WIP on feat/scheduler-activity-deletion

deployment/hasura/migrations/Aerie/12_activity_goal_invocation_id/down.sql

@@ -0,0 +1,6 @@
+alter table merlin.activity_directive
+  drop constraint activity_directive_source_invocation_id_exists,
+
+  drop column source_scheduling_goal_invocation_id;
+
+call migrations.mark_migration_rolled_back('12');

deployment/hasura/migrations/Aerie/12_activity_goal_invocation_id/up.sql

@@ -0,0 +1,13 @@
+alter table merlin.activity_directive
+  add column source_scheduling_goal_invocation_id integer default null,
+
+  add constraint activity_directive_source_invocation_id_exists
+    foreign key (source_scheduling_goal_invocation_id)
+    references scheduler.scheduling_specification_goals
+    on update cascade
+    on delete set null;
+
+comment on column merlin.activity_directive.source_scheduling_goal_invocation_id is e''
+  'The scheduling goal invocation that this activity_directive was generated by.';
+
+call migrations.mark_migration_applied('12');

deployment/postgres-init-db/sql/tables/merlin/activity_directive/activity_directive.sql

@@ -4,6 +4,7 @@ create table merlin.activity_directive (
 
   name text,
   source_scheduling_goal_id integer,
+  source_scheduling_goal_invocation_id integer default null,
   created_at timestamptz not null default now(),
   created_by text,
   last_modified_at timestamptz not null default now(),
@@ -38,6 +39,11 @@ create table merlin.activity_directive (
     foreign key (created_by)
     references permissions.users
     on update cascade
+    on delete set null,
+  constraint activity_directive_source_invocation_id_exists
+    foreign key (source_scheduling_goal_invocation_id)
+    references scheduler.scheduling_specification_goals
+    on update cascade
     on delete set null
 );
 
@@ -56,6 +62,8 @@ comment on column merlin.activity_directive.name is e''
   'The name of this activity_directive.';
 comment on column merlin.activity_directive.source_scheduling_goal_id is e''
   'The scheduling goal that this activity_directive was generated by.';
+comment on column merlin.activity_directive.source_scheduling_goal_invocation_id is e''
+  'The scheduling goal invocation that this activity_directive was generated by.';
 comment on column merlin.activity_directive.created_at is e''
   'The time at which this activity_directive was created.';
 comment on column merlin.activity_directive.created_by is e''

e2e-tests/src/main/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/procedures/ActivityAutoDeletionGoal.java

@@ -0,0 +1,43 @@
+package gov.nasa.jpl.aerie.e2e.procedural.scheduling.procedures;
+
+import gov.nasa.ammos.aerie.procedural.scheduling.ActivityAutoDelete;
+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.DeletedAnchorStrategy;
+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.plan.Plan;
+import gov.nasa.ammos.aerie.procedural.timeline.plan.SimulationResults;
+import gov.nasa.jpl.aerie.merlin.protocol.types.Duration;
+import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
+import java.util.Map;
+
+/**
+ * Creates one activity, and deletes it automatically on subsequent runs.
+ */
+@SchedulingProcedure
+public record ActivityAutoDeletionGoal(boolean deleteAtBeginning) implements Goal {
+  @NotNull
+  @Override
+  public ActivityAutoDelete shouldDeletePastCreations(
+      @NotNull final Plan plan,
+      @Nullable final SimulationResults simResults)
+  {
+    if (deleteAtBeginning) return new ActivityAutoDelete.AtBeginning(DeletedAnchorStrategy.Error, false);
+    else return new ActivityAutoDelete.JustBefore(DeletedAnchorStrategy.Error);
+  }
+
+  @Override
+  public void run(@NotNull final EditablePlan plan) {
+    plan.create(
+        "BiteBanana",
+        new DirectiveStart.Absolute(Duration.MINUTE),
+        Map.of("biteSize", SerializedValue.of(1))
+    );
+
+    plan.commit();
+  }
+}

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/procedural/scheduling/AutoDeletionTests.java

@@ -0,0 +1,135 @@
+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 java.io.IOException;
+import java.util.Objects;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+public class AutoDeletionTests extends ProceduralSchedulingSetup {
+  private GoalInvocationId edslId;
+  private GoalInvocationId procedureId;
+
+  @BeforeEach
+  void localBeforeEach() throws IOException {
+    try (final var gateway = new GatewayRequests(playwright)) {
+      final String coexGoalDefinition =
+          """
+          export default function myGoal() {
+            return Goal.CoexistenceGoal({
+              forEach: ActivityExpression.ofType(ActivityTypes.BiteBanana),
+              activityTemplate: ActivityTemplates.GrowBanana({quantity: 1, growingDuration: Temporal.Duration.from({minutes:1})}),
+              startsAt:TimingConstraint.singleton(WindowProperty.START).plus(Temporal.Duration.from({ minutes : 5}))
+            })
+          }""";
+
+      edslId = hasura.createSchedulingSpecGoal(
+          "Coexistence Scheduling Test Goal",
+          coexGoalDefinition,
+          "",
+          specId,
+          0,
+          false
+      );
+
+      int procedureJarId = gateway.uploadJarFile("build/libs/ActivityAutoDeletionGoal.jar");
+      // Add Scheduling Procedure
+      procedureId = hasura.createSchedulingSpecProcedure(
+          "Test Scheduling Procedure",
+          procedureJarId,
+          specId,
+          1,
+          false
+      );
+    }
+  }
+
+  @AfterEach
+  void localAfterEach() throws IOException {
+    hasura.deleteSchedulingGoal(procedureId.goalId());
+    hasura.deleteSchedulingGoal(edslId.goalId());
+  }
+
+  @Test
+  void createsOneActivityIfRunOnce() throws IOException {
+    final var args = Json
+        .createObjectBuilder()
+        .add("deleteAtBeginning", false)
+        .build();
+
+    hasura.updateSchedulingSpecGoalArguments(procedureId.invocationId(), args);
+
+    hasura.awaitScheduling(specId);
+
+    final var plan = hasura.getPlan(planId);
+    final var activities = plan.activityDirectives();
+
+    assertEquals(1, activities.size());
+
+    assertTrue(activities.stream().anyMatch(
+        it -> Objects.equals(it.type(), "BiteBanana")
+    ));
+  }
+
+  @Test
+  void createsTwoActivitiesSteadyState_JustBefore() throws IOException {
+    final var args = Json
+        .createObjectBuilder()
+        .add("deleteAtBeginning", false)
+        .build();
+
+    hasura.updateSchedulingSpecGoalArguments(procedureId.invocationId(), args);
+
+    hasura.awaitScheduling(specId);
+
+    for (int i = 0; i < 3; i++) {
+      hasura.awaitScheduling(specId);
+
+      final var plan = hasura.getPlan(planId);
+      final var activities = plan.activityDirectives();
+
+      assertEquals(2, activities.size());
+
+      assertTrue(activities.stream().anyMatch(
+          it -> Objects.equals(it.type(), "BiteBanana")
+      ));
+
+      assertTrue(activities.stream().anyMatch(
+          it -> Objects.equals(it.type(), "GrowBanana")
+      ));
+    }
+  }
+
+  @Test
+  void createsOneActivitySteadyState_AtBeginning() throws IOException {
+    final var args = Json
+        .createObjectBuilder()
+        .add("deleteAtBeginning", true)
+        .build();
+
+    hasura.updateSchedulingSpecGoalArguments(procedureId.invocationId(), args);
+
+    hasura.awaitScheduling(specId);
+
+    for (int i = 0; i < 3; i++) {
+      hasura.awaitScheduling(specId);
+
+      final var plan = hasura.getPlan(planId);
+      final var activities = plan.activityDirectives();
+
+      assertEquals(1, activities.size());
+
+      assertTrue(activities.stream().anyMatch(
+          it -> Objects.equals(it.type(), "BiteBanana")
+      ));
+    }
+  }
+}

e2e-tests/src/test/java/gov/nasa/jpl/aerie/e2e/utils/HasuraRequests.java

@@ -710,12 +710,22 @@ public void updatePlanRevisionSchedulingSpec(int planId) throws IOException {
     makeRequest(GQL.UPDATE_SCHEDULING_SPECIFICATION_PLAN_REVISION, variables);
   }
 
-
   public GoalInvocationId createSchedulingSpecProcedure(
       String name,
       int jarId,
       int specificationId,
       int priority
+  ) throws IOException {
+    return createSchedulingSpecProcedure(name, jarId, specificationId, priority, true);
+  }
+
+
+  public GoalInvocationId createSchedulingSpecProcedure(
+      String name,
+      int jarId,
+      int specificationId,
+      int priority,
+      boolean simulateAfter
   ) throws IOException {
     final var specGoalBuilder = Json.createObjectBuilder()
                                     .add("goal_metadata",
@@ -733,7 +743,8 @@ public GoalInvocationId createSchedulingSpecProcedure(
                                                                                  .add("uploaded_jar_id", jarId)
                                                                         )))))
                                     .add("specification_id", specificationId)
-                                    .add("priority", priority);
+                                    .add("priority", priority)
+                                    .add("simulate_after", simulateAfter);
     final var variables = Json.createObjectBuilder().add("spec_goal", specGoalBuilder).build();
     final var resp =  makeRequest(GQL.CREATE_SCHEDULING_SPEC_GOAL, variables)
         .getJsonObject("insert_scheduling_specification_goals_one");
@@ -768,6 +779,18 @@ public GoalInvocationId createSchedulingSpecGoal(
       String description,
       int specificationId,
       int priority
+  ) throws IOException
+  {
+    return createSchedulingSpecGoal(name, definition, description, specificationId, priority, true);
+  }
+
+  public GoalInvocationId createSchedulingSpecGoal(
+      String name,
+      String definition,
+      String description,
+      int specificationId,
+      int priority,
+      boolean simulateAfter
   ) throws IOException {
     final var specGoalBuilder = Json.createObjectBuilder()
                                     .add("goal_metadata",
@@ -783,6 +806,7 @@ public GoalInvocationId createSchedulingSpecGoal(
                                                                         .add(Json.createObjectBuilder()
                                                                                  .add("definition", definition))))))
                                     .add("specification_id", specificationId)
+                                    .add("simulate_after", simulateAfter)
                                     .add("priority", priority);
     final var variables = Json.createObjectBuilder().add("spec_goal", specGoalBuilder).build();
     final var resp =  makeRequest(GQL.CREATE_SCHEDULING_SPEC_GOAL, variables)

procedural/scheduling/src/main/kotlin/gov/nasa/ammos/aerie/procedural/scheduling/ActivityAutoDelete.kt

@@ -0,0 +1,9 @@
+package gov.nasa.ammos.aerie.procedural.scheduling
+
+import gov.nasa.ammos.aerie.procedural.scheduling.plan.DeletedAnchorStrategy
+
+sealed interface ActivityAutoDelete {
+  data class AtBeginning(val anchorStrategy: DeletedAnchorStrategy, val simulateAfter: Boolean): ActivityAutoDelete
+  data class JustBefore(val anchorStrategy: DeletedAnchorStrategy): ActivityAutoDelete
+  data object No: ActivityAutoDelete
+}

procedural/scheduling/src/main/kotlin/gov/nasa/ammos/aerie/procedural/scheduling/Goal.kt

@@ -1,9 +1,23 @@
 package gov.nasa.ammos.aerie.procedural.scheduling
 
 import gov.nasa.ammos.aerie.procedural.scheduling.plan.EditablePlan
+import gov.nasa.ammos.aerie.procedural.timeline.plan.Plan
+import gov.nasa.ammos.aerie.procedural.timeline.plan.SimulationResults
 
 /** The interface that all scheduling rules must satisfy. */
 interface Goal {
+  /**
+   * Whether the scheduler should delete this goal's past created activities.
+   *
+   * Default implementation returns [ActivityAutoDelete.No]. Override this method
+   * to specify otherwise and choose a strategy for deleted anchors.
+   *
+   * This method may be called multiple times during the scheduling run, and must return the
+   * same result every time. All calls to this method and [run] during a scheduling run
+   * will be performed on the same object instance.
+   */
+  fun shouldDeletePastCreations(plan: Plan, simResults: SimulationResults?): ActivityAutoDelete = ActivityAutoDelete.No
+
   /**
    * Run the rule.
    *