Procedural Scheduling

.github/scripts/compareDatabasesDown.sh

@@ -13,6 +13,7 @@ PGCBADEXPLAIN=./comparison/badexplanations.txt \
 PGDB=postgres \
 PGBINDIR=/usr/bin \
 PGCOMITSCHEMAS="('hdb_catalog'),('pg_catalog'),('information_schema')" \
+PGCEXPLANATIONS=./explanations \
 ./pgcmp
 return_code=$?
 

.github/scripts/explanations

@@ -0,0 +1,2 @@
+trigger	scheduler	scheduler.scheduling_goal_definition."notify_hasura_refreshSchedulingProcedureParameterTypes_INSERT"/"INSERT"	missing in 1st DB	From_RefreshSchedProcParm_Action	2
+trigger	scheduler	scheduler.scheduling_goal_definition."notify_hasura_refreshSchedulingProcedureParameterTypes_UPDATE"/"UPDATE"	missing in 1st DB	From_RefreshSchedProcParm_Action	2

.github/workflows/deploy-to-gh-pages.yml

@@ -31,6 +31,8 @@ jobs:
           cp -a ./scheduler-worker/scheduling-dsl-compiler/build/docs ./build/scheduling-edsl-api
       - name: Build Java Docs
         run: ./gradlew javadoc
+      - name: Build Kotlin Docs
+        run: ./gradlew dokkaHtmlMultiModule
       - name: Copy Java Docs to Build Directory
         run: |
           cp -a ./constraints/build/docs/javadoc ./build/javadoc/constraints
@@ -50,6 +52,7 @@ jobs:
           cp -a ./scheduler-driver/build/docs/javadoc ./build/javadoc/scheduler-driver
           cp -a ./scheduler-server/build/docs/javadoc ./build/javadoc/scheduler-server
           cp -a ./scheduler-worker/build/docs/javadoc ./build/javadoc/scheduler-worker
+          cp -a ./procedural/build/dokka/htmlMultiModule ./build/dokka/procedural-apis
       - name: Upload Artifact
         uses: actions/upload-pages-artifact@v3
         with:

.github/workflows/pgcmp.yml

@@ -271,6 +271,7 @@ jobs:
       - name: Compare Databases
         id: dbcmp
         run: |
+          cp ./.github/scripts/explanations pgcmp
           cp ./.github/scripts/compareDatabasesUp.sh pgcmp/compareDatabases.sh
           cd pgcmp
           ./compareDatabases.sh
@@ -332,6 +333,7 @@ jobs:
       - name: Compare Databases
         id: dbcmp
         run: |
+          cp ./.github/scripts/explanations pgcmp
           cp ./.github/scripts/compareDatabasesDown.sh pgcmp/compareDatabases.sh
           cd pgcmp
           ./compareDatabases.sh

.github/workflows/test.yml

@@ -77,6 +77,8 @@ jobs:
         uses: gradle/actions/setup-gradle@v3
       - name: Assemble
         run: ./gradlew assemble --parallel
+      - name: Build scheduling procedure jars for testing
+        run: ./gradlew procedural:examples:foo-procedures:buildAllSchedulingProcedureJars
       - name: Start Services
         run: |
           docker compose -f ./e2e-tests/docker-compose-test.yml up -d --build

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

@@ -1,7 +1,7 @@
 package gov.nasa.jpl.aerie.constraints.model;
 
 import gov.nasa.jpl.aerie.constraints.time.Interval;
-import gov.nasa.jpl.aerie.merlin.driver.ActivityInstanceId;
+import gov.nasa.jpl.aerie.types.ActivityInstanceId;
 import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
 import gov.nasa.jpl.aerie.types.ActivityDirectiveId;
 

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/time/Interval.java

@@ -1,9 +1,7 @@
 package gov.nasa.jpl.aerie.constraints.time;
 
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
-import org.apache.commons.lang3.tuple.Pair;
 
-import java.util.Comparator;
 import java.util.Objects;
 
 import static gov.nasa.jpl.aerie.constraints.time.Interval.Inclusivity.Exclusive;
@@ -265,7 +263,7 @@ public boolean contains(Interval x){
   }
 
   public boolean isSingleton(){
-    return this.start.isEqualTo(this.end);
+    return this.start.equals(this.end);
   }
 
   public static Interval betweenClosedOpen(final Duration start, final Duration end) {
@@ -286,7 +284,7 @@ public int compareTo(final Interval o) {
 
   public static int compareStartToStart(final Interval x, final Interval y) {
     // First, order by absolute time.
-    if (!x.start.isEqualTo(y.start)) {
+    if (!x.start.equals(y.start)) {
       return x.start.compareTo(y.start);
     }
 
@@ -300,7 +298,7 @@ public static int compareStartToStart(final Interval x, final Interval y) {
 
   public static int compareEndToEnd(final Interval x, final Interval y) {
     // First, order by absolute time.
-    if (!x.end.isEqualTo(y.end)) {
+    if (!x.end.equals(y.end)) {
       return x.end.compareTo(y.end);
     }
 
@@ -348,7 +346,7 @@ public static int compareEndToStart(final Interval x, final Interval y) {
   }
 
   public static boolean meets(final Interval x, final Interval y) {
-    return (x.end.isEqualTo(y.start)) && (x.endInclusivity != y.startInclusivity);
+    return (x.end.equals(y.start)) && (x.endInclusivity != y.startInclusivity);
   }
 
   public static boolean metBy(final Interval x, final Interval y) {

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/time/IntervalAlgebra.java

@@ -111,7 +111,7 @@ public static Interval strictUpperBoundsOf(final Interval x) {
    */
   public static boolean startBeforeStart(Interval x, Interval y) {
     return x.start.shorterThan(y.start) ||
-           (x.start.isEqualTo(y.start) && (x.includesStart() && !y.includesStart()));
+           (x.start.equals(y.start) && (x.includesStart() && !y.includesStart()));
   }
 
   /**
@@ -123,7 +123,7 @@ public static boolean startBeforeStart(Interval x, Interval y) {
    */
   public static boolean endBeforeStart(Interval x, Interval y) {
     return x.end.shorterThan(y.start) ||
-           (x.end.isEqualTo(y.start) && (!x.includesEnd() || !y.includesStart()));
+           (x.end.equals(y.start) && (!x.includesEnd() || !y.includesStart()));
   }
 
   /**
@@ -135,7 +135,7 @@ public static boolean endBeforeStart(Interval x, Interval y) {
    */
   public static boolean endBeforeEnd(Interval x, Interval y) {
     return x.end.shorterThan(y.end) ||
-           (x.end.isEqualTo(y.end) && (!x.includesEnd() && y.includesEnd()));
+           (x.end.equals(y.end) && (!x.includesEnd() && y.includesEnd()));
   }
 
   /**
@@ -265,7 +265,7 @@ static boolean startsStrictlyAfter(Interval x, Interval y) {
   static boolean endsStrictlyBefore(Interval x, Interval y) {
     if (x.isEmpty() || y.isEmpty()) return false;
     return x.end.shorterThan(y.start) ||
-           (x.end.isEqualTo(y.start) && (!x.includesEnd() && !y.includesStart()));
+           (x.end.equals(y.start) && (!x.includesEnd() && !y.includesStart()));
   }
 
   /**
@@ -277,7 +277,7 @@ static boolean endsStrictlyBefore(Interval x, Interval y) {
    */
   static boolean meets(Interval x, Interval y) {
     if (x.isEmpty() || y.isEmpty()) return false;
-    return x.end.isEqualTo(y.start) && (x.endInclusivity != y.startInclusivity);
+    return x.end.equals(y.start) && (x.endInclusivity != y.startInclusivity);
   }
 
   /**

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/time/IntervalMap.java

@@ -3,7 +3,6 @@
 import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
 import org.apache.commons.lang3.function.TriFunction;
 
-import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collection;
 import java.util.Iterator;
@@ -84,7 +83,7 @@ private static <V> boolean invariantsMet(Iterable<Segment<V>> segments) {
       if (segment.interval().isEmpty() ||
           (oldSegment != null &&
            (!endBeforeStart(oldSegment.interval(), segment.interval()) ||
-            (segment.interval().start.isEqualTo(oldSegment.interval().end) && Objects.equals(segment.value(), oldSegment.value()))))) {
+            (segment.interval().start.equals(oldSegment.interval().end) && Objects.equals(segment.value(), oldSegment.value()))))) {
         segmentsOkay = false;
         break;
       }
@@ -324,7 +323,7 @@ IntervalMap<R> map2(
       if (!leftDone && (!leftGetNext || leftIter.hasNext())) {
         if (leftGetNext) leftNextDefinedSegment = leftIter.next();
         leftGetNext = false;
-        if (leftNextDefinedSegment.interval().start.shorterThan(startTime) || (leftNextDefinedSegment.interval().start.isEqualTo(startTime) && !leftNextDefinedSegment.interval().startInclusivity.moreRestrictiveThan(startInclusivity))) {
+        if (leftNextDefinedSegment.interval().start.shorterThan(startTime) || (leftNextDefinedSegment.interval().start.equals(startTime) && !leftNextDefinedSegment.interval().startInclusivity.moreRestrictiveThan(startInclusivity))) {
           leftInterval = leftNextDefinedSegment.interval();
           leftValue = Optional.of(leftNextDefinedSegment.value());
           leftGetNext = true;
@@ -345,7 +344,7 @@ IntervalMap<R> map2(
       if (!rightDone && (!rightGetNext || rightIter.hasNext())) {
         if (rightGetNext) rightNextDefinedSegment = rightIter.next();
         rightGetNext = false;
-        if (rightNextDefinedSegment.interval().start.shorterThan(startTime) || (rightNextDefinedSegment.interval().start.isEqualTo(startTime) && !rightNextDefinedSegment.interval().startInclusivity.moreRestrictiveThan(startInclusivity))) {
+        if (rightNextDefinedSegment.interval().start.shorterThan(startTime) || (rightNextDefinedSegment.interval().start.equals(startTime) && !rightNextDefinedSegment.interval().startInclusivity.moreRestrictiveThan(startInclusivity))) {
           rightInterval = rightNextDefinedSegment.interval();
           rightValue = Optional.of(rightNextDefinedSegment.value());
           rightGetNext = true;
@@ -363,7 +362,7 @@ IntervalMap<R> map2(
         rightValue = Optional.empty();
       }
 
-      if (leftInterval.end.isEqualTo(rightInterval.end)) {
+      if (leftInterval.end.equals(rightInterval.end)) {
         endTime = leftInterval.end;
         if (leftInterval.includesEnd() && rightInterval.includesEnd()) {
           endInclusivity = Inclusive;

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/streamline/core/Resources.java

@@ -268,7 +268,7 @@ public static <D extends Dynamics<?, D>> Resource<D> shift(Resource<D> resource,
     if (interval.shorterThan(ZERO)) {
       throw new IllegalArgumentException("Cannot shift resource by negative interval: " + interval);
     }
-    if (interval.isEqualTo(ZERO)) {
+    if (interval.equals(ZERO)) {
       return resource;
     }
     var cell = resource(initialDynamics);

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/streamline/modeling/polynomial/Polynomial.java

@@ -10,15 +10,12 @@
 import org.apache.commons.math3.complex.Complex;
 
 import java.util.Arrays;
-import java.util.Optional;
 import java.util.function.BiPredicate;
-import java.util.function.DoublePredicate;
 import java.util.function.Predicate;
 import java.util.stream.Stream;
 
 import static gov.nasa.jpl.aerie.contrib.streamline.core.Expiring.expiring;
 import static gov.nasa.jpl.aerie.contrib.streamline.core.Expiry.NEVER;
-import static gov.nasa.jpl.aerie.contrib.streamline.core.Expiry.expiry;
 import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.EPSILON;
 import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.SECOND;
 import static gov.nasa.jpl.aerie.contrib.streamline.modeling.discrete.Discrete.discrete;
@@ -64,7 +61,7 @@ public Double extract() {
 
   @Override
   public Polynomial step(Duration t) {
-    return t.isEqualTo(ZERO) ? this : polynomial(shift(coefficients(), t.ratioOver(SECOND)));
+    return t.equals(ZERO) ? this : polynomial(shift(coefficients(), t.ratioOver(SECOND)));
   }
 
   public int degree() {