Adding EDSL syntax for PersistentTimeAnchor

parsing-utilities/src/main/java/gov/nasa/jpl/aerie/json/Uncurry.java

@@ -45,6 +45,9 @@ public interface Function8<Result, T1, T2, T3, T4, T5, T6, T7, T8> {
     Result apply(T1 t1, T2 t2, T3 t3, T4 t4, T5 t5, T6 t6, T7 t7, T8 t8);
   }
 
+  public interface Function9<Result, T1, T2, T3, T4, T5, T6, T7, T8, T9> {
+    Result apply(T1 t1, T2 t2, T3 t3, T4 t4, T5 t5, T6 t6, T7 t7, T8 t8, T9 t9);
+  }
 
   public static <Result, T1>
   Function<T1, Result>
@@ -129,6 +132,20 @@ public interface Function8<Result, T1, T2, T3, T4, T5, T6, T7, T8> {
         p.getRight());
   }
 
+  public static <Result, T1, T2, T3, T4, T5, T6, T7, T8, T9>
+  Function<Pair<Pair<Pair<Pair<Pair<Pair<Pair<Pair<T1, T2>, T3>, T4>, T5>, T6>, T7>, T8>, T9>, Result>
+  untuple(Function9<Result, T1, T2, T3, T4, T5, T6, T7, T8, T9> f) {
+    return p -> f.apply(
+        p.getLeft().getLeft().getLeft().getLeft().getLeft().getLeft().getLeft().getLeft(),
+        p.getLeft().getLeft().getLeft().getLeft().getLeft().getLeft().getLeft().getRight(),
+        p.getLeft().getLeft().getLeft().getLeft().getLeft().getLeft().getRight(),
+        p.getLeft().getLeft().getLeft().getLeft().getLeft().getRight(),
+        p.getLeft().getLeft().getLeft().getLeft().getRight(),
+        p.getLeft().getLeft().getLeft().getRight(),
+        p.getLeft().getLeft().getRight(),
+        p.getLeft().getRight(),
+        p.getRight());
+  }
 
   public static <T1>
   T1
@@ -177,4 +194,10 @@ public interface Function8<Result, T1, T2, T3, T4, T5, T6, T7, T8> {
   tuple(T1 t1, T2 t2, T3 t3, T4 t4, T5 t5, T6 t6, T7 t7, T8 t8) {
     return tuple(tuple(tuple(tuple(tuple(tuple(tuple(t1, t2), t3), t4), t5), t6), t7), t8);
   }
+
+  public static <T1, T2, T3, T4, T5, T6, T7, T8, T9>
+  Pair<Pair<Pair<Pair<Pair<Pair<Pair<Pair<T1, T2>, T3>, T4>, T5>, T6>, T7>, T8>, T9>
+  tuple(T1 t1, T2 t2, T3 t3, T4 t4, T5 t5, T6 t6, T7 t7, T8 t8, T9 t9) {
+    return tuple(tuple(tuple(tuple(tuple(tuple(tuple(tuple(t1, t2), t3), t4), t5), t6), t7), t8), t9);
+  }
 }

scheduler-server/src/main/java/gov/nasa/jpl/aerie/scheduler/server/models/SchedulingDSL.java

@@ -11,6 +11,7 @@
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import gov.nasa.jpl.aerie.scheduler.TimeUtility;
 import gov.nasa.jpl.aerie.scheduler.constraints.timeexpressions.TimeAnchor;
+import gov.nasa.jpl.aerie.scheduler.model.PersistentTimeAnchor;
 import gov.nasa.jpl.aerie.scheduler.server.http.ActivityTemplateJsonParser;
 import gov.nasa.jpl.aerie.scheduler.server.services.MerlinService;
 import org.apache.commons.lang3.tuple.Pair;
@@ -117,6 +118,7 @@ private static JsonObjectParser<GoalSpecifier.CoexistenceGoalDefinition> coexist
     return
         productP
             .field("activityTemplate", new ActivityTemplateJsonParser(activityTypes))
+            .optionalField("persistentAnchor",enumP(PersistentTimeAnchor.class, Enum::name))
             .optionalField("activityFinder", activityExpressionP)
             .field("alias", stringP)
             .field("forEach", constraintExpressionP)
@@ -131,12 +133,11 @@ private static JsonObjectParser<GoalSpecifier.CoexistenceGoalDefinition> coexist
    */
   @SuppressWarnings("unchecked")
   private static <T1 extends TimingConstraint, T2 extends TimingConstraint>
-  Convert<
-      Pair<Pair<Pair<Pair<Pair<Pair<ActivityTemplate, Optional<ConstraintExpression.ActivityExpression>>, String>, ConstraintExpression>, Optional<T1>>, Optional<T2>>, Boolean>,
-      GoalSpecifier.CoexistenceGoalDefinition>
+  Convert<Pair<Pair<Pair<Pair<Pair<Pair<Pair<ActivityTemplate, Optional<PersistentTimeAnchor>>, Optional<ConstraintExpression.ActivityExpression>>, String>, ConstraintExpression>, Optional<T1>>, Optional<T2>>, Boolean>, GoalSpecifier.CoexistenceGoalDefinition>
   coexistenceGoalTransform() {
     return Convert.between(untuple(GoalSpecifier.CoexistenceGoalDefinition::new), (GoalSpecifier.CoexistenceGoalDefinition $) -> tuple(
         $.activityTemplate(),
+        $.persistentAnchor(),
         $.activityFinder(),
         $.alias,
         $.forEach,
@@ -268,6 +269,7 @@ record RecurrenceGoalDefinition(
     ) implements GoalSpecifier {}
     record CoexistenceGoalDefinition(
         ActivityTemplate activityTemplate,
+        Optional<PersistentTimeAnchor> persistentAnchor,
         Optional<ConstraintExpression.ActivityExpression> activityFinder,
         String alias,
         ConstraintExpression forEach,

scheduler-worker/scheduling-dsl-compiler/src/libs/scheduler-edsl-fluent-api.ts

@@ -6,7 +6,8 @@
  */
 
 import * as AST from "./scheduler-ast.js";
-import  * as WindowsEDSL from "./constraints-edsl-fluent-api.js";
+import {PersistentTimeAnchor} from "./scheduler-ast.js";
+import * as WindowsEDSL from "./constraints-edsl-fluent-api.js";
 import {ActivityInstance} from "./constraints-edsl-fluent-api.js";
 import * as ConstraintsAST from "./constraints-ast.js";
 import {makeArgumentsDiscreteProfiles} from "./scheduler-mission-model-generated-code";
@@ -387,6 +388,7 @@ export class Goal {
     activityFinder?: ActivityExpression<B>
   } | {
     activityTemplate: (( span: ActivityInstance<T> ) => ActivityTemplate<S>) | ActivityTemplate<S>,
+    persistentAnchor?: PersistentTimeAnchor,
     forEach:  ActivityExpression<T>,
     activityFinder?: ActivityExpression<B>
   }) & CoexistenceGoalTimingConstraints): Goal {
@@ -424,10 +426,19 @@ export class Goal {
       activityTemplate = opts.activityTemplate;
     }
 
+    let PersistentAnchortmp: PersistentTimeAnchor;
+
+    if ((opts as {persistentAnchor: PersistentTimeAnchor}).persistentAnchor !== undefined)
+      PersistentAnchortmp = (opts as {persistentAnchor: PersistentTimeAnchor}).persistentAnchor;
+    else
+      PersistentAnchortmp = PersistentTimeAnchor.DISABLED;
+
+
     return Goal.new({
       kind: AST.NodeKind.ActivityCoexistenceGoal,
       alias: alias,
       activityTemplate: activityTemplate,
+      persistentAnchor: PersistentAnchortmp,
       activityFinder: opts.activityFinder?.__astNode,
       forEach: localForEach.__astNode,
       startConstraint: (("startsAt" in opts) ? opts.startsAt.__astNode : ("startsWithin" in opts) ? opts.startsWithin.__astNode : undefined),
@@ -817,15 +828,16 @@ declare global {
      * The CoexistenceGoal places one activity (defined by activityTemplate) per window (defined by forEach).
      * The activity is placed such that it starts at (startsAt) or ends at (endsAt) a certain offset from the window
      */
-    public static CoexistenceGoal <
+    public static CoexistenceGoal<
         T extends WindowsEDSL.Gen.ActivityType,
         S extends WindowsEDSL.Gen.ActivityType,
         B extends WindowsEDSL.Gen.ActivityType>(opts: ({
       activityTemplate: (( interval: WindowsEDSL.Interval ) => ActivityTemplate<S>) | ActivityTemplate<S>,
-      forEach:  WindowsEDSL.Windows,
+      forEach:  WindowsEDSL.Windows | WindowsEDSL.Interval | Temporal.Instant,
       activityFinder?: ActivityExpression<B>
     } | {
       activityTemplate: (( span: ActivityInstance<T> ) => ActivityTemplate<S>) | ActivityTemplate<S>,
+      persistentAnchor?: PersistentTimeAnchor,
       forEach:  ActivityExpression<T>,
       activityFinder?: ActivityExpression<B>
     }) & CoexistenceGoalTimingConstraints): Goal
@@ -899,6 +911,7 @@ declare global {
   var WindowProperty: typeof AST.WindowProperty
   var Operator: typeof AST.TimingConstraintOperator
   var ActivityTypes: typeof WindowsEDSL.Gen.ActivityType
+  var PersistentTimeAnchor: typeof AST.PersistentTimeAnchor
 
   type Double = number;
   type Integer = number;
@@ -923,6 +936,7 @@ Object.assign(globalThis,
       GlobalSchedulingCondition,
       Goal,
       ActivityExpression,
+      PersistentTimeAnchor: AST.PersistentTimeAnchor,
       TimingConstraint: TimingConstraint,
       WindowProperty: AST.WindowProperty,
       Operator: AST.TimingConstraintOperator,