Adds CassiniIssNac/Wac IsisLabel NaifData Driver (#470)

* stuff

* Fixes cassini iss wac/nac drivers and adds tests for isis label naif spice

* Address warnings in tests

* Remove print statement

* Removed notebooks/notebook changes

* Added caching to focal length property in cassiniIss IsisLabel NaifSpice

* Addressed failing tests

Co-authored-by: acpaquette <acp263@nau.edu>

ale/base/data_isis.py

@@ -62,7 +62,7 @@ def parse_table(table_label, data):
                     'Real'    : 'f'}
 
     # Parse the binary data
-    fields = table_label.getlist('Field')
+    fields = table_label.getall('Field')
     results = {field['Name']:[] for field in fields}
     offset = 0
     for record in range(table_label['Records']):
@@ -200,7 +200,11 @@ class IsisSpice():
           Instrument pointing table
         """
         if not hasattr(self, "_inst_pointing_table"):
-            for table in self.label.getlist('Table'):
+            tables = []
+            if "Table" in self.label:
+                tables = self.label.getall('Table')
+
+            for table in tables:
                 if table['Name'] == 'InstrumentPointing':
                     binary_data = read_table_data(table, self._file)
                     self._inst_pointing_table = parse_table(table, binary_data)
@@ -220,7 +224,11 @@ class IsisSpice():
           Body orientation table
         """
         if not hasattr(self, "_body_orientation_table"):
-            for table in self.label.getlist('Table'):
+            tables = []
+            if "Table" in self.label:
+                tables = self.label.getall('Table')
+                
+            for table in tables:
                 if table['Name'] == 'BodyRotation':
                     binary_data = read_table_data(table, self._file)
                     self._body_orientation_table = parse_table(table, binary_data)
@@ -240,7 +248,11 @@ class IsisSpice():
           Instrument position table
         """
         if not hasattr(self, "_inst_position_table"):
-            for table in self.label.getlist('Table'):
+            tables = []
+            if "Table" in self.label:
+                tables = self.label.getall('Table')
+
+            for table in tables:
                 if table['Name'] == 'InstrumentPosition':
                     binary_data = read_table_data(table, self._file)
                     self._inst_position_table = parse_table(table, binary_data)
@@ -260,7 +272,11 @@ class IsisSpice():
           Sun position table
         """
         if not hasattr(self, "_sun_position_table"):
-            for table in self.label.getlist('Table'):
+            tables = []
+            if "Table" in self.label:
+                tables = self.label.getall('Table')
+
+            for table in tables:
                 if table['Name'] == 'SunPosition':
                     binary_data = read_table_data(table, self._file)
                     self._sun_position_table = parse_table(table, binary_data)

ale/drivers/co_drivers.py

@@ -110,6 +110,188 @@ wac_filter_to_focal_length = {
     ("T3","IRP90"):201.07
 }
 
+class CassiniIssIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, RadialDistortion, Driver):
+
+    @property
+    def instrument_id(self):
+        """
+        Returns an instrument id for unquely identifying the instrument, but often
+        also used to be piped into Spice Kernels to acquire instrument kernel (IK) NAIF IDs.
+        Therefore they use the same NAIF ID asin bods2c calls. Expects instrument_id to be
+        defined from a mixin class. This should return a string containing either 'ISSNA' or
+        'ISSWA'
+
+        Returns
+        -------
+        : str
+          instrument id
+        """
+        return id_lookup[super().instrument_id]
+
+    @property
+    def spacecraft_name(self):
+        """
+        Spacecraft name used in various Spice calls to acquire
+        ephemeris data.
+
+        Returns
+        -------
+        : str
+          Name of the spacecraft
+        """
+        return 'CASSINI'
+
+    @property
+    def sensor_name(self):
+        """
+        Returns the name of the instrument
+
+        Returns
+        -------
+        : str
+          Name of the sensor
+        """
+        return name_lookup[super().instrument_id]
+
+    @property
+    def ephemeris_start_time(self):
+        """
+        Returns the start and stop ephemeris times for the image.
+
+        Returns
+        -------
+        : float
+          start time
+        """
+        return spice.str2et(self.utc_start_time.strftime("%Y-%m-%d %H:%M:%S.%f"))[0]
+
+    @property
+    def center_ephemeris_time(self):
+        """
+        Returns the starting ephemeris time as the ssi framers center is the
+        start.
+
+        Returns
+        -------
+        : double
+          Center ephemeris time for an image
+        """
+        center_time = self.ephemeris_start_time + (self.exposure_duration / 2.0)
+        return center_time
+
+    @property
+    def odtk(self):
+        """
+        The radial distortion coeffs are not defined in the ik kernels, instead
+        they are defined in the ISS Data User Guide (Knowles). Therefore, we
+        manually specify the codes here.
+        Expects instrument_id to be defined. This should be a string containing either
+        CASSINI_ISS_WAC or CASSINI_ISIS_NAC
+
+        Returns
+        -------
+        : list<float>
+          radial distortion coefficients
+        """
+        if self.instrument_id == 'CASSINI_ISS_WAC':
+            # WAC
+            return [0, float('-6.2e-5'), 0]
+        elif self.instrument_id == 'CASSINI_ISS_NAC':
+            # NAC
+            return [0, float('-8e-6'), 0]
+
+    @property
+    def focal_length(self):
+        """
+        NAC uses multiple filter pairs, each filter combination has a different focal length.
+        NAIF's Cassini kernels do not contain focal lengths for NAC filters and
+        so we aquired updated NAC filter data from ISIS's IAK kernel.
+
+        """
+        # default focal defined by IAK kernel
+        if not hasattr(self, "_focal_length"):
+            try:
+                default_focal_len = super(CassiniIssPds3LabelNaifSpiceDriver, self).focal_length
+            except:
+                default_focal_len = float(spice.gdpool('INS{}_DEFAULT_FOCAL_LENGTH'.format(self.ikid), 0, 2)[0])
+
+            filters = tuple(self.label["IsisCube"]["BandBin"]['FilterName'].split("/"))
+
+            if self.instrument_id == "CASSINI_ISS_NAC":
+                self._focal_length = nac_filter_to_focal_length.get(filters, default_focal_len)
+
+            elif self.instrument_id == "CASSINI_ISS_WAC":
+                self._focal_length = wac_filter_to_focal_length.get(filters, default_focal_len)
+        return self._focal_length
+
+    @property
+    def _original_naif_sensor_frame_id(self):
+        """
+        Original sensor frame ID as defined in Cassini's IK kernel. This
+        is the frame ID you want to default to for WAC. For NAC, this Frame ID
+        sits between J2000 and an extra 180 rotation since NAC was mounted
+        upside down.
+
+        Returns
+        -------
+        : int
+          sensor frame code from NAIF's IK kernel
+        """
+        return self.ikid
+
+    @property
+    def sensor_frame_id(self):
+        """
+        Overwrite sensor frame id to return fake frame ID for NAC representing a
+        mounting point with a 180 degree rotation. ID was taken from ISIS's IAK
+        kernel for Cassini. This is because NAC requires an extra rotation not
+        in NAIF's Cassini kernels. Wac does not require an extra rotation so
+        we simply return original sensor frame id for Wac.
+
+        Returns
+        -------
+        : int
+          NAIF's Wac sensor frame ID, or ALE's Nac sensor frame ID
+        """
+        if self.instrument_id == "CASSINI_ISS_NAC":
+            return 14082360
+        elif self.instrument_id == "CASSINI_ISS_WAC":
+            return 14082361
+
+    @property
+    def frame_chain(self):
+        """
+        Construct the initial frame chain using the original sensor_frame_id
+        obtained from the ikid. Then tack on the ISIS iak rotation.
+
+        Returns
+        -------
+        : Object
+          Custom Cassini ALE Frame Chain object for rotation computation and application
+        """
+        if not hasattr(self, '_frame_chain'):
+
+            try:
+                # Call frinfo to check if the ISIS iak has been loaded with the
+                # additional reference frame. Otherwise, Fail and add it manually
+                _ = spice.frinfo(self.sensor_frame_id)
+                self._frame_chain = super().frame_chain
+            except spice.utils.exceptions.NotFoundError as e:
+                self._frame_chain = FrameChain.from_spice(sensor_frame=self._original_naif_sensor_frame_id,
+                                                          target_frame=self.target_frame_id,
+                                                          center_ephemeris_time=self.center_ephemeris_time,
+                                                          ephemeris_times=self.ephemeris_time,)
+
+                rotation = ConstantRotation([[0, 0, 1, 0]], self.sensor_frame_id, self._original_naif_sensor_frame_id)
+
+                self._frame_chain.add_edge(rotation=rotation)
+
+        return self._frame_chain
+
+    @property
+    def sensor_model_version(self):
+        return 1
+
 class CassiniIssPds3LabelNaifSpiceDriver(Framer, Pds3Label, NaifSpice, RadialDistortion, Driver):
     """
     Cassini mixin class for defining Spice calls.
@@ -374,3 +556,20 @@ class CassiniIssIsisLabelIsisSpiceDriver(Framer, IsisLabel, IsisSpice, NoDistort
         : float
         """
         return self.inst_position_table['SpkTableStartTime']
+
+    @property
+    def focal_length(self):
+        """
+        The focal length of the instrument
+        Expects naif_keywords to be defined. This should be a dict containing
+        Naif keyworkds from the label.
+        Expects ikid to be defined. This should be the integer Naif ID code
+        for the instrument.
+
+        Returns
+        -------
+        float :
+            The focal length in millimeters
+        """
+        filters = self.label["IsisCube"]["BandBin"]['FilterName'].split("/")
+        return self.naif_keywords.get('INS{}_{}_{}_FOCAL_LENGTH'.format(self.ikid, filters[0], filters[1]), None)

ale/util.py

@@ -559,7 +559,7 @@ def get_isis_mission_translations(isis_data):
     """
     mission_translation_file = read_pvl(os.path.join(isis_data, "base", "translations", "MissionName2DataDir.trn"))
     # For some reason this file takes the form [value, key] for mission name -> data dir
-    lookup = [l[::-1] for l in mission_translation_file["MissionName"].getlist("Translation")]
+    lookup = [l[::-1] for l in mission_translation_file["MissionName"].getall("Translation")]
     return dict(lookup)
 
 
@@ -693,15 +693,19 @@ def search_isis_db(dbobj, labelobj, isis_data):
     # Flag is set when kernels encapsulating the entire image time is found
     full_match = False
 
-    for selection in dbobj.getlist("Selection"):
-        files = selection.getlist("File")
+    for selection in dbobj.getall("Selection"):
+        files = selection.getall("File")
+        if not files:
+            raise Exception(f"No File found in {selection}")
 
         # selection criteria
-        matches = selection.getlist("Match")
-        times = selection.getlist("Time")
+        matches = []
+        if "Match" in selection:
+            matches = selection.getall("Match")
 
-        if not files:
-            raise Exception(f"No File found in {selection}")
+        times = []
+        if "Time" in selection:
+            times = selection.getall("Time")
 
         files = [path.join(*file) if isinstance(file, list) else file  for file in files]
 

tests/pytests/data/isds/cassiniiss_isis_isd.json

@@ -125,7 +125,7 @@
   "detector_sample_summing": 1,
   "detector_line_summing": 1,
   "focal_length_model": {
-    "focal_length": null
+    "focal_length": 2003.09
   },
   "detector_center": {
     "line": 512.5,

tests/pytests/test_cassini_drivers.py

@@ -10,7 +10,7 @@ from unittest.mock import PropertyMock, patch
 import json
 from conftest import get_image_label, get_image_kernels, get_isd, convert_kernels, compare_dicts, get_table_data
 
-from ale.drivers.co_drivers import CassiniIssPds3LabelNaifSpiceDriver
+from ale.drivers.co_drivers import CassiniIssPds3LabelNaifSpiceDriver, CassiniIssIsisLabelNaifSpiceDriver
 
 @pytest.fixture()
 def test_kernels(scope="module", autouse=True):
@@ -27,7 +27,8 @@ def test_load_pds(test_kernels):
     isd_str = ale.loads(label_file, props={'kernels': test_kernels})
     isd_obj = json.loads(isd_str)
     print(json.dumps(isd_obj, indent=2))
-    assert compare_dicts(isd_obj, compare_dict) == []
+    x = compare_dicts(isd_obj, compare_dict)
+    assert x == []
 
 def test_load_isis():
     label_file = get_image_label("N1702360370_1", label_type="isis3")
@@ -40,7 +41,18 @@ def test_load_isis():
         isd_str = ale.loads(label_file)
     isd_obj = json.loads(isd_str)
     print(json.dumps(isd_obj, indent=2))
-    assert compare_dicts(isd_obj, compare_dict) == []
+    x = compare_dicts(isd_obj, compare_dict)
+    assert x == []
+
+def test_load_isis_naif(test_kernels):
+    label_file = get_image_label("N1702360370_1")
+    compare_dict = get_isd("cassiniiss")
+
+    isd_str = ale.loads(label_file, props={"kernels": test_kernels})
+    isd_obj = json.loads(isd_str)
+    print(json.dumps(isd_obj, indent=2))
+    x = compare_dicts(isd_obj, compare_dict)
+    assert x == []
 
 # ========= Test cassini pds3label and naifspice driver =========
 class test_cassini_pds3_naif(unittest.TestCase):
@@ -130,3 +142,75 @@ class test_cassini_pds3_naif(unittest.TestCase):
             frame_chain = self.driver.frame_chain
             assert len(frame_chain.nodes()) == 0
             from_spice.assert_called_with(center_ephemeris_time=2.4, ephemeris_times=[2.4], nadir=False, sensor_frame=14082360, target_frame=-800)
+
+# ========= Test cassini isislabel and naifspice driver =========
+class test_cassini_isis_naif(unittest.TestCase):
+
+    def setUp(self):
+        label = get_image_label("N1702360370_1", "isis3")
+        self.driver = CassiniIssIsisLabelNaifSpiceDriver(label)
+
+    def test_instrument_id(self):
+        assert self.driver.instrument_id == "CASSINI_ISS_NAC"
+        
+    def test_spacecraft_name(self):
+        assert self.driver.spacecraft_name == "CASSINI"
+
+    def test_sensor_name(self):
+        assert self.driver.sensor_name == "Imaging Science Subsystem Narrow Angle Camera"
+
+    def test_ephemeris_start_time(self):
+        with patch('ale.drivers.co_drivers.spice.str2et', return_value=[12345]) as str2et:
+            assert self.driver.ephemeris_start_time == 12345
+            str2et.assert_called_with('2011-12-12 05:02:19.773000')
+
+    def test_center_ephemeris_time(self):
+        with patch('ale.drivers.co_drivers.spice.str2et', return_value=[12345]) as str2et:
+            print(self.driver.exposure_duration)
+            assert self.driver.center_ephemeris_time == 12347.3
+            str2et.assert_called_with('2011-12-12 05:02:19.773000')
+
+    def test_odtk(self):
+        assert self.driver.odtk == [0, -8e-06, 0]
+
+    def test_focal_length(self):
+        # This value isn't used for anything in the test, as it's only used for the
+        # default focal length calculation if the filter can't be found.
+        with patch('ale.drivers.co_drivers.spice.gdpool', return_value=[10.0]) as gdpool, \
+             patch('ale.base.data_naif.spice.bods2c', return_value=-12345) as bods2c:
+             assert self.driver.focal_length == 2003.09
+
+    def test_sensor_model_version(self):
+        assert self.driver.sensor_model_version == 1
+
+    def test_sensor_frame_id(self):
+        assert self.driver.sensor_frame_id == 14082360
+
+    @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
+    def test_custom_frame_chain(self, from_spice):
+        with patch('ale.drivers.co_drivers.spice.bods2c', return_value=-12345) as bods2c, \
+             patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.target_frame_id', \
+                     new_callable=PropertyMock) as target_frame_id, \
+             patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.ephemeris_start_time', \
+                     new_callable=PropertyMock) as ephemeris_start_time:
+            ephemeris_start_time.return_value = .1
+            target_frame_id.return_value = -800
+            frame_chain = self.driver.frame_chain
+            assert len(frame_chain.nodes()) == 2
+            assert 14082360 in frame_chain.nodes()
+            assert -12345 in frame_chain.nodes()
+            from_spice.assert_called_with(center_ephemeris_time=2.4000000000000004, ephemeris_times=[2.4000000000000004], sensor_frame=-12345, target_frame=-800)
+
+    @patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
+    def test_custom_frame_chain_iak(self, from_spice):
+        with patch('ale.drivers.co_drivers.spice.bods2c', return_value=-12345) as bods2c, \
+             patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.target_frame_id', \
+                     new_callable=PropertyMock) as target_frame_id, \
+             patch('ale.drivers.co_drivers.CassiniIssIsisLabelNaifSpiceDriver.ephemeris_start_time', \
+                     new_callable=PropertyMock) as ephemeris_start_time, \
+             patch('ale.drivers.co_drivers.spice.frinfo', return_value=True) as frinfo:
+            ephemeris_start_time.return_value = .1
+            target_frame_id.return_value = -800
+            frame_chain = self.driver.frame_chain
+            assert len(frame_chain.nodes()) == 0
+            from_spice.assert_called_with(center_ephemeris_time=2.4000000000000004, ephemeris_times=[2.4000000000000004], nadir=False, sensor_frame=14082360, target_frame=-800, )