Prototype/incremental sim

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/DiscreteProfile.java

@@ -164,6 +164,7 @@ private static <T> DiscreteProfile fromProfileHelper(
       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(

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/SimulationResults.java

@@ -34,22 +34,22 @@ public SimulationResults(
   }
 
   public SimulationResults(
-      gov.nasa.jpl.aerie.merlin.driver.SimulationResults merlinResults
+      gov.nasa.jpl.aerie.merlin.driver.SimulationResultsInterface merlinResults
   ) {
-    this.planStart = merlinResults.startTime;
-    this.bounds = Interval.between(Duration.ZERO, merlinResults.duration);
+    this.planStart = merlinResults.getStartTime();
+    this.bounds = Interval.between(Duration.ZERO, merlinResults.getDuration());
     this.activities = new ArrayList<>();
     this.realProfiles = new HashMap<>();
     this.discreteProfiles = new HashMap<>();
 
-    for(final var entry : merlinResults.realProfiles.entrySet()) {
+    for(final var entry : merlinResults.getRealProfiles().entrySet()) {
       realProfiles.put(entry.getKey(), LinearProfile.fromSimulatedProfile(entry.getValue().segments()));
     }
-    for(final var entry : merlinResults.discreteProfiles.entrySet()) {
+    for(final var entry : merlinResults.getDiscreteProfiles().entrySet()) {
       discreteProfiles.put(entry.getKey(), DiscreteProfile.fromSimulatedProfile(entry.getValue().segments()));
     }
 
-    final var simulatedActivities = merlinResults.simulatedActivities;
+    final var simulatedActivities = merlinResults.getSimulatedActivities();
     for (final var entry : simulatedActivities.entrySet()) {
       final var id = entry.getKey();
       final var activity = entry.getValue();

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/model/Violation.java

@@ -13,14 +13,14 @@ public Violation(List<Interval> windows, List<Long> activityInstanceIds) {
     this(windows, new ArrayList<>(activityInstanceIds));
   }
 
-  public static List<Violation> fromProceduralViolations(Violations violations, gov.nasa.jpl.aerie.merlin.driver.SimulationResults simResults) {
+  public static List<Violation> fromProceduralViolations(Violations violations, gov.nasa.jpl.aerie.merlin.driver.SimulationResultsInterface simResults) {
     final var proceduralViolations = violations.collect();
     final ArrayList<Violation> constraintViolations = new ArrayList<>(proceduralViolations.size());
     for(final var v : proceduralViolations) {
       final List<Long> activityInstanceIds = new ArrayList<>(v.getIds().size());
       for(final var id : v.getIds()) {
         switch (id) {
-          case ActivityDirectiveId dId -> simResults.simulatedActivities
+          case ActivityDirectiveId dId -> simResults.getSimulatedActivities()
                                                     .entrySet()
                                                     .stream()
                                                     .filter(e -> e.getValue().directiveId().isPresent()
@@ -31,7 +31,7 @@ public static List<Violation> fromProceduralViolations(Violations violations, go
                                                                          "Activity instance with activity directive id "
                                                                          +dId.id()+" not present in simulation results.");});
           case ActivityInstanceId aId -> {
-            if (simResults.simulatedActivities.containsKey(aId)) {
+            if (simResults.getSimulatedActivities().containsKey(aId)) {
               activityInstanceIds.add(aId.id());
               break;
             }

contrib/build.gradle

@@ -18,6 +18,9 @@ test {
   testLogging {
     exceptionFormat = 'full'
   }
+  if (project.hasProperty('excludeTests')) {
+    exclude project.property('excludeTests')
+  }
 }
 
 jacocoTestReport {

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/cells/counters/CounterCell.java

@@ -39,6 +39,15 @@ public T getValue() {
     return this.duplicator.apply(this.value);
   }
 
+  @Override
+  public String toString() {
+    return "CounterCell{" +
+           "duplicator=" + duplicator +
+           ", adder=" + adder +
+           ", value=" + value +
+           '}';
+  }
+
   public static final class CounterCellType<T> implements CellType<T, CounterCell<T>> {
     private final EffectTrait<T> monoid;
 

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/cells/durative/DurativeRealCell.java

@@ -45,6 +45,14 @@ public RealDynamics getValue() {
     return dynamics;
   }
 
+  @Override
+  public String toString() {
+    return "DurativeRealCell{" +
+           "activeEffects=" + activeEffects +
+           ", elapsedTime=" + elapsedTime +
+           '}';
+  }
+
   public static final class DurativeCellType
       implements CellType<Collection<Pair<Duration, RealDynamics>>, DurativeRealCell>
   {

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/cells/linear/LinearIntegrationCell.java

@@ -6,6 +6,7 @@
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import gov.nasa.jpl.aerie.merlin.protocol.types.RealDynamics;
 
+import java.util.Objects;
 import java.util.function.Function;
 
 public final class LinearIntegrationCell {
@@ -42,6 +43,32 @@ public RealDynamics getRate() {
     return RealDynamics.constant(this.rate);
   }
 
+  @Override
+  public boolean equals(final Object o) {
+    if (this == o) return true;
+    if (o == null || getClass() != o.getClass()) return false;
+    LinearIntegrationCell that = (LinearIntegrationCell) o;
+    return Double.compare(initialVolume, that.initialVolume) == 0
+           && Double.compare(
+        accumulatedVolume,
+        that.accumulatedVolume) == 0
+           && Double.compare(rate, that.rate) == 0;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(initialVolume, accumulatedVolume, rate);
+  }
+
+  @Override
+  public String toString() {
+    return "LinearIntegrationCell{" +
+           "initialVolume=" + initialVolume +
+           ", accumulatedVolume=" + accumulatedVolume +
+           ", rate=" + rate +
+           '}';
+  }
+
   public static final class LinearIntegrationCellType
       implements CellType<LinearAccumulationEffect, LinearIntegrationCell>
   {

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/cells/register/RegisterCell.java

@@ -39,7 +39,7 @@ public boolean isConflicted() {
 
   @Override
   public String toString() {
-    return "{value=%s, conflicted=%s}".formatted(this.getValue(), this.isConflicted());
+    return "RegisterCell{value=%s, conflicted=%s}".formatted(this.getValue(), this.isConflicted());
   }
 
   public static final class RegisterCellType<T> implements CellType<RegisterEffect<T>, RegisterCell<T>> {

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

@@ -39,6 +39,13 @@ public boolean equals(final Object obj) {
     return super.equals(obj);
   }
 
+  @Override
+  public String toString() {
+    return "Accumulator{" +
+           "ref=" + ref.get() +
+           ", rate=" + rate.get() +
+           '}';
+  }
 
   public final class Rate implements RealResource {
     @Override

docker-compose.yml

@@ -43,7 +43,7 @@ services:
       AERIE_DB_PORT: 5432
       GATEWAY_DB_USER: "${GATEWAY_USERNAME}"
       GATEWAY_DB_PASSWORD: "${GATEWAY_PASSWORD}"
-    image: "ghcr.io/nasa-ammos/aerie-gateway:develop"
+    image: "ghcr.io/nasa-ammos/aerie-gateway:v3.0.1"
     ports: ["9000:9000"]
     restart: always
     volumes:
@@ -74,6 +74,7 @@ services:
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_scheduler:
     build:
       context: ./scheduler-server
@@ -98,6 +99,7 @@ services:
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_sequencing:
     build:
       context: ./sequencing-server
@@ -129,6 +131,7 @@ services:
     volumes:
       - ./sequencing-server:/app:cached
       - aerie_file_store:/usr/src/app/sequencing_file_store
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_ui:
     container_name: aerie_ui
     depends_on: ["postgres"]
@@ -142,7 +145,7 @@ services:
       PUBLIC_HASURA_SERVER_URL: http://hasura:8080/v1/graphql
       PUBLIC_HASURA_WEB_SOCKET_URL: ws://localhost:8080/v1/graphql
       PUBLIC_COMMAND_EXPANSION_MODE: "typescript"
-    image: "ghcr.io/nasa-ammos/aerie-ui:develop"
+    image: "ghcr.io/nasa-ammos/aerie-ui:v3.0.1"
     ports: ["80:80"]
     restart: always
   aerie_merlin_worker_1:
@@ -163,12 +166,15 @@ services:
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG
         -Dorg.slf4j.simpleLogger.log.com.zaxxer.hikari=INFO
         -Dorg.slf4j.simpleLogger.logFile=System.err
-      UNTRUE_PLAN_START: "2000-01-01T11:58:55.816Z"
+        -Xmx34g
+      #UNTRUE_PLAN_START: "${UNTRUE_PLAN_START:-2030-01-01T00:00:00Z}"
+      UNTRUE_PLAN_START: "${UNTRUE_PLAN_START:-2030-01-01T00:00:00Z}"
     image: "aerie_merlin_worker_1"
     ports: ["5007:5005", "27187:8080"]
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store:ro
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_merlin_worker_2:
     build:
       context: ./merlin-worker
@@ -187,12 +193,15 @@ services:
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG
         -Dorg.slf4j.simpleLogger.log.com.zaxxer.hikari=INFO
         -Dorg.slf4j.simpleLogger.logFile=System.err
-      UNTRUE_PLAN_START: "2000-01-01T11:58:55.816Z"
+        -Xmx34g
+      #UNTRUE_PLAN_START: "${UNTRUE_PLAN_START:-2030-01-01T00:00:00Z}"
+      UNTRUE_PLAN_START: "${UNTRUE_PLAN_START:-2030-01-01T00:00:00Z}"
     image: "aerie_merlin_worker_2"
     ports: ["5008:5005", "27188:8080"]
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store:ro
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_scheduler_worker_1:
     build:
       context: ./scheduler-worker
@@ -214,11 +223,13 @@ services:
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG
         -Dorg.slf4j.simpleLogger.log.com.zaxxer.hikari=INFO
         -Dorg.slf4j.simpleLogger.logFile=System.err
+        -Xmx35g
     image: "aerie_scheduler_worker_1"
     ports: ["5009:5005", "27189:8080"]
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store:ro
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   aerie_scheduler_worker_2:
     build:
       context: ./scheduler-worker
@@ -240,11 +251,13 @@ services:
         -Dorg.slf4j.simpleLogger.defaultLogLevel=DEBUG
         -Dorg.slf4j.simpleLogger.log.com.zaxxer.hikari=INFO
         -Dorg.slf4j.simpleLogger.logFile=System.err
+        -Xmx35g
     image: "aerie_scheduler_worker_2"
     ports: ["5010:5005", "27190:8080"]
     restart: always
     volumes:
       - aerie_file_store:/usr/src/app/merlin_file_store:ro
+      - ${SPICE_KERNEL_PATH:?err}:/usr/src/spice
   hasura:
     container_name: aerie_hasura
     depends_on: ["postgres"]

examples/banananation/build.gradle

@@ -12,6 +12,7 @@ java {
 
 test {
   useJUnitPlatform()
+  maxHeapSize = "8g"
   testLogging {
     exceptionFormat = 'full'
   }

examples/banananation/src/main/java/gov/nasa/jpl/aerie/banananation/Configuration.java

@@ -8,7 +8,7 @@
 
 import static gov.nasa.jpl.aerie.merlin.framework.annotations.Export.Template;
 
-public record Configuration(@Unit("count") int initialPlantCount, String initialProducer, Path initialDataPath, InitialConditions initialConditions) {
+public record Configuration(@Unit("count") int initialPlantCount, String initialProducer, Path initialDataPath, InitialConditions initialConditions, boolean runDaemons) {
 
   public static final int DEFAULT_PLANT_COUNT = 200;
   public static final String DEFAULT_PRODUCER = "Chiquita";
@@ -30,7 +30,11 @@ public boolean validateInitialDataPath() {
   }
 
   public static @Template Configuration defaultConfiguration() {
-    return new Configuration(DEFAULT_PLANT_COUNT, DEFAULT_PRODUCER, DEFAULT_DATA_PATH, DEFAULT_INITIAL_CONDITIONS);
+    return new Configuration(DEFAULT_PLANT_COUNT, DEFAULT_PRODUCER, DEFAULT_DATA_PATH, DEFAULT_INITIAL_CONDITIONS, false);
+  }
+
+  public static @Template Configuration daemonConfiguration() {
+    return new Configuration(DEFAULT_PLANT_COUNT, DEFAULT_PRODUCER, DEFAULT_DATA_PATH, DEFAULT_INITIAL_CONDITIONS, true);
   }
 
   @AutoValueMapper.Record

examples/banananation/src/main/java/gov/nasa/jpl/aerie/banananation/Mission.java

@@ -1,5 +1,8 @@
 package gov.nasa.jpl.aerie.banananation;
 
+import gov.nasa.jpl.aerie.banananation.activities.BiteBananaActivity;
+import gov.nasa.jpl.aerie.banananation.activities.GrowBananaActivity;
+import gov.nasa.jpl.aerie.banananation.generated.ActivityActions;
 import gov.nasa.jpl.aerie.contrib.models.Accumulator;
 import gov.nasa.jpl.aerie.contrib.models.Register;
 import gov.nasa.jpl.aerie.contrib.models.counters.Counter;
@@ -8,7 +11,9 @@
 import gov.nasa.jpl.aerie.contrib.serialization.mappers.EnumValueMapper;
 import gov.nasa.jpl.aerie.contrib.serialization.mappers.IntegerValueMapper;
 import gov.nasa.jpl.aerie.contrib.serialization.mappers.StringValueMapper;
+import gov.nasa.jpl.aerie.merlin.framework.ModelActions;
 import gov.nasa.jpl.aerie.merlin.framework.Registrar;
+import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import gov.nasa.jpl.aerie.spice.SpiceLoader;
 import spice.basic.CSPICE;
 import spice.basic.SpiceErrorException;
@@ -17,6 +22,8 @@
 import java.nio.file.Files;
 import java.nio.file.Path;
 
+import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.SECOND;
+import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.SECONDS;
 import static gov.nasa.jpl.aerie.contrib.metadata.UnitRegistrar.discreteResource;
 import static gov.nasa.jpl.aerie.contrib.metadata.UnitRegistrar.realResource;
 
@@ -49,10 +56,31 @@ public Mission(final Registrar registrar, final Configuration config) {
     // Load SPICE in the Mission constructor
     try {
       SpiceLoader.loadSpice();
-      System.out.println(CSPICE.ktotal("ALL"));
+      System.out.println(this.getClass().getCanonicalName() + ": CSPICE.ktotal(\"ALL\") = " + CSPICE.ktotal("ALL"));
     } catch (final SpiceErrorException ex) {
       throw new Error(ex);
     }
+
+    if (config.runDaemons()) {
+      ModelActions.spawn(
+          "grow bananas",
+          () -> {
+            while (true) {
+              if (fruit.get() < 6) {
+                ActivityActions.spawn(this, new GrowBananaActivity(1, Duration.of(1, SECOND)));
+              }
+              ModelActions.delay(2, SECONDS);
+            }
+          });
+      ModelActions.spawn(
+          "bite bananas",
+          () -> {
+            while (true) {
+              ModelActions.waitUntil(fruit.isBetween(6, 10));
+              ActivityActions.spawn(this, new BiteBananaActivity());
+            }
+          });
+    }
   }
 
   private static int countLines(final Path path) {