Merge branch 'develop' into feature/e2e_sequencing_channel_parameter_…

…support

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

@@ -1,42 +1,41 @@
 package gov.nasa.jpl.aerie.constraints.model;
 
 import gov.nasa.jpl.aerie.constraints.time.Interval;
+import gov.nasa.jpl.aerie.merlin.driver.ActivityDirectiveId;
+import gov.nasa.jpl.aerie.merlin.driver.ActivityInstanceId;
 import gov.nasa.jpl.aerie.merlin.protocol.types.SerializedValue;
 
 import java.util.Map;
 import java.util.Objects;
+import java.util.Optional;
 
-public final class ActivityInstance {
-  public final long id;
-  public final String type;
-  public final Map<String, SerializedValue> parameters;
-  public final Interval interval;
-
+public record ActivityInstance(
+    ActivityInstanceId instanceId,
+    String type,
+    Map<String, SerializedValue> parameters,
+    Interval interval,
+    Optional<ActivityDirectiveId> directiveId
+) {
   public ActivityInstance(
-      final long id,
-      final String type,
-      final Map<String, SerializedValue> parameters,
-      final Interval interval
+      long id,
+      String type,
+      Map<String, SerializedValue> parameters,
+      Interval interval
   ) {
-    this.type = type;
-    this.id = id;
-    this.parameters = parameters;
-    this.interval = interval;
+    this(id, type, parameters, interval, Optional.empty());
   }
 
-  @Override
-  public boolean equals(Object obj) {
-    if (!(obj instanceof ActivityInstance)) return false;
-    final var o = (ActivityInstance)obj;
-
-    return Objects.equals(this.id, o.id) &&
-           Objects.equals(this.type, o.type) &&
-           Objects.equals(this.parameters, o.parameters) &&
-           Objects.equals(this.interval, o.interval);
+  public ActivityInstance(
+      long id,
+      String type,
+      Map<String, SerializedValue> parameters,
+      Interval interval,
+      Optional<ActivityDirectiveId> directiveId
+  ) {
+    this(new ActivityInstanceId(id), type, parameters, interval, directiveId);
   }
 
-  @Override
-  public int hashCode() {
-    return Objects.hash(this.id, this.type, this.parameters, this.interval);
+  public long id() {
+    return this.instanceId().id();
   }
 }

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/ActivitySpan.java

@@ -20,7 +20,7 @@ public ActivitySpan(final String activityAlias) {
   @Override
   public Spans evaluate(final SimulationResults results, final Interval bounds, final EvaluationEnvironment environment) {
     final var activity = environment.activityInstances().get(this.activityAlias);
-    return new Spans(Segment.of(activity.interval, Optional.of(new Spans.Metadata(activity))));
+    return new Spans(Segment.of(activity.interval(), Optional.of(new Spans.Metadata(activity))));
   }
 
   @Override

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/ActivityWindow.java

@@ -21,7 +21,7 @@ public Windows evaluate(final SimulationResults results, final Interval bounds,
     final var activity = environment.activityInstances().get(this.activityAlias);
     return new Windows(
         Segment.of(bounds, false),
-        Segment.of(activity.interval, true)
+        Segment.of(activity.interval(), true)
     );
   }
 

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/DiscreteParameter.java

@@ -22,7 +22,7 @@ public DiscreteParameter(final String activityAlias, final String parameterName)
   public DiscreteProfile evaluate(final SimulationResults results, final Interval bounds, final EvaluationEnvironment environment) {
     final var activity = environment.activityInstances().get(this.activityAlias);
     return new DiscreteProfile(
-        Segment.of(bounds, activity.parameters.get(this.parameterName))
+        Segment.of(bounds, activity.parameters().get(this.parameterName))
     );
   }
 

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/EndOf.java

@@ -21,7 +21,7 @@ public Windows evaluate(final SimulationResults results, final Interval bounds,
     final var activity = environment.activityInstances().get(this.activityAlias);
     return new Windows(
         Segment.of(bounds, false),
-        Segment.of(Interval.at(activity.interval.end), true)
+        Segment.of(Interval.at(activity.interval().end), true)
     );
   }
 

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/ForEachActivitySpans.java

@@ -74,7 +74,7 @@ public String prettyPrint(final String prefix) {
   public record MatchType(String type) implements TriFunction<ActivityInstance, SimulationResults, EvaluationEnvironment, Boolean> {
     @Override
     public Boolean apply(ActivityInstance act, SimulationResults results, EvaluationEnvironment env) {
-      return Objects.equals(act.type, type);
+      return Objects.equals(act.type(), type);
     }
   }
 }

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/ForEachActivityViolations.java

@@ -16,7 +16,7 @@ public record ForEachActivityViolations(
   public ConstraintResult evaluate(final SimulationResults results, final Interval bounds, final EvaluationEnvironment environment) {
     var violations = new ConstraintResult();
     for (final var activity : results.activities) {
-      if (activity.type.equals(this.activityType)) {
+      if (activity.type().equals(this.activityType)) {
         final var newEnvironment = new EvaluationEnvironment(
             new HashMap<>(environment.activityInstances()),
             environment.spansInstances(),
@@ -28,7 +28,7 @@ public ConstraintResult evaluate(final SimulationResults results, final Interval
 
         final var newViolations = this.expression.evaluate(results, bounds, newEnvironment);
         for (final var violation: newViolations.violations) {
-          violation.addActivityId(activity.id);
+          violation.addActivityId(activity.id());
         }
         violations = ConstraintResult.merge(violations, newViolations);
       }

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/RealParameter.java

@@ -24,12 +24,12 @@ public RealParameter(final String activityAlias, final String parameterName) {
   @Override
   public LinearProfile evaluate(final SimulationResults results, final Interval bounds, final EvaluationEnvironment environment) {
     final var activity = environment.activityInstances().get(this.activityAlias);
-    final var parameter = activity.parameters.get(this.parameterName);
+    final var parameter = activity.parameters().get(this.parameterName);
     final var value = parameter.asReal().orElseThrow(
         () -> new InputMismatchException(
             String.format("Activity parameter \"%s\" with value %s cannot be interpreted as real",
                           this.parameterName,
-                          activity.parameters.get(parameterName).toString())));
+                          activity.parameters().get(parameterName).toString())));
 
     return new LinearProfile(
         Segment.of(Interval.FOREVER, new LinearEquation(Duration.ZERO, value, 0.0))

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/RollingThreshold.java

@@ -84,7 +84,7 @@ public ConstraintResult evaluate(SimulationResults results, final Interval bound
       for (final var span : reportedSpans) {
         if (!Interval.intersect(span.interval(), expandedInterval).isEmpty()) {
           violationIntervals.add(span.interval());
-          span.value().ifPresent(m -> violationActivityIds.add(m.activityInstance().id));
+          span.value().ifPresent(m -> violationActivityIds.add(m.activityInstance().id()));
         }
       }
       if (this.algorithm == RollingThresholdAlgorithm.ExcessHull || this.algorithm == RollingThresholdAlgorithm.DeficitHull) {

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/StartOf.java

@@ -21,7 +21,7 @@ public Windows evaluate(final SimulationResults results, final Interval bounds,
     final var activity = environment.activityInstances().get(this.activityAlias);
     return new Windows(
         Segment.of(bounds, false),
-        Segment.of(Interval.at(activity.interval.start), true)
+        Segment.of(Interval.at(activity.interval().start), true)
     );
   }
 

constraints/src/main/java/gov/nasa/jpl/aerie/constraints/tree/ValueAt.java

@@ -26,9 +26,9 @@ public DiscreteProfile evaluate(
       final Interval bounds,
       final EvaluationEnvironment environment)
   {
-    final var res = this.profile.evaluate(results, bounds, environment);
-    final var time = timepoint.evaluate(results, bounds, environment);
+    final var time = timepoint.evaluate(results, Interval.FOREVER, environment);
     final var timepoint = time.iterator().next().interval().start;
+    final var res = this.profile.evaluate(results, Interval.at(timepoint), environment);
     //REVIEW: SHOULD ASSERT A BUNCH OF THINGS HERE SO IT IS NOT WRONGLY USED
     final var value = res.valueAt(timepoint);
     if(value.isEmpty()){

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/streamline/core/CellRefV2.java

@@ -39,8 +39,8 @@ public Cell<D> duplicate(Cell<D> cell) {
       public void apply(Cell<D> cell, E effect) {
         cell.initialDynamics = effect.apply(cell.dynamics).match(
             ErrorCatching::success,
-            error -> failure(new RuntimeException(
-                "Applying '%s' failed.".formatted(getEffectName(effect)), error)));
+                error -> failure(new RuntimeException(
+                    "Applying effect '%s' failed.".formatted(getName(effect, null)), error)));
         cell.dynamics = cell.initialDynamics;
         cell.elapsedTime = ZERO;
       }
@@ -120,7 +120,7 @@ public DynamicsEffect<D> empty() {
       @Override
       public DynamicsEffect<D> sequentially(final DynamicsEffect<D> prefix, final DynamicsEffect<D> suffix) {
         final DynamicsEffect<D> result = x -> suffix.apply(prefix.apply(x));
-        name(result, "(%s) then (%s)".formatted(getEffectName(prefix), getEffectName(suffix)));
+        name(result, "(%s) then (%s)", prefix, suffix);
         return result;
       }
 
@@ -135,22 +135,17 @@ public DynamicsEffect<D> concurrently(final DynamicsEffect<D> left, final Dynami
                   return failure(e);
                 }
               };
-          name(result, "(%s) and (%s)".formatted(getEffectName(left), getEffectName(right)));
+          name(result, "(%s) and (%s)", left, right);
           return result;
         } catch (Throwable e) {
           final DynamicsEffect<D> result = $ -> failure(e);
-          name(result, "Failed to combine concurrent effects: (%s) and (%s)".formatted(
-                  getEffectName(left), getEffectName(right)));
+          name(result, "Failed to combine concurrent effects: (%s) and (%s)", left, right);
           return result;
         }
       }
     };
   }
 
-  private static <D extends Dynamics<?, D>, E extends DynamicsEffect<D>> String getEffectName(E effect) {
-    return getName(effect).orElse("anonymous effect");
-  }
-
   public static class Cell<D> {
     public ErrorCatching<Expiring<D>> initialDynamics;
     public ErrorCatching<Expiring<D>> dynamics;

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

@@ -20,8 +20,14 @@ public static Expiry expiry(Optional<Duration> value) {
   }
 
   public Expiry or(Expiry other) {
-    return expiry(
-        Stream.concat(value().stream(), other.value().stream()).reduce(Duration::min));
+    // If this has a value...
+    //   If other has a value, compare and return the minimum
+    //   Else other is NEVER, so return this
+    // Else (this is NEVER), so return other
+    return this.value.map(thisValue ->
+            other.value.map(otherValue -> Expiry.at(Duration.min(thisValue, otherValue)))
+                    .orElse(this))
+            .orElse(other);
   }
 
   public Expiry minus(Duration t) {

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

@@ -22,8 +22,7 @@
 public interface MutableResource<D extends Dynamics<?, D>> extends Resource<D> {
   void emit(DynamicsEffect<D> effect);
   default void emit(String effectName, DynamicsEffect<D> effect) {
-    name(effect, effectName);
-    emit(effect);
+    emit(name(effect, effectName));
   }
 
   static <D extends Dynamics<?, D>> MutableResource<D> resource(D initial) {
@@ -47,21 +46,18 @@ static <D extends Dynamics<?, D>> MutableResource<D> resource(ErrorCatching<Expi
 
       @Override
       public void emit(final DynamicsEffect<D> effect) {
-        augmentEffectName(effect);
-        cell.emit(effect);
+        // NOTE: The strange pattern of naming effect::apply is to create a new object, identical in behavior to effect,
+        //   which we can assign a more informative name without actually getting the name of effect.
+        // Replacing effect::apply with effect would create a self-loop in the naming graph on effect, which isn't allowed.
+        // Using Naming.getName to get effect's current name and use that when elaborating is correct but potentially slow,
+        //   depending on how deep the naming graph is.
+        cell.emit(name(effect::apply, "%s on %s" + Context.get().stream().map(c -> " during " + c).collect(joining()), effect, this));
       }
 
       @Override
       public ErrorCatching<Expiring<D>> getDynamics() {
         return cell.get().dynamics;
       }
-
-      private void augmentEffectName(DynamicsEffect<D> effect) {
-        String effectName = getName(effect).orElse("anonymous effect");
-        String resourceName = getName(this).orElse("anonymous resource");
-        String augmentedName = effectName + " on " + resourceName + Context.get().stream().map(c -> " during " + c).collect(joining());
-        name(effect, augmentedName);
-      }
     };
     if (MutableResourceFlags.DETECT_BUSY_CELLS) {
       result = profileEffects(result);
@@ -73,11 +69,11 @@ private void augmentEffectName(DynamicsEffect<D> effect) {
   }
 
   static <D extends Dynamics<?, D>> void set(MutableResource<D> resource, D newDynamics) {
-    resource.emit("Set " + newDynamics, DynamicsMonad.effect(x -> newDynamics));
+    resource.emit(name(DynamicsMonad.effect(x -> newDynamics), "Set %s", newDynamics));
   }
 
   static <D extends Dynamics<?, D>> void set(MutableResource<D> resource, Expiring<D> newDynamics) {
-    resource.emit("Set " + newDynamics, ErrorCatchingMonad.<Expiring<D>, Expiring<D>>map($ -> newDynamics)::apply);
+    resource.emit(name(ErrorCatchingMonad.<Expiring<D>, Expiring<D>>map($ -> newDynamics)::apply, "Set %s", newDynamics));
   }
 
   /**

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

@@ -183,8 +183,7 @@ public static Condition expires(Resource<?> resource) {
    */
   public static <D extends Dynamics<?, D>> void forward(Resource<D> source, MutableResource<D> destination) {
     wheneverDynamicsChange(source, s -> destination.emit(
-            "Forward %s dynamics: %s".formatted(getName(source).orElse("anonymous"), s),
-            $ -> s));
+            name($ -> s, "Forward %s dynamics to %s", source, destination)));
     addDependency(destination, source);
   }
 

contrib/src/main/java/gov/nasa/jpl/aerie/contrib/streamline/debugging/Context.java

@@ -2,8 +2,7 @@
 
 import gov.nasa.jpl.aerie.merlin.protocol.types.Unit;
 
-import java.util.ArrayDeque;
-import java.util.Deque;
+import java.util.ArrayList;
 import java.util.List;
 import java.util.function.Supplier;
 
@@ -15,7 +14,7 @@
 public final class Context {
   private Context() {}
 
-  private static final ThreadLocal<Deque<String>> contexts = ThreadLocal.withInitial(ArrayDeque::new);
+  private static final ThreadLocal<List<String>> contexts = ThreadLocal.withInitial(List::of);
 
   /**
    * @see Context#inContext(String, Supplier)
@@ -30,13 +29,19 @@ public static void inContext(String contextName, Runnable action) {
    */
   public static <R> R inContext(String contextName, Supplier<R> action) {
     // Using a thread-local context stack maintains isolation for threaded tasks.
+    var outerContext = contexts.get();
     try {
-      contexts.get().push(contextName);
+      // Since copying the context into spawned children actually dominates performance,
+      // use an effectively-immutable list for the stack, and copy it to push/pop a layer.
+      var innerContext = new ArrayList<String>(outerContext.size() + 1);
+      innerContext.addAll(outerContext);
+      innerContext.add(contextName);
+      contexts.set(innerContext);
       return action.get();
       // TODO: Should we add a catch clause here that would add context to the error?
     } finally {
       // Doing the tear-down in a finally block maintains isolation for replaying tasks.
-      contexts.get().pop();
+      contexts.set(outerContext);
     }
   }
 
@@ -61,12 +66,12 @@ public static void inContext(List<String> contextStack, Runnable action) {
    * @see Context#contextualized
    */
   public static <R> R inContext(List<String> contextStack, Supplier<R> action) {
-    if (contextStack.isEmpty()) {
+    var outerContext = contexts.get();
+    try {
+      contexts.set(contextStack);
       return action.get();
-    } else {
-      int n = contextStack.size() - 1;
-      return inContext(contextStack.get(n), () ->
-          inContext(contextStack.subList(0, n), action));
+    } finally {
+      contexts.set(outerContext);
     }
   }
 
@@ -133,9 +138,15 @@ public static <R> Supplier<R> contextualized(String childContext, Supplier<R> ac
 
   /**
    * Returns the list of contexts, from innermost context out.
+   *
+   * <p>
+   *     Note: For efficiency, this returns the actual context stack, not a copy.
+   *     Do not modify the result of this method!
+   *     Doing so may corrupt the context-tracking system.
+   * </p>
    */
   public static List<String> get() {
-    return contexts.get().stream().toList();
+    return contexts.get();
   }
 
   private static Supplier<Unit> asSupplier(Runnable action) {