Feature/block relative and notes seqn (#1600)

* First pass at adding block relative to the grammar

* Finished adding notes

* Added note seqjson converter

* Added Time1 as a param to the seqjson time conversion function

* Added more missing block relative logic

* Added a new timeSegments token for our seqn grammar

* Fixed some broken sasf tests that were using R rather than the new B time tag

* Removed Time1 from from-seq-json

* Fixed an issue now that there's a distinct time type without a tag

package.json

@@ -40,7 +40,7 @@
   "dependencies": {
     "@fontsource/jetbrains-mono": "^5.0.19",
     "@nasa-jpl/aerie-ampcs": "^1.0.5",
-    "@nasa-jpl/seq-json-schema": "^1.2.0",
+    "@nasa-jpl/seq-json-schema": "^1.3.1",
     "@nasa-jpl/stellar": "^1.1.18",
     "@streamparser/json": "^0.0.17",
     "@sveltejs/adapter-node": "5.0.1",

src/utilities/codemirror/index.ts

@@ -44,11 +44,13 @@ export const SeqLanguage = LRLanguage.define({
         LocalDeclaration: t.namespace,
         MetaEntry: t.namespace,
         Model: t.namespace,
+        Note: t.namespace,
         ParameterDeclaration: t.namespace,
         Request: t.namespace,
         Stem: t.keyword,
         String: t.string,
         TimeAbsolute: t.className,
+        TimeBlockRelative: t.className,
         TimeComplete: t.className,
         TimeEpoch: t.className,
         TimeGroundEpoch: t.className,

src/utilities/codemirror/satf/satf-sasf-utils.test.ts

@@ -90,7 +90,7 @@ describe('satfToSequence', () => {
     expect(result).toHaveProperty('sequences');
     expect(result.sequences[0].name).toStrictEqual('test');
     expect(result.sequences[0].sequence).toStrictEqual(`## test
-R00:01:00  01VV param6 10 false "abc" # This command turns, to correct position.
+B00:01:00  01VV param6 10 false "abc" # This command turns, to correct position.
 @MODEL "x" 1 "00:00:00"
 @MODEL "z" 1.1 "00:00:00"
 @MODEL "y" "abc" "00:00:00"`);
@@ -126,7 +126,7 @@ R00:01:00  01VV param6 10 false "abc" # This command turns, to correct position.
     expect(result.sequences.length).toBe(2);
     expect(result.sequences[0].name).toStrictEqual('test');
     expect(result.sequences[0].sequence).toStrictEqual(`## test
-R00:01:00  01VV param6 10 false "abc" # This command turns, to correct position.
+B00:01:00  01VV param6 10 false "abc" # This command turns, to correct position.
 @MODEL "x" 1 "00:00:00"
 @MODEL "z" 1.1 "00:00:00"
 @MODEL "y" "abc" "00:00:00"`);
@@ -288,7 +288,7 @@ string STRING
 quoted_string STRING "" "abc, 123"
 @INPUT_PARAMS_END
 
-R00:01:00  NOOP`);
+B00:01:00  NOOP`);
   });
 
   it('Quoted Parameters', async () => {
@@ -318,6 +318,6 @@ R00:01:00  NOOP`);
 attitude_spec ENUM STORE_NAME "" "BOB_HARDWARE, SALLY_FARM, TIM_FLOWERS"
 @INPUT_PARAMS_END
 
-R00:01:00  ECHO "abc"`);
+B00:01:00  ECHO "abc"`);
   });
 });

src/utilities/codemirror/satf/satf-sasf-utils.ts

@@ -816,8 +816,7 @@ function parseTimeNode(timeNode: SyntaxNode | null, text: string): string {
       return `R${time} `;
     case 'FROM_REQUEST_START':
     case 'FROM_ACTIVITY_START':
-      // TODO: This needs to be changed to refer to the start of the request.
-      return `R${time} `;
+      return `B${time} `;
     case 'WAIT_PREVIOUS_END':
       return `C `;
     default:

src/utilities/codemirror/sequence.grammar

@@ -45,7 +45,7 @@ commandBlock {
   )+
 }
 
-step { Command | Activate | GroundBlock | GroundEvent | Load }
+step { Command | Activate | GroundBlock | GroundEvent | Load | Note }
 
 commentLine {
   LineComment newLine
@@ -70,7 +70,7 @@ HardwareCommands {
   commandBlock
 }
 
-TimeTag { TimeAbsolute | (TimeGroundEpoch Name { String } whiteSpace)  | TimeEpoch | TimeRelative  | TimeComplete }
+TimeTag { TimeAbsolute | (TimeGroundEpoch Name { String } whiteSpace)  | TimeEpoch | TimeRelative  | TimeComplete | TimeBlockRelative }
 
 Args {
   (whiteSpace (arg))* whiteSpace?
@@ -120,6 +120,15 @@ commonGround {
   Models?
 }
 
+Note {
+  TimeTag
+  noteDirective "(" NoteValue { String } ")"
+  Args
+  LineComment?
+  newLine
+  Metadata?
+}
+
 Request {
   TimeTag
   requestStartDirective "(" RequestName { String } ")"
@@ -174,13 +183,17 @@ Stem { !stemStart identifier }
 
   timeSecond { $[1-9] @digit* ("."@digit+)? }
 
+  timeSegments { timeSecond | timeDOY | timeHhmmss }
+
   TimeAbsolute { 'A'@digit@digit@digit@digit"-"@digit@digit@digit"T"timeHhmmss whiteSpace }
 
-  TimeRelative { 'R'(timeSecond | timeDOY | timeHhmmss) whiteSpace}
+  TimeRelative { 'R'timeSegments whiteSpace}
+
+  TimeBlockRelative { 'B'$[+\-]?timeSegments whiteSpace }
 
-  TimeEpoch { 'E'$[+\-]?(timeSecond | timeDOY | timeHhmmss) whiteSpace}
+  TimeEpoch { 'E'$[+\-]?timeSegments whiteSpace}
 
-  TimeGroundEpoch { 'G'$[+\-]?(timeSecond | timeDOY | timeHhmmss) whiteSpace}
+  TimeGroundEpoch { 'G'$[+\-]?timeSegments whiteSpace}
 
   TimeComplete { 'C' whiteSpace }
 
@@ -226,11 +239,12 @@ Stem { !stemStart identifier }
   requestEndDirective { "@REQUEST_END" }
   metadataDirective { "@METADATA" }
   modelDirective { "@MODEL" }
+  noteDirective { "@NOTE" }
   genericDirective { "@"identifier }
 
   @precedence { newLine, whiteSpace }
 
-  @precedence{ TimeAbsolute, TimeRelative, TimeEpoch, TimeComplete, TimeGroundEpoch, Boolean, identifier }
+  @precedence{ TimeAbsolute, TimeRelative, TimeEpoch, TimeComplete, TimeGroundEpoch, TimeBlockRelative, Boolean, identifier }
 
   @precedence {
     LoadAndGoDirective,
@@ -249,6 +263,7 @@ Stem { !stemStart identifier }
     loadDirective,
     groundBlockDirective,
     groundEventDirective,
+    noteDirective,
     requestStartDirective,
     requestEndDirective,
     engineDirective,

src/utilities/sequence-editor/from-seq-json.ts

@@ -36,6 +36,8 @@ function seqJsonTimeToSequence(time: Time): string {
       return `R${time.tag ?? ''}`;
     case 'EPOCH_RELATIVE':
       return `E${time.tag ?? ''}`;
+    case 'BLOCK_RELATIVE':
+      return `B${time.tag ?? ''}`;
     default:
       return '';
   }

src/utilities/sequence-editor/grammar.test.ts

@@ -317,6 +317,7 @@ Command(Stem,Args(String),Models(Model(Variable(String),Value(String),Offset(Str
   [
     `Seq.Json comprehension`,
     `A2024-123T12:34:56 @GROUND_BLOCK("ground_block.name") # No Args
+C @NOTE("note_value")
 R123T12:34:56 @GROUND_EVENT("ground_event.name") "foo" 1 2 3
 A2024-123T12:34:56 @ACTIVATE("activate.name") # No Args
 @ENGINE 10
@@ -348,12 +349,14 @@ A2024-123T12:34:56 @REQUEST_BEGIN("request2.name")
   R100 CMD_3 "1 2 3"
   C CMD_4 1 2 3
   R100 CMD_5 "1 2 3"
+  B00:00:00 CMD_6 "1 2 3"
 @REQUEST_END
 @METADATA "foo" "bar"
 `,
     `
 Sequence(Commands(
   GroundBlock(TimeTag(TimeAbsolute),GroundName(String),Args,LineComment),
+  Note(TimeTag(TimeComplete),NoteValue(String)Args),
   GroundEvent(TimeTag(TimeRelative),GroundName(String),Args(String,Number,Number,Number)),
   Activate(TimeTag(TimeAbsolute),SequenceName(String),Args,LineComment,Engine(Number),Epoch(String)),
   Activate(TimeTag(TimeRelative),SequenceName(String),Args(String,Number,Number,Number),LineComment,Engine(Number)),
@@ -379,7 +382,8 @@ Sequence(Commands(
       Command(TimeTag(TimeComplete),Stem,Args(Number,Number,Number)),
       Command(TimeTag(TimeRelative),Stem,Args(String)),
       Command(TimeTag(TimeComplete),Stem,Args(Number,Number,Number)),
-      Command(TimeTag(TimeRelative),Stem,Args(String))
+      Command(TimeTag(TimeRelative),Stem,Args(String)),
+      Command(TimeTag(TimeBlockRelative),Stem,Args(String))
     ),
     Metadata(MetaEntry(Key(String),Value(String)))
   )

src/utilities/sequence-editor/sequence-completion.ts

@@ -187,6 +187,13 @@ export function sequenceCompletion(
               section: 'Time Tags',
               type: 'keyword',
             },
+            {
+              apply: 'B00:00:00 ',
+              info: 'Execute command at an offset from the block',
+              label: 'B (block relative)',
+              section: 'Time Tags',
+              type: 'keyword',
+            },
             {
               apply: 'G1 "epoch.name" ',
               info: 'Add a ground epoch to a request',
@@ -216,6 +223,21 @@ export function sequenceCompletion(
             section: 'Directives',
             type: 'keyword',
           },
+          {
+            apply: (view, _completion, from: number, to: number) => {
+              view.dispatch({
+                changes: {
+                  from: Math.max(0, from + (!cursor.isAfterTimeTag || cursor.isAtSymbolBefore ? -1 : 0)),
+                  insert: `${!cursor.isAfterTimeTag ? 'C ' : ''}@NOTE("note_value")`,
+                  to,
+                },
+              });
+            },
+            info: 'note',
+            label: '@NOTE',
+            section: 'Directives',
+            type: 'function',
+          },
         );
       }
 

src/utilities/sequence-editor/sequence-linter.ts

@@ -766,6 +766,7 @@ function validateTimeTags(command: SyntaxNode, text: string): Diagnostic[] {
     const timeTagAbsoluteNode = timeTagNode?.getChild('TimeAbsolute');
     const timeTagEpochNode = timeTagNode?.getChild('TimeEpoch') ?? timeTagNode.getChild('TimeGroundEpoch');
     const timeTagRelativeNode = timeTagNode?.getChild('TimeRelative');
+    const timeTagBlockRelativeNode = timeTagNode?.getChild('TimeBlockRelative');
 
     if (timeTagAbsoluteNode) {
       const absoluteText = text.slice(timeTagAbsoluteNode.from + 1, timeTagAbsoluteNode.to).trim();
@@ -834,43 +835,58 @@ function validateTimeTags(command: SyntaxNode, text: string): Diagnostic[] {
           }
         }
       }
-    } else if (timeTagRelativeNode) {
-      const relativeText = text.slice(timeTagRelativeNode.from + 1, timeTagRelativeNode.to).trim();
+    } else if (timeTagRelativeNode || timeTagBlockRelativeNode) {
+      let relativeText = '';
+      let from = -1;
+      let to = -1;
+
+      if (timeTagRelativeNode) {
+        from = timeTagRelativeNode.from;
+        to = timeTagRelativeNode.to;
+        relativeText = text.slice(from + 1, to).trim();
+      } else if (timeTagBlockRelativeNode) {
+        from = timeTagBlockRelativeNode.from;
+        to = timeTagBlockRelativeNode.to;
+        relativeText = text.slice(from + 1, to).trim();
+      }
+
       const isValid =
-        validateTime(relativeText, TimeTypes.RELATIVE) || validateTime(relativeText, TimeTypes.RELATIVE_SIMPLE);
+        validateTime(relativeText, TimeTypes.RELATIVE) ||
+        (validateTime(relativeText, TimeTypes.RELATIVE_SIMPLE) && !timeTagBlockRelativeNode);
       if (!isValid) {
         diagnostics.push({
           actions: [],
-          from: timeTagRelativeNode.from,
+          from,
           message: CustomErrorCodes.InvalidRelativeTime().message,
           severity: 'error',
-          to: timeTagRelativeNode.to,
+          to,
         });
       } else {
         if (validateTime(relativeText, TimeTypes.RELATIVE)) {
           if (isTimeMax(relativeText, TimeTypes.RELATIVE)) {
             diagnostics.push({
               actions: [],
-              from: timeTagRelativeNode.from,
+              from,
               message: CustomErrorCodes.MaxRelativeTime().message,
               severity: 'error',
-              to: timeTagRelativeNode.to,
+              to,
             });
           } else {
             if (!isTimeBalanced(relativeText, TimeTypes.EPOCH)) {
               diagnostics.push({
                 actions: [],
-                from: timeTagRelativeNode.from,
+                from,
                 message: CustomErrorCodes.UnbalancedTime(getBalancedDuration(relativeText)).message,
                 severity: 'error',
-                to: timeTagRelativeNode.to,
+                to,
               });
             }
           }
         }
       }
     }
   }
+
   return diagnostics;
 }