Add InstantClock and VariableInstantClock support #1589
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,19 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.Dynamics; | ||
| import gov.nasa.jpl.aerie.merlin.protocol.types.Duration; | ||
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| import java.time.Instant; | ||
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| import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.addToInstant; | ||
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| /** | ||
| * A variation on {@link Clock} that represents an absolute {@link Instant} | ||
| * instead of a relative {@link Duration}. | ||
| */ | ||
| public record InstantClock(Instant extract) implements Dynamics<Instant, InstantClock> { | ||
| @Override | ||
| public InstantClock step(Duration t) { | ||
|
There was a problem hiding this comment. Just musing - would it make any sense for InstantClock to be derived from the Duration Clock? Or do you find that separating them is cleaner? There was a problem hiding this comment. Java won't let us derive one from the other, because they both implement Dynamics but with different type arguments. I also kind of like that an Instant clock doesn't necessarily have a preferred "zero" / "epoch" time, and you can just create a Duration clock by giving a zero time that makes sense in context. |
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| return new InstantClock(addToInstant(extract, t)); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.*; | ||
| import gov.nasa.jpl.aerie.contrib.streamline.core.monads.ResourceMonad; | ||
| import gov.nasa.jpl.aerie.contrib.streamline.modeling.discrete.Discrete; | ||
| import gov.nasa.jpl.aerie.merlin.protocol.types.Duration; | ||
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| import java.time.Instant; | ||
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| import static gov.nasa.jpl.aerie.contrib.streamline.core.MutableResource.resource; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.core.monads.ResourceMonad.map; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.debugging.Naming.name; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.modeling.discrete.DiscreteResources.constant; | ||
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| public class InstantClockResources { | ||
| /** | ||
| * Create an absolute clock that starts now at the given start time. | ||
| */ | ||
| public static MutableResource<InstantClock> absoluteClock(Instant startTime) { | ||
| return resource(new InstantClock(startTime)); | ||
| } | ||
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| public static Resource<InstantClock> addToInstant(Instant zeroTime, Resource<Clock> relativeClock) { | ||
| return addToInstant(constant(zeroTime), relativeClock); | ||
| } | ||
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| public static Resource<InstantClock> addToInstant(Resource<Discrete<Instant>> zeroTime, Resource<Clock> relativeClock) { | ||
| return name( | ||
| map(zeroTime, relativeClock, (zero, clock) -> | ||
| new InstantClock(Duration.addToInstant(zero.extract(), clock.extract()))), | ||
| "%s + %s", | ||
| zeroTime, | ||
| relativeClock); | ||
| } | ||
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| public static Resource<Clock> relativeTo(Resource<InstantClock> clock, Resource<Discrete<Instant>> zeroTime) { | ||
| return name(ResourceMonad.map(clock, zeroTime, (c, t) -> new Clock(Duration.between(t.extract(), c.extract()))), | ||
| "%s relative to %s", clock, zeroTime); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> lessThan(Resource<InstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return ClockResources.lessThan(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> lessThanOrEquals(Resource<InstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return ClockResources.lessThanOrEquals(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> greaterThan(Resource<InstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return ClockResources.greaterThan(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> greaterThanOrEquals(Resource<InstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return ClockResources.greaterThanOrEquals(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.Dynamics; | ||
| import gov.nasa.jpl.aerie.merlin.protocol.types.Duration; | ||
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| import java.time.Instant; | ||
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| import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.addToInstant; | ||
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| /** | ||
| * A variation on {@link VariableClock} that represents an absolute {@link Instant} | ||
| * instead of a relative {@link Duration}. | ||
| */ | ||
| public record VariableInstantClock(Instant extract, int multiplier) implements Dynamics<Instant, VariableInstantClock> { | ||
| @Override | ||
| public VariableInstantClock step(Duration t) { | ||
| return new VariableInstantClock(addToInstant(extract, t.times(multiplier)), multiplier); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.MutableResource; | ||
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| import java.time.Instant; | ||
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| import static gov.nasa.jpl.aerie.contrib.streamline.core.monads.DynamicsMonad.effect; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.debugging.Naming.name; | ||
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| public final class VariableInstantClockEffects { | ||
| private VariableInstantClockEffects() {} | ||
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| /** | ||
| * Stop the clock without affecting the current time. | ||
| */ | ||
| public static void pause(MutableResource<VariableInstantClock> clock) { | ||
| clock.emit("Pause", effect($ -> new VariableInstantClock($.extract(), 0))); | ||
| } | ||
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| /** | ||
| * Start the clock without affecting the current time. | ||
| */ | ||
| public static void start(MutableResource<VariableInstantClock> clock) { | ||
| clock.emit("Start", effect($ -> new VariableInstantClock($.extract(), 1))); | ||
| } | ||
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| /** | ||
| * Reset the clock to the given time, without affecting how fast it's running. | ||
| */ | ||
| public static void reset(MutableResource<VariableInstantClock> clock, Instant newTime) { | ||
| clock.emit(name(effect($ -> new VariableInstantClock(newTime, $.multiplier())), "Reset to %s", newTime)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.Resource; | ||
| import gov.nasa.jpl.aerie.contrib.streamline.modeling.discrete.Discrete; | ||
| import gov.nasa.jpl.aerie.merlin.protocol.types.Duration; | ||
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| import java.time.Instant; | ||
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| import static gov.nasa.jpl.aerie.contrib.streamline.core.monads.ResourceMonad.map; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.debugging.Naming.name; | ||
| import static gov.nasa.jpl.aerie.contrib.streamline.modeling.discrete.DiscreteResources.constant; | ||
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| public final class VariableInstantClockResources { | ||
| private VariableInstantClockResources() {} | ||
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| public static Resource<VariableClock> relativeTo(Resource<VariableInstantClock> clock, Resource<Discrete<Instant>> zeroTime) { | ||
| return name(map(clock, zeroTime, (c, t) -> | ||
| new VariableClock(Duration.between(c.extract(), t.extract()), c.multiplier())), | ||
| "%s relative to %s", clock, zeroTime); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> lessThan(Resource<VariableInstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return VariableClockResources.lessThan(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> lessThanOrEquals(Resource<VariableInstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return VariableClockResources.lessThanOrEquals(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> greaterThan(Resource<VariableInstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return VariableClockResources.greaterThan(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<Discrete<Boolean>> greaterThanOrEquals(Resource<VariableInstantClock> clock, Resource<Discrete<Instant>> threshold) { | ||
| return VariableClockResources.greaterThanOrEquals(relativeTo(clock, threshold), constant(Duration.ZERO)); | ||
| } | ||
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| public static Resource<VariableClock> between(Resource<VariableInstantClock> start, Resource<VariableInstantClock> end) { | ||
| return map(start, end, (s, e) -> new VariableClock(Duration.between(s.extract(), e.extract()), e.multiplier() - s.multiplier())); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package gov.nasa.jpl.aerie.contrib.streamline.modeling.clocks; | ||
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| import gov.nasa.jpl.aerie.contrib.streamline.core.Resources; | ||
| import gov.nasa.jpl.aerie.merlin.framework.junit.MerlinExtension; | ||
| import gov.nasa.jpl.aerie.merlin.protocol.types.Duration; | ||
| import org.junit.jupiter.api.Test; | ||
| import org.junit.jupiter.api.TestInstance; | ||
| import org.junit.jupiter.api.extension.ExtendWith; | ||
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| import java.time.Instant; | ||
| import java.time.temporal.ChronoUnit; | ||
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| import static gov.nasa.jpl.aerie.contrib.streamline.core.Resources.*; | ||
| import static gov.nasa.jpl.aerie.merlin.framework.ModelActions.delay; | ||
| import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.HOUR; | ||
| import static gov.nasa.jpl.aerie.merlin.protocol.types.Duration.ZERO; | ||
| import static org.junit.jupiter.api.Assertions.assertEquals; | ||
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| @ExtendWith(MerlinExtension.class) | ||
| @TestInstance(TestInstance.Lifecycle.PER_CLASS) | ||
| public class SimulationClockTest { | ||
| // This time is unlikely to be a hard-coded default anywhere | ||
| public static final Instant PLAN_START = Instant.parse("2020-01-02T03:04:05Z"); | ||
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| public SimulationClockTest() { | ||
| Resources.init(PLAN_START); | ||
| } | ||
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| @Test | ||
| public void relative_clock_starts_at_zero() { | ||
| assertEquals(ZERO, currentTime()); | ||
| assertEquals(ZERO, currentValue(simulationClock())); | ||
| } | ||
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| @Test | ||
| public void absolute_clock_starts_at_plan_start() { | ||
| assertEquals(PLAN_START, currentInstant()); | ||
| assertEquals(PLAN_START, currentValue(absoluteClock())); | ||
| } | ||
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| @Test | ||
| public void relative_clock_advances_at_unit_rate() { | ||
| delay(1, HOUR); | ||
| assertEquals(Duration.of(1, HOUR), currentTime()); | ||
| assertEquals(Duration.of(1, HOUR), currentValue(simulationClock())); | ||
| delay(1, HOUR); | ||
| assertEquals(Duration.of(2, HOUR), currentTime()); | ||
| assertEquals(Duration.of(2, HOUR), currentValue(simulationClock())); | ||
| delay(1, HOUR); | ||
| assertEquals(Duration.of(3, HOUR), currentTime()); | ||
| assertEquals(Duration.of(3, HOUR), currentValue(simulationClock())); | ||
| } | ||
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| @Test | ||
| public void absolute_clock_advances_at_unit_rate() { | ||
| delay(1, HOUR); | ||
| assertEquals(PLAN_START.plus(1, ChronoUnit.HOURS), currentInstant()); | ||
| assertEquals(PLAN_START.plus(1, ChronoUnit.HOURS), currentValue(absoluteClock())); | ||
| delay(1, HOUR); | ||
| assertEquals(PLAN_START.plus(2, ChronoUnit.HOURS), currentInstant()); | ||
| assertEquals(PLAN_START.plus(2, ChronoUnit.HOURS), currentValue(absoluteClock())); | ||
| delay(1, HOUR); | ||
| assertEquals(PLAN_START.plus(3, ChronoUnit.HOURS), currentInstant()); | ||
| assertEquals(PLAN_START.plus(3, ChronoUnit.HOURS), currentValue(absoluteClock())); | ||
| } | ||
| } |
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Nice to see this exception handler go away. Not entirely sure I follow what the paradigm shift was that made it obsolete
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In hindsight, it was obvious. I just had to put a call to
Resources.init()(or build a streamline registrar) in the constructor for my unit tests, so the unit tests would re-init the system at the correct time. The unit test is just a model, so it's exactly the same paradigm that we use in production. I don't know why I didn't realize I could do that before. I think maybe I was originally trying to avoid the need for aninitmethod altogether?