Add test

Author: Mythicaeda

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

@@ -10,6 +10,7 @@
 
 import javax.json.Json;
 import java.io.IOException;
+import java.util.Comparator;
 import java.util.Objects;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
@@ -34,7 +35,8 @@ void localBeforeEach() throws IOException {
         "Test Scheduling Procedure 1",
         dumbRecurrenceGoalJarId,
         specId,
-        0
+        0,
+        true
     );
   }
 
@@ -184,7 +186,7 @@ void saveActivityName() throws IOException {
    * Run a spec that includes unfinished activities
    */
   @Test
-  void IncludesUnfinishedActivities() throws IOException {
+  void includesUnfinishedActivities() throws IOException {
     // Disable the recurrence goal to simplify scheduling results
     hasura.updateSchedulingSpecEnabled(dumbRecurrenceGoalId.invocationId(), false);
 
@@ -226,4 +228,47 @@ void IncludesUnfinishedActivities() throws IOException {
       assertNull(act.duration());
     }
   }
+
+  /**
+   * Scheduling can handle two activities with the same parameters located that start at the same time without
+   * throwing an IllegalStateException.
+   *
+   * Uses DumbRecurrenceGoal for testing, as it will always place duplicate directives when the spec is rescheduled.
+   */
+  @Test
+  void duplicateActivitiesSupportedOnRerun() throws IOException {
+    final var args = Json.createObjectBuilder().add("quantity", 2).add("biteSize", 1).build();
+    hasura.updateSchedulingSpecGoalArguments(dumbRecurrenceGoalId.invocationId(), args);
+
+    hasura.awaitScheduling(planId);
+
+    final var initialActivities = hasura.getPlan(planId).activityDirectives();
+
+    // Rerun scheduling
+    hasura.updatePlanRevisionSchedulingSpec(planId);
+    hasura.awaitScheduling(planId);
+
+    final var updatedActivities = hasura.getPlan(planId).activityDirectives();
+
+    // Two new directives should have been placed on the plan
+    assertEquals(2, initialActivities.size());
+    assertEquals(4, updatedActivities.size());
+
+    // Sort the activities by start time
+    initialActivities.sort(Comparator.comparing(Plan.ActivityDirective::startOffset));
+    updatedActivities.sort(Comparator.comparing(Plan.ActivityDirective::startOffset));
+
+    // Check that the four activities are grouped into two sets of two.
+    final var firstStartTime = initialActivities.getFirst().startOffset();
+    assertEquals(2, updatedActivities.stream()
+                                     .filter(dir -> dir.startOffset().equals(firstStartTime))
+                                     .toList()
+                                     .size());
+
+    final var secondStartTime = initialActivities.getLast().startOffset();
+    assertEquals(2, updatedActivities.stream()
+                                     .filter(dir -> dir.startOffset().equals(secondStartTime))
+                                     .toList()
+                                     .size());
+  }
 }