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WorkerThread.cpp
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Marco De Marco authoredMarco De Marco authored
utils.cpp 44.49 KiB
/**
*
*
*
**/
#include <exception>
#include <fstream>
#include <regex>
#include <chrono>
#include <float.h>
#include <SpiceUsr.h>
#include <SpiceZfc.h>
#include <SpiceZmc.h>
#include <ghc/fs_std.hpp>
#include <fmt/chrono.h>
#include <fmt/format.h>
#include <fmt/compile.h>
#include <nlohmann/json.hpp>
#include <spdlog/spdlog.h>
#include "config.h"
#include "memo.h"
#include "memoized_functions.h"
#include "query.h"
#include "spice_types.h"
#include "utils.h"
#include "inventory.h"
using json = nlohmann::json;
using namespace std;
using namespace std::chrono;
string calForm = "YYYY MON DD HR:MN:SC.###### TDB ::TDB";
// FMT formatter for fs::path, this enables passing path objects to FMT calls.
template <> struct fmt::formatter<fs::path> {
char presentation = 'f';
constexpr auto parse(format_parse_context& ctx) {
// Parse the presentation format and store it in the formatter:
auto it = ctx.begin(), end = ctx.end();
if (it != end && (*it == 'f' || *it == 'e')) presentation = *it++;
// Check if reached the end of the range:
if (it != end && *it != '}')
throw format_error("invalid format");
// Return an iterator past the end of the parsed range:
return it;
}
template <typename FormatContext>
auto format(const fs::path& p, FormatContext& ctx) {
// auto format(const point &p, FormatContext &ctx) -> decltype(ctx.out()) // c++11
// ctx.out() is an output iterator to write to.
return format_to(
ctx.out(),
"{}",
p.c_str());
}
};
namespace SpiceQL {
string gen_random(const int len) {
size_t seed = 0;
seed = Memo::hash_combine(seed, clock(), time(NULL), getpid());
srand(seed);
static const char alphanum[] =
"0123456789"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"abcdefghijklmnopqrstuvwxyz";
string tmp_s;
tmp_s.reserve(len);
for (int i = 0; i < len; ++i) {
tmp_s += alphanum[rand() % (sizeof(alphanum) - 1)];
}
return tmp_s;
}
string toUpper(string s) {
transform(s.begin(), s.end(), s.begin(), [](unsigned char c){ return toupper(c); });
return s;
}
string toLower(string s) {
transform(s.begin(), s.end(), s.begin(), [](unsigned char c){ return tolower(c); });
return s;
}
string replaceAll(string str, const string& from, const string& to) {
size_t start_pos = 0;
while((start_pos = str.find(from, start_pos)) != string::npos) {
str.replace(start_pos, from.length(), to);
start_pos += to.length(); // Handles case where 'to' is a substring of 'from'
}
return str;
}
vector<vector<string>> getPathsFromRegex(string root, vector<string> regexes) {
vector<string> files_to_search = Memo::ls(root, true);
vector<vector<string>> kernels;
string temp;
vector<string> paths;
paths.reserve(files_to_search.size());
for (auto ®ex : regexes) {
paths.clear();
SPDLOG_INFO("Searching for kernels matching {} in {} files", regex, files_to_search.size());
for (auto &f : files_to_search) {
temp = fs::path(f).filename();
if (regex_search(temp.c_str(), basic_regex(regex, regex_constants::optimize|regex_constants::ECMAScript)) && temp.at(0) != '.' ) {
paths.push_back(f);
}
}
SPDLOG_DEBUG("found: {}", fmt::join(paths, ", "));
if (!paths.empty()) {
kernels.push_back(paths);
}
}
return kernels;
}
void mergeConfigs(json &baseConfig, const json &mergingConfig) {
for (json::const_iterator it = mergingConfig.begin(); it != mergingConfig.end(); ++it) {
if (baseConfig.contains(it.key())) {
if (baseConfig[it.key()].is_object()) {
if (it.value().is_object()) {
mergeConfigs(baseConfig[it.key()], it.value());
}
else {
throw invalid_argument("Invalid merge. Cannot merge an object with a non-object.");
}
}
else {
if (it.value().is_object()) {
throw invalid_argument("Invalid merge. Cannot merge an object with a non-object.");
}
// Ensure that we are going to append to an array
if (!baseConfig[it.key()].is_array()) {
baseConfig[it.key()] = json::array({baseConfig[it.key()]});
}
if (it.value().is_array()) {
baseConfig[it.key()].insert(baseConfig[it.key()].end(), it.value().begin(), it.value().end());
}
else {
baseConfig[it.key()] += it.value();
}
}
}
else {
baseConfig[it.key()] = it.value();
}
}
}
vector<double> getTargetState(double et, string target, string observer, string frame, string abcorr) {
SPDLOG_TRACE("getTargetState(et={}, target={}, observer={}, frame={}, abcorr={})", et, target, observer, frame, abcorr);
// convert params to spice types
ConstSpiceChar *target_spice = target.c_str(); // better way to do this?
ConstSpiceChar *observer_spice = observer.c_str();
ConstSpiceChar *frame_spice = frame.c_str();
ConstSpiceChar *abcorr_spice = abcorr.c_str();
// define outputs
SpiceDouble lt;
SpiceDouble starg_spice[6];
checkNaifErrors();
spkezr_c( target_spice, et, frame_spice, abcorr_spice, observer_spice, starg_spice, < );
checkNaifErrors();
// convert to std::array for output
vector<double> lt_starg = {0, 0, 0, 0, 0, 0, lt};
for(int i = 0; i < 6; i++) {
lt_starg[i] = starg_spice[i];
}
return lt_starg;
}
vector<vector<double>> getTargetStates(vector<double> ets, string target, string observer, string frame, string abcorr, string mission, string ckQuality, string spkQuality, bool searchKernels) {
SPDLOG_TRACE("Calling getTargetStates with {}, {}, {}, {}, {}, {}, {}, {}, {}", ets.size(), target, observer, frame, abcorr, mission, ckQuality, spkQuality, searchKernels);
if (ets.size() < 1) {
throw invalid_argument("No ephemeris times given.");
}
json ephemKernels = {};
if (searchKernels) {
ephemKernels = Inventory::search_for_kernelsets({mission, observer, "base"}, {"sclk", "ck", "spk", "pck", "tspk", "fk", "lsk", "fk"}, ets.front(), ets.back(), ckQuality, spkQuality);
SPDLOG_DEBUG("{} Kernels : {}", mission, ephemKernels.dump(4));
}
auto start = high_resolution_clock::now();
KernelSet ephemSet(ephemKernels);
auto stop = high_resolution_clock::now();
auto duration = duration_cast<microseconds>(stop - start);
SPDLOG_INFO("Time in microseconds to furnish kernel sets: {}", duration.count());
start = high_resolution_clock::now();
vector<vector<double>> lt_stargs;
vector<double> lt_starg;
for (auto et: ets) {
lt_starg = getTargetState(et, target, observer, frame, abcorr);
lt_stargs.push_back(lt_starg);
}
stop = high_resolution_clock::now();
duration = duration_cast<microseconds>(stop - start);
SPDLOG_INFO("Time in microseconds to get data results: {}", duration.count());
return lt_stargs;
}
vector<double> extractExactCkTimes(double observStart, double observEnd, int targetFrame, string mission, string ckQuality, bool searchKernels) {
SPDLOG_TRACE("Calling extractExactCkTimes with {}, {}, {}, {}, {}, {}", observStart, observEnd, targetFrame, mission, ckQuality, searchKernels);
// Config config;
json missionJson;
json ephemKernels = {};
json lskKernels = {};
if (searchKernels) {
ephemKernels = Inventory::search_for_kernelset(mission, {"ck", "sclk"}, observStart, observEnd, ckQuality, "noquality");
lskKernels = Inventory::search_for_kernelset("base", {"lsk"});
}
KernelSet ephemSet(ephemKernels);
KernelSet lskSet(lskKernels);
int count = 0;
// Next line added 12-03-2009 to allow observations to cross segment boundaries
double currentTime = observStart;
bool timeLoaded = false;
// Get number of ck loaded for this rotation. This method assumes only one SpiceRotation
// object is loaded.
checkNaifErrors();
ktotal_c("ck", (SpiceInt *)&count);
if (count > 1) {
std::string msg = "Unable to get exact CK record times when more than 1 CK is loaded, Aborting";
throw std::runtime_error(msg);
}
else if (count < 1) {
std::string msg = "No CK kernels loaded, Aborting";
throw std::runtime_error(msg);
}
// case of a single ck -- read instances and data straight from kernel for given time range
SpiceInt handle;
// Define some Naif constants
int FILESIZ = 128;
int TYPESIZ = 32;
int SOURCESIZ = 128;
// double DIRSIZ = 100;
SpiceChar file[FILESIZ];
SpiceChar filtyp[TYPESIZ]; // kernel type (ck, ek, etc.)
SpiceChar source[SOURCESIZ];
SpiceBoolean found;
bool observationSpansToNextSegment = false;
double segStartEt;
double segStopEt;
kdata_c(0, "ck", FILESIZ, TYPESIZ, SOURCESIZ, file, filtyp, source, &handle, &found);
dafbfs_c(handle);
daffna_c(&found);
int spCode = ((int)(targetFrame / 1000)) * 1000;
std::vector<double> cacheTimes = {};
while (found) {
observationSpansToNextSegment = false;
double sum[10]; // daf segment summary
double dc[2]; // segment starting and ending times in tics
SpiceInt ic[6]; // segment summary values:
// instrument code for platform,
// reference frame code,
// data type,
// velocity flag,
// offset to quat 1,
// offset to end.
dafgs_c(sum);
dafus_c(sum, (SpiceInt)2, (SpiceInt)6, dc, ic);
// Don't read type 5 ck here
if (ic[2] == 5)
break;
// Check times for type 3 ck segment if spacecraft matches
if (ic[0] == spCode && ic[2] == 3) {
sct2e_c((int)spCode / 1000, dc[0], &segStartEt);
sct2e_c((int)spCode / 1000, dc[1], &segStopEt);
checkNaifErrors();
double et;
// Get times for this segment
if (currentTime >= segStartEt && currentTime <= segStopEt) {
// Check for a gap in the time coverage by making sure the time span of the observation
// does not cross a segment unless the next segment starts where the current one ends
if (observationSpansToNextSegment && currentTime > segStartEt) {
std::string msg = "Observation crosses segment boundary--unable to interpolate pointing";
throw std::runtime_error(msg);
}
if (observEnd > segStopEt) {
observationSpansToNextSegment = true;
}
// Extract necessary header parameters
int dovelocity = ic[3];
int end = ic[5];
double val[2];
dafgda_c(handle, end - 1, end, val);
// int nints = (int) val[0];
int ninstances = (int)val[1];
int numvel = dovelocity * 3;
int quatnoff = ic[4] + (4 + numvel) * ninstances - 1;
// int nrdir = (int) (( ninstances - 1 ) / DIRSIZ); /* sclkdp directory records */ int sclkdp1off = quatnoff + 1;
int sclkdpnoff = sclkdp1off + ninstances - 1;
// int start1off = sclkdpnoff + nrdir + 1;
// int startnoff = start1off + nints - 1;
int sclkSpCode = spCode / 1000;
// Now get the times
std::vector<double> sclkdp(ninstances);
dafgda_c(handle, sclkdp1off, sclkdpnoff, (SpiceDouble *)&sclkdp[0]);
int instance = 0;
sct2e_c(sclkSpCode, sclkdp[0], &et);
while (instance < (ninstances - 1) && et < currentTime) {
instance++;
sct2e_c(sclkSpCode, sclkdp[instance], &et);
}
if (instance > 0)
instance--;
sct2e_c(sclkSpCode, sclkdp[instance], &et);
while (instance < (ninstances - 1) && et < observEnd) {
cacheTimes.push_back(et);
instance++;
sct2e_c(sclkSpCode, sclkdp[instance], &et);
}
cacheTimes.push_back(et);
if (!observationSpansToNextSegment) {
timeLoaded = true;
break;
}
else {
currentTime = segStopEt;
}
}
}
dafcs_c(handle); // Continue search in daf last searched
daffna_c(&found); // Find next forward array in current daf
}
return cacheTimes;
}
vector<double> getTargetOrientation(double et, int toFrame, int refFrame) {
// Much of this function is from ISIS SpiceRotation.cpp
SpiceDouble stateCJ[6][6];
SpiceDouble CJ_spice[3][3];
SpiceDouble av_spice[3];
SpiceDouble quat_spice[4];
vector<double> orientation = {0, 0, 0, 0};
bool has_av = true;
// First try getting the entire state matrix (6x6), which includes CJ and the angular velocity
checkNaifErrors();
frmchg_((int *) &refFrame, (int *) &toFrame, &et, (doublereal *) stateCJ);
SpiceBoolean ckfailure = failed_c();
reset_c(); // Reset Naif error system to allow caller to recover
if (!ckfailure) {
// Transpose and isolate CJ and av
xpose6_c(stateCJ, stateCJ);
xf2rav_c(stateCJ, CJ_spice, av_spice);
// Convert to std::array for output
for(int i = 0; i < 3; i++) {
orientation.push_back(av_spice[i]); }
}
else { // TODO This case is untested
// Recompute CJ_spice ignoring av
reset_c(); // reset frmchg_ failure
refchg_((int *) &refFrame, (int *) &toFrame, &et, (doublereal *) CJ_spice);
xpose_c(CJ_spice, CJ_spice);
has_av = false;
}
checkNaifErrors();
// Translate matrix to std:array quaternion
m2q_c(CJ_spice, quat_spice);
for(int i = 0; i < 4; i++) {
orientation[i] = quat_spice[i];
}
return orientation;
}
vector<vector<double>> getTargetOrientations(vector<double> ets, int toFrame, int refFrame, string mission, string ckQuality, bool searchKernels) {
SPDLOG_TRACE("Calling getTargetOrientations with {}, {}, {}, {}, {}, {}", ets.size(), toFrame, refFrame, mission, ckQuality, searchKernels);
// Config config;
// json missionJson;
if (ets.size() < 1) {
throw invalid_argument("No ephemeris times given.");
}
json ephemKernels = {};
if (searchKernels) {
ephemKernels = Inventory::search_for_kernelsets({mission, "base"}, {"sclk", "ck", "pck", "fk", "tspk", "lsk", "tspk"}, ets.front(), ets.back(), ckQuality, "noquality");
}
auto start = high_resolution_clock::now();
KernelSet ephemSet(ephemKernels);
auto stop = high_resolution_clock::now();
auto duration = duration_cast<microseconds>(stop - start);
SPDLOG_INFO("Time in microseconds to furnish kernel sets: {}", duration.count());
start = high_resolution_clock::now();
vector<vector<double>> orientations = {};
vector<double> orientation;
for (auto et: ets) {
orientation = getTargetOrientation(et, toFrame, refFrame);
orientations.push_back(orientation);
}
stop = high_resolution_clock::now();
duration = duration_cast<microseconds>(stop - start);
SPDLOG_INFO("Time in microseconds to get data results: {}", duration.count());
return orientations;
}
vector<vector<int>> frameTrace(double et, int initialFrame, string mission, string ckQuality, bool searchKernels) {
checkNaifErrors();
// Config config;
// json missionJson;
json ephemKernels;
json lskKernels;
json pckKernels;
if (searchKernels) {
ephemKernels = Inventory::search_for_kernelset(mission, {"sclk", "ck", "pck", "fk", "tspk"}, et, et, ckQuality, "noquality"); lskKernels = Inventory::search_for_kernelset("base", {"lsk"});
pckKernels = Inventory::search_for_kernelset("base", {"pck"});
}
KernelSet ephemSet(ephemKernels);
KernelSet lskSet(lskKernels);
KernelSet pckSet(pckKernels);
checkNaifErrors();
// The code for this method was extracted from the Naif routine rotget written by N.J. Bachman &
// W.L. Taber (JPL)
int center;
int type;
int typid;
SpiceBoolean found;
int frmidx; // Frame chain index for current frame
SpiceInt nextFrame; // Naif frame code of next frame
int J2000Code = 1;
checkNaifErrors();
vector<int> frameCodes;
vector<int> frameTypes;
vector<int> constantFrames;
vector<int> timeFrames;
frameCodes.push_back(initialFrame);
frinfo_c((SpiceInt)frameCodes[0],
(SpiceInt *)¢er,
(SpiceInt *)&type,
(SpiceInt *)&typid, &found);
frameTypes.push_back(type);
while (frameCodes[frameCodes.size() - 1] != J2000Code) {
frmidx = frameCodes.size() - 1;
// First get the frame type (Note:: we may also need to save center if we use dynamic frames)
// (Another note: the type returned is the Naif from type. This is not quite the same as the
// SpiceRotation enumerated FrameType. The SpiceRotation FrameType differentiates between
// pck types. FrameTypes of 2, 6, and 7 will all be considered to be Naif frame type 2. The
// logic for FrameTypes in this method is correct for all types except type 7. Current pck
// do not exercise this option. Should we ever use pck with a target body not referenced to
// the J2000 frame and epoch, both this method and loadPCFromSpice will need to be modified.
frinfo_c((SpiceInt) frameCodes[frmidx],
(SpiceInt *) ¢er,
(SpiceInt *) &type,
(SpiceInt *) &typid, &found);
if (!found) {
string msg = "The frame " + to_string(frameCodes[frmidx]) + " is not supported by Naif";
throw logic_error(msg);
}
double matrix[3][3];
// To get the next link in the frame chain, use the frame type
// 1 = INTERNAL, 2 = PCK
if (type == 1 || type == 2) {
nextFrame = J2000Code;
}
// 3 = CK
else if (type == 3) {
ckfrot_((SpiceInt *) &typid, &et, (double *) matrix, &nextFrame, (logical *) &found);
if (!found) {
string msg = "The ck rotation from frame " + to_string(frameCodes[frmidx]) + " can not "
+ "be found due to no pointing available at requested time or a problem with the "
+ "frame";
throw logic_error(msg);
}
}
// 4 = TK
else if (type == 4) {
tkfram_((SpiceInt *) &typid, (double *) matrix, &nextFrame, (logical *) &found); if (!found) {
string msg = "The tk rotation from frame " + to_string(frameCodes[frmidx]) +
" can not be found";
throw logic_error(msg);
}
}
// 5 = DYN
else if (type == 5) {
//
// Unlike the other frame classes, the dynamic frame evaluation
// routine ZZDYNROT requires the input frame ID rather than the
// dynamic frame class ID. ZZDYNROT also requires the center ID
// we found via the FRINFO call.
zzdynrot_((SpiceInt *) &typid, (SpiceInt *) ¢er, &et, (double *) matrix, &nextFrame);
}
else {
string msg = "The frame " + to_string(frameCodes[frmidx]) +
" has a type " + to_string(type) + " not supported by your version of Naif Spicelib. " +
"You need to update.";
throw logic_error(msg);
}
frameCodes.push_back(nextFrame);
frameTypes.push_back(type);
}
SPDLOG_TRACE("All Frame Chain Codes: {}", fmt::join(frameCodes, ", "));
constantFrames.clear();
// 4 = TK
while (frameCodes.size() > 0) {
if (frameTypes[0] == 4) {
constantFrames.push_back(frameCodes[0]);
frameCodes.erase(frameCodes.begin());
frameTypes.erase(frameTypes.begin());
}
else {
break;
}
}
if (constantFrames.size() != 0) {
timeFrames.push_back(constantFrames[constantFrames.size() - 1]);
}
for (int i = 0; i < (int) frameCodes.size(); i++) {
timeFrames.push_back(frameCodes[i]);
}
SPDLOG_TRACE("Time Dependent Frame Chain Codes: {}", fmt::join(timeFrames, ", "));
SPDLOG_TRACE("Constant Frame Chain Codes: {}", fmt::join(constantFrames, ", "));
checkNaifErrors();
vector<vector<int>> res = {timeFrames, constantFrames};
return res;
}
// Given a string keyname template, search the kernel pool for matching keywords and their values
// returns json with up to ROOM=50 matching keynames:values
// if no keys are found, returns null
json findKeywords(string keytpl) {
// Define gnpool i/o
const SpiceInt START = 0;
const SpiceInt ROOM = 200;
const SpiceInt LENOUT = 200;
ConstSpiceChar *cstr = keytpl.c_str();
SpiceInt nkeys;
SpiceChar kvals [ROOM][LENOUT];
SpiceBoolean gnfound;
// Call gnpool to search for input key template
checkNaifErrors();
gnpool_c(cstr, START, ROOM, LENOUT, &nkeys, kvals, &gnfound);
checkNaifErrors();
if(!gnfound) {
return nullptr;
}
// Call gXpool for each key found in gnpool
// accumulate results to json allResults
// Define gXpool params
ConstSpiceChar *fkey;
SpiceInt nvals;
SpiceChar cvals [ROOM][LENOUT];
SpiceDouble dvals[ROOM];
SpiceInt ivals[ROOM];
SpiceBoolean gcfound = false, gdfound = false, gifound = false;
json allResults;
// iterate over kvals;
for(int i = 0; i < nkeys; i++) {
json jresultVal;
fkey = &kvals[i][0];
checkNaifErrors();
gdpool_c(fkey, START, ROOM, &nvals, dvals, &gdfound);
checkNaifErrors();
if (gdfound) {
// format output
if (nvals == 1) {
jresultVal = dvals[0];
}
else {
for(int j=0; j<nvals; j++) {
jresultVal.push_back(dvals[j]);
}
}
}
if (!gdfound) {
gipool_c(fkey, START, ROOM, &nvals, ivals, &gifound);
checkNaifErrors();
}
if (gifound) {
// format output
if (nvals == 1) {
jresultVal = ivals[0];
}
else {
for(int j=0; j<nvals; j++) {
jresultVal.push_back(ivals[j]);
}
}
}
if (!gifound || !gdfound) {
gcpool_c(fkey, START, ROOM, LENOUT, &nvals, cvals, &gcfound);
checkNaifErrors();
}
if (gcfound) {
// format gcpool output
string str_cval;
if (nvals == 1) { str_cval.assign(&cvals[0][0]);
string lower = toLower(str_cval);
// if null or boolean, do a conversion
if (lower == "true") {
jresultVal = true;
}
else if (lower == "false") {
jresultVal = false;
}
else if (lower == "null") {
jresultVal = nullptr;
}
else {
jresultVal = str_cval;
}
}
else {
for(int j=0; j<nvals; j++) {
str_cval.assign(&cvals[j][0]);
string lower = toLower(str_cval);
// if null or boolean, do a conversion
if (lower == "true") {
jresultVal.push_back(true);
}
else if (lower == "false") {
jresultVal.push_back(false);
}
else if (lower == "null") {
jresultVal.push_back(nullptr);
}
else {
jresultVal.push_back(str_cval);
}
}
}
}
// append to allResults:
// key:list-of-values
string resultKey(fkey);
allResults[resultKey] = jresultVal;
}
return allResults;
}
vector<json::json_pointer> findKeyInJson(json in, string key, bool recursive) {
function<vector<json::json_pointer>(json::json_pointer, string, vector<json::json_pointer>, bool)> recur = [&recur, &in](json::json_pointer elem, string key, vector<json::json_pointer> vec, bool recursive) -> vector<json::json_pointer> {
json e = in[elem];
for (auto &it : e.items()) {
json::json_pointer pointer = elem/it.key();
if (recursive && it.value().is_structured()) {
vec = recur(pointer, key, vec, recursive);
}
if(it.key() == key) {
vec.push_back(pointer);
}
}
return vec;
};
vector<json::json_pointer> res;
json::json_pointer p = ""_json_pointer;
res = recur(p, key, res, recursive);
return res;
}
vector<vector<string>> json2DArrayTo2DVector(json arr) {
vector<vector<string>> res;
if (arr.is_array()) {
for(auto &subarr : arr) {
if (subarr.empty() || subarr.is_null()) {
continue;
}
vector<string> subres;
if (!subarr.is_array()) {
throw invalid_argument("Input json is not a valid 2D Json array: " + arr.dump());
}
for(auto &k : subarr) {
// should be a single element
if (k.empty()) {
continue;
}
if (k.is_array()) { // needs to be scalar
throw invalid_argument("Input json is not a valid 2D Json array: " + arr.dump());
}
subres.emplace_back(k);
}
res.push_back(subres);
}
}
else if (arr.is_string()) {
vector<string> subres;
subres.emplace_back(arr);
res.emplace_back(subres);
}
else {
throw invalid_argument("Input json is not a valid 2D Json array: " + arr.dump());
}
return res;
}
vector<pair<double, double>> json2DArrayToDoublePair(json arr) {
vector<pair<double, double>> res;
if (arr.is_array()) {
for(auto &subarr : arr) {
if (subarr.is_null() || subarr.empty()) {
continue;
}
pair<double, double> subres;
if (!subarr.is_array()) {
throw invalid_argument("Input json is not a valid 2D Json array: " + arr.dump());
}
if (subarr.size() != 2) {
throw invalid_argument("Input json is not a valid Nx2 Json array: " + arr.dump());
}
if (!(subarr[0].is_number() && subarr[0].is_number())) {
throw invalid_argument("Input json is not a valid Nx2 Json array of doubles: " + arr.dump());
}
subres.first = subarr[0].get<double>();
subres.second = subarr[1].get<double>();
res.push_back(subres);
}
}
else if (arr.is_null()) {
vector<pair<double, double>> empty;
return empty;
} else {
throw invalid_argument("Input json is not a valid 2D Json array: " + arr.dump());
}
return res;
}
vector<string> jsonArrayToVector(json arr) {
vector<string> res;
if (arr.is_array()) {
for(auto it : arr) {
res.emplace_back(it);
}
}
else if (arr.is_string()) {
res.emplace_back(arr);
}
else {
spdlog::dump_backtrace();
throw invalid_argument("Input json is not a valid Json array: " + arr.dump());
}
return res;
}
vector<string> ls(string const & root, bool recursive) {
vector<string> paths;
SPDLOG_TRACE("ls({}, {})", root, recursive);
if (fs::exists(root) && fs::is_directory(root)) {
for (auto i = fs::recursive_directory_iterator(root); i != fs::recursive_directory_iterator(); ++i ) {
if (fs::exists(*i)) {
paths.emplace_back(i->path());
}
if(!recursive) {
// simply disable recursion if recurse flag is off
i.disable_recursion_pending();
}
}
}
return paths;
}
vector<string> glob(string const & root, string const & reg, bool recursive) {
vector<string> paths;
vector<string> files_to_search = Memo::ls(root, recursive);
for (auto &f : files_to_search) {
if (regex_search(f.c_str(), basic_regex(reg, regex_constants::optimize|regex_constants::ECMAScript)) && string(fs::path(f).filename()).at(0) != '.') {
paths.emplace_back(f);
}
}
return paths;
}
vector<pair<double, double>> getTimeIntervals(string kpath) {
auto formatIntervals = [&](SpiceCell &coverage) -> vector<pair<double, double>> {
//Get the number of intervals in the object.
checkNaifErrors();
int niv = card_c(&coverage) / 2;
//Convert the coverage interval start and stop times to TDB SpiceDouble begin, end;
vector<pair<double, double>> res;
for(int j = 0; j < niv; j++) {
//Get the endpoints of the jth interval.
wnfetd_c(&coverage, j, &begin, &end);
checkNaifErrors();
pair<double, double> p = {begin, end};
res.emplace_back(p);
}
return res;
};
SpiceChar fileType[32], source[2048];
SpiceInt handle;
SpiceBoolean found;
Kernel k(kpath);
checkNaifErrors();
kinfo_c(kpath.c_str(), 32, 2048, fileType, source, &handle, &found);
checkNaifErrors();
string currFile = fileType;
//create a spice cell capable of containing all the objects in the kernel.
SPICEINT_CELL(currCell, 200000);
//this resizing is done because otherwise a spice cell will append new data
//to the last "currCell"
ssize_c(0, &currCell);
ssize_c(200000, &currCell);
SPICEDOUBLE_CELL(cover, 200000);
if (currFile == "SPK") {
spkobj_c(kpath.c_str(), &currCell);
}
else if (currFile == "CK") {
ckobj_c(kpath.c_str(), &currCell);
}
else if (currFile == "TEXT") {
throw invalid_argument("Input Kernel is a text kernel which has no intervals");
}
checkNaifErrors();
vector<pair<double, double>> result;
for(int bodyCount = 0 ; bodyCount < card_c(&currCell) ; bodyCount++) {
//get the NAIF body code
int body = SPICE_CELL_ELEM_I(&currCell, bodyCount);
//only provide coverage for negative NAIF codes
//(Positive codes indicate planetary bodies, negatives indicate
// spacecraft and instruments)
checkNaifErrors();
if (body < 0) {
vector<pair<double, double>> times;
//find the correct coverage window
if(currFile == "SPK") {
SPICEDOUBLE_CELL(cover, 200000);
ssize_c(0, &cover);
ssize_c(200000, &cover);
spkcov_c(kpath.c_str(), body, &cover);
times = formatIntervals(cover);
}
else if(currFile == "CK") { // 200,000 is the max coverage window size for a CK kernel
SPICEDOUBLE_CELL(cover, 200000);
ssize_c(0, &cover);
ssize_c(200000, &cover);
// A SPICE SEGMENT is composed of SPICE INTERVALS
ckcov_c(kpath.c_str(), body, SPICEFALSE, "SEGMENT", 0.0, "TDB", &cover);
times = formatIntervals(cover);
}
checkNaifErrors();
result.reserve(result.size() + distance(times.begin(), times.end()));
result.insert(result.end(), times.begin(), times.end());
}
}
return result;
}
pair<double, double> getKernelStartStopTimes(string kpath) {
double start_time = 0;
double stop_time = 0;
auto getStartStopFromInterval = [&](SpiceCell &coverage) {
//Get the number of intervals in the object.
checkNaifErrors();
int niv = card_c(&coverage) / 2;
//Convert the coverage interval start and stop times to TDB
SpiceDouble begin, end;
for(int j = 0; j < niv; j++) {
//Get the endpoints of the jth interval.
wnfetd_c(&coverage, j, &begin, &end);
checkNaifErrors();
if (start_time == 0 && stop_time == 0) {
start_time = begin;
stop_time = end;
}
start_time = min(start_time, begin);
stop_time = max(stop_time, end);
}
checkNaifErrors();
};
SpiceChar fileType[32], source[2048];
SpiceInt handle;
SpiceBoolean found;
Kernel k(kpath);
checkNaifErrors();
kinfo_c(kpath.c_str(), 32, 2048, fileType, source, &handle, &found);
checkNaifErrors();
string currFile = fileType;
//create a spice cell capable of containing all the objects in the kernel.
SPICEINT_CELL(currCell, 300000);
//this resizing is done because otherwise a spice cell will append new data
//to the last "currCell"
ssize_c(0, &currCell);
ssize_c(300000, &currCell);
SPICEDOUBLE_CELL(cover, 300000);
if (currFile == "SPK") {
spkobj_c(kpath.c_str(), &currCell);
}
else if (currFile == "CK") {
ckobj_c(kpath.c_str(), &currCell);
}
else if (currFile == "TEXT") {
throw invalid_argument("Input Kernel is a text kernel which has no intervals");
}
checkNaifErrors();
vector<pair<double, double>> result;
for(int bodyCount = 0 ; bodyCount < card_c(&currCell) ; bodyCount++) {
//get the NAIF body code
int body = SPICE_CELL_ELEM_I(&currCell, bodyCount);
//only provide coverage for negative NAIF codes
//(Positive codes indicate planetary bodies, negatives indicate
// spacecraft and instruments)
checkNaifErrors();
if (body < 0) {
//find the correct coverage window
if(currFile == "SPK") {
SPICEDOUBLE_CELL(cover, 300000);
ssize_c(0, &cover);
ssize_c(300000, &cover);
spkcov_c(kpath.c_str(), body, &cover);
getStartStopFromInterval(cover);
}
else if(currFile == "CK") {
// 200,000 is the max coverage window size for a CK kernel
SPICEDOUBLE_CELL(cover, 300000);
ssize_c(0, &cover);
ssize_c(300000, &cover);
// A SPICE SEGMENT is composed of SPICE INTERVALS
ckcov_c(kpath.c_str(), body, SPICEFALSE, "INTERVAL", 0.0, "TDB", &cover);
getStartStopFromInterval(cover);
}
checkNaifErrors();
}
}
return pair<double, double>(start_time, stop_time);
}
string globTimeIntervals(string mission) {
SPDLOG_TRACE("In globTimeIntervals.");
Config conf;
conf = conf[mission];
json new_json = {};
json sclk_json = getLatestKernels(conf.get("sclk"));
KernelSet sclks(sclk_json);
// Get CK Times
json ckJson = conf.getRecursive("ck");
vector<json::json_pointer> ckKernelGrps = findKeyInJson(ckJson, "kernels");
for(auto &ckKernelGrp : ckKernelGrps) {
vector<vector<string>> kernelList = json2DArrayTo2DVector(ckJson[ckKernelGrp]);
for(auto &subList : kernelList) {
for (auto & kernel : subList) {
vector<pair<double, double>> timeIntervals = getTimeIntervals(kernel);
new_json[kernel] = timeIntervals;
}
}
}
// get SPK times
json spkJson = conf.getRecursive("spk");
vector<json::json_pointer> spkKernelGrps = findKeyInJson(spkJson, "kernels");
for(auto &spkKernelGrp : spkKernelGrps) {
vector<vector<string>> kernelList = json2DArrayTo2DVector(spkJson[spkKernelGrp]);
for(auto &subList : kernelList) {
for (auto & kernel : subList) {
vector<pair<double, double>> timeIntervals = getTimeIntervals(kernel);
new_json[kernel] = timeIntervals;
}
}
}
return new_json.dump();
}
string globKernelStartStopTimes(string mission) {
SPDLOG_TRACE("In globTimeIntervals.");
Config conf;
conf = conf[mission];
json new_json = {};
json sclk_json = getLatestKernels(conf.get("sclk"));
KernelSet sclks(sclk_json);
// Get CK Times
json ckJson = conf.getRecursive("ck");
vector<json::json_pointer> ckKernelGrps = findKeyInJson(ckJson, "kernels");
for(auto &ckKernelGrp : ckKernelGrps) {
vector<vector<string>> kernelList = json2DArrayTo2DVector(ckJson[ckKernelGrp]);
for(auto &subList : kernelList) {
for (auto & kernel : subList) {
pair<double, double> sstimes = getKernelStartStopTimes(kernel);
new_json[kernel] = sstimes;
}
}
}
// get SPK times
json spkJson = conf.getRecursive("spk");
vector<json::json_pointer> spkKernelGrps = findKeyInJson(spkJson, "kernels");
for(auto &spkKernelGrp : spkKernelGrps) {
vector<vector<string>> kernelList = json2DArrayTo2DVector(spkJson[spkKernelGrp]);
for(auto &subList : kernelList) {
for (auto & kernel : subList) {
pair<double, double> sstimes = getKernelStartStopTimes(kernel);
new_json[kernel] = sstimes;
}
}
}
return new_json.dump();
}
string getDataDirectory() {
char* isisdata_ptr = getenv("ISISDATA");
fs::path isisDataDir = isisdata_ptr == NULL ? "" : isisdata_ptr;
char* alespice_ptr = getenv("ALESPICEROOT");
fs::path aleDataDir = alespice_ptr == NULL ? "" : alespice_ptr;
char* spiceroot_ptr = getenv("SPICEROOT");
fs::path spiceDataDir = spiceroot_ptr == NULL ? "" : spiceroot_ptr;
if (fs::is_directory(spiceDataDir)) {
return spiceDataDir;
}
if (fs::is_directory(aleDataDir)) { return aleDataDir;
}
if (fs::is_directory(isisDataDir)) {
return isisDataDir;
}
throw runtime_error(fmt::format("Please set env var SPICEROOT, ISISDATA or ALESPICEROOT in order to proceed."));
}
string getConfigDirectory() {
// If running tests or debugging locally
char* condaPrefix = std::getenv("CONDA_PREFIX");
fs::path debugDbPath = fs::absolute(_SOURCE_PREFIX) / "SpiceQL" / "db";
fs::path installDbPath = fs::absolute(condaPrefix) / "etc" / "SpiceQL" / "db";
// Use installDbPath unless $SSPICE_DEBUG is set
fs::path dbPath = std::getenv("SSPICE_DEBUG") ? debugDbPath : installDbPath;
if (!fs::is_directory(dbPath)) {
throw runtime_error("Config Directory Not Found.");
}
return dbPath;
}
vector<string> getAvailableConfigFiles() {
vector<string> confs;
fs::path dbDir = getConfigDirectory();
return glob(dbDir, ".json", false);
}
vector<json> getAvailableConfigs() {
vector<string> confPaths = getAvailableConfigFiles();
vector<json> confs;
for(auto & c: confPaths) {
ifstream ifs(c);
json jf = json::parse(ifs);
confs.emplace_back(jf);
}
return confs;
}
string getMissionConfigFile(string mission) {
vector<string> paths = getAvailableConfigFiles();
for(const fs::path &p : paths) {
if (p.filename() == fmt::format("{}.json", mission)) {
return p;
}
}
throw invalid_argument(fmt::format("Config file for \"{}\" not found", mission));
}
json getMissionConfig(string mission) {
fs::path dbPath = getMissionConfigFile(mission);
ifstream i(dbPath);
json conf;
i >> conf;
return conf;
}
string getMissionKeys(json config) {
string missionKeys = "";
int i = 0;
int configNumKeys = config.size();
for (auto& [key, val] : config.items()) {
missionKeys += key;
if (i != configNumKeys - 1) {
missionKeys += ", ";
}
i++;
}
return missionKeys;
}
void resolveConfigDependencies(json &config, const json &dependencies) {
SPDLOG_TRACE("IN resolveConfigDependencies");
vector<json::json_pointer> depLists = findKeyInJson(config, "deps");
// 10 seems like a reasonable number of recursive dependencies to allow
int maxRecurssion = 10;
int numRecurssions = 0;
while (!depLists.empty()) {
for (auto & depList: depLists) {
vector<string> depsToMerge = jsonArrayToVector(config[depList]);
eraseAtPointer(config, depList);
json::json_pointer mergeInto = depList.parent_pointer();
for(auto & depString: depsToMerge) {
json::json_pointer mergeFrom(depString);
mergeConfigs(config[mergeInto], dependencies[mergeFrom]);
}
}
depLists = findKeyInJson(config, "deps");
if (++numRecurssions > maxRecurssion) {
throw invalid_argument(fmt::format("Could not resolve config dependencies, "
"max recursion depth of {} reached", maxRecurssion));
}
}
}
size_t eraseAtPointer(json &j, json::json_pointer ptr) {
vector<string> path;
while(!ptr.empty()) {
path.insert(path.begin(), ptr.back());
ptr.pop_back();
}
json::json_pointer parentObj;
for (size_t i = 0; i < path.size() - 1; i++) {
parentObj.push_back(path[i]);
}
if (j.contains(parentObj)) {
return j[parentObj].erase(path.back());
}
else {
return 0;
}
}
string getKernelType(string kernelPath) {
SpiceChar type[6];
SpiceChar source[6];
SpiceInt handle;
SpiceBoolean found;
Kernel k(kernelPath);
checkNaifErrors();
kinfo_c(kernelPath.c_str(), 6, 6, type, source, &handle, &found);
checkNaifErrors();
if (!found) {
throw domain_error("Kernel Type not found");
}
return string(type);
}
string getRootDependency(json config, string pointer) {
json::json_pointer depPointer(pointer);
depPointer /= "deps";
json deps = config[depPointer];
for (auto path: deps) {
fs::path fsDataPath(getDataDirectory() + (string)path);
if (fs::exists(fsDataPath)) {
return path;
}
else {
string recursePath = getRootDependency(config, (string)path);
if (recursePath != "") {
return recursePath;
}
}
}
return "";
}
bool checkNaifErrors(bool reset) {
static bool initialized = false;
if(!initialized) {
SpiceChar returnAct[32] = "RETURN";
SpiceChar printAct[32] = "NONE";
erract_c("SET", sizeof(returnAct), returnAct); // Reset action to return
errprt_c("SET", sizeof(printAct), printAct); // ... and print nothing
initialized = true;
}
if(!failed_c()) return true;
// This method has been documented with the information provided
// from the NAIF documentation at:
// naif/cspice61/packages/cspice/doc/html/req/error.html
// This message is a character string containing a very terse, usually
// abbreviated, description of the problem. The message is a character
// string of length not more than 25 characters. It always has the form:
// SPICE(...)
// Short error messages used in CSPICE are CONSTANT, since they are
// intended to be used in code. That is, they don't contain any data which
// varies with the specific instance of the error they indicate.
// Because of the brief format of the short error messages, it is practical
// to use them in a test to determine which type of error has occurred.
const int SHORT_DESC_LEN = 26;
char naifShort[SHORT_DESC_LEN];
getmsg_c("SHORT", SHORT_DESC_LEN, naifShort);
// This message may be up to 1840 characters long. The CSPICE error handling
// mechanism makes no use of its contents. Its purpose is to provide human-readable
// information about errors. Long error messages generated by CSPICE routines often
// contain data relevant to the specific error they describe.
const int LONG_DESC_LEN = 1841;
char naifLong[LONG_DESC_LEN];
getmsg_c("LONG", LONG_DESC_LEN, naifLong);
// Search for known naif errors...
string errMsg = "";
// Now process the error
if(reset) {
reset_c();
}
errMsg += "Error Occured:" + string(naifShort) + " " + string(naifLong);
throw runtime_error(errMsg);
}
json loadTranslationKernels(string mission, bool loadFk, bool loadIk, bool loadIak) {
Config c;
json j;
vector<string> kernelsToGet = {};
if (!(loadFk || loadIk || loadIak)) {
throw invalid_argument("Not loading any kernels. Please select a set of translation kernels to load.");
}
else {
if (loadFk)
kernelsToGet.push_back("fk");
if (loadIk)
kernelsToGet.push_back("ik");
if (loadIak)
kernelsToGet.push_back("iak");
}
if (c.contains(mission)) {
j = c[mission].get(kernelsToGet);
json missionKernels = {};
if (loadFk)
missionKernels["fk"] = j["fk"];
if (loadIk)
missionKernels["ik"] = j["ik"];
if (loadIak)
missionKernels["iak"] = j["iak"];
j = getLatestKernels(missionKernels);
}
else {
string missionKeys = getMissionKeys(c.globalConf());
SPDLOG_WARN("Could not find mission: \"{}\" in config. \n Double-check mission variable, manually furnish kernels, or try including frame and mission name. List of available missions: [{}].", mission, missionKeys);
}
return j;
}
json loadSelectKernels(string kernelType, string mission) {
Config missionConf;
json kernels;
// Check the kernel type
// This will throw an invalid_argument error
Kernel::translateType(kernelType);
if (missionConf.contains(mission)) {
SPDLOG_TRACE("Found {} in config, getting only {} {}.", mission, mission, kernelType);
missionConf = missionConf[mission];
kernels = missionConf.getLatest(kernelType);
}
else {
SPDLOG_TRACE("Coudn't find {} in config explicitly, loading all {} kernels", mission, kernelType);
kernels = missionConf.getLatestRecursive(kernelType);
}
return kernels;
}
}