentClassLoader = Thread.currentThread().getContextClassLoader();
+    final var classLoader = new URLClassLoader(new URL[] {pathToUrl(path)}, parentClassLoader);
 
     try {
       final var pluginClass$ = classLoader.loadClass(className);

procedural/examples/banana-procedures/build.gradle

@@ -24,6 +24,8 @@ dependencies {
   implementation project(':type-utils')
   implementation project(':contrib')
 
+  implementation project(":examples:banananation")
+
   testImplementation 'org.junit.jupiter:junit-jupiter-engine:5.10.0'
   testImplementation project(':procedural:utils')
   testImplementation project(':orchestration-utils')

procedural/examples/banana-procedures/src/main/java/gov/nasa/ammos/aerie/procedural/examples/bananaprocedures/procedures/SimulationDemo.java

@@ -1,25 +1,26 @@
 package gov.nasa.ammos.aerie.procedural.examples.bananaprocedures.procedures;
 
+import gov.nasa.ammos.aerie.procedural.timeline.util.WithModel;
+import gov.nasa.jpl.aerie.banananation.Mission;
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
 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.collections.profiles.Real;
 import gov.nasa.ammos.aerie.procedural.timeline.payloads.activities.DirectiveStart;
 import org.jetbrains.annotations.NotNull;
 
 import java.util.Map;
 
 @SchedulingProcedure
-public record SimulationDemo(int quantity) implements Goal {
+public record SimulationDemo(int quantity) implements Goal, WithModel<Mission> {
   @Override
   public void run(@NotNull final EditablePlan plan) {
 
     var simResults = plan.latestResults();
     if (simResults == null) simResults = plan.simulate();
 
-    final var lowFruit = simResults.resource("/fruit", Real.deserializer()).lessThan(3.5).isolateTrue();
+    final var lowFruit = simResults.resource(model().fruit).lessThan(3.5).isolateTrue();
     final var bites = simResults.instances("BiteBanana");
 
     final var connections = lowFruit.starts().shift(Duration.MINUTE.negate())

procedural/timeline/src/main/kotlin/gov/nasa/ammos/aerie/procedural/timeline/util/WithModel.kt

@@ -0,0 +1,16 @@
+package gov.nasa.ammos.aerie.procedural.timeline.util
+
+interface WithModel<M> {
+  @Suppress("unchecked_cast")
+  fun model(): M {
+    if (modelSingleton == null) {
+      throw IllegalStateException("modelSingleton was not initialized.")
+    }
+
+    return modelSingleton as M
+  }
+
+  companion object {
+    @JvmStatic var modelSingleton: Any? = null
+  }
+}

scheduler-driver/src/main/java/gov/nasa/jpl/aerie/scheduler/ProcedureLoader.java

@@ -15,7 +15,8 @@ public static ProcedureMapper<?> loadProcedure(final Path path)
   throws ProcedureLoadException
   {
     final var className = getImplementingClassName(path);
-    final var classLoader = new URLClassLoader(new URL[] {pathToUrl(path)});
+    final var parentClassLoader = Thread.currentThread().getContextClassLoader();
+    final var classLoader = new URLClassLoader(new URL[] {pathToUrl(path)}, parentClassLoader);
 
     try {
       final var pluginClass$ = classLoader.loadClass(className);