nyx_space/md/trajectory/
sc_traj.rs

/*
    Nyx, blazing fast astrodynamics
    Copyright (C) 2018-onwards Christopher Rabotin <christopher.rabotin@gmail.com>

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU Affero General Public License as published
    by the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU Affero General Public License for more details.

    You should have received a copy of the GNU Affero General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.
*/

use anise::astro::Aberration;
use anise::constants::orientations::J2000;
use anise::errors::AlmanacError;
use anise::prelude::{Almanac, Frame, Orbit};
use hifitime::TimeSeries;
use snafu::ResultExt;

use super::TrajError;
use super::{ExportCfg, Traj};
use crate::cosmic::Spacecraft;
use crate::errors::{FromAlmanacSnafu, NyxError};
use crate::io::watermark::prj_name_ver;
use crate::md::prelude::StateParameter;
use crate::md::EventEvaluator;
use crate::time::{Duration, Epoch, Format, Formatter, TimeUnits};
use crate::State;
use std::collections::{HashMap, HashSet};
use std::error::Error;
use std::fs::File;
use std::io::{BufRead, BufReader, BufWriter, Write};
use std::path::{Path, PathBuf};
use std::str::FromStr;
use std::sync::Arc;
#[cfg(not(target_arch = "wasm32"))]
use std::time::Instant;

impl Traj<Spacecraft> {
    /// Builds a new trajectory built from the SPICE BSP (SPK) file loaded in the provided Almanac, provided the start and stop epochs.
    ///
    /// If the start and stop epochs are not provided, then the full domain of the trajectory will be used.
    pub fn from_bsp(
        target_frame: Frame,
        observer_frame: Frame,
        almanac: Arc<Almanac>,
        sc_template: Spacecraft,
        step: Duration,
        start_epoch: Option<Epoch>,
        end_epoch: Option<Epoch>,
        ab_corr: Option<Aberration>,
        name: Option<String>,
    ) -> Result<Self, AlmanacError> {
        let (domain_start, domain_end) =
            almanac
                .spk_domain(target_frame.ephemeris_id)
                .map_err(|e| AlmanacError::Ephemeris {
                    action: "could not fetch domain",
                    source: Box::new(e),
                })?;

        let start_epoch = start_epoch.unwrap_or(domain_start);
        let end_epoch = end_epoch.unwrap_or(domain_end);

        let time_series = TimeSeries::inclusive(start_epoch, end_epoch, step);
        let mut states = Vec::with_capacity(time_series.len());
        for epoch in time_series {
            let orbit = almanac.transform(target_frame, observer_frame, epoch, ab_corr)?;

            states.push(sc_template.with_orbit(orbit));
        }

        Ok(Self { name, states })
    }
    /// Allows converting the source trajectory into the (almost) equivalent trajectory in another frame
    #[allow(clippy::map_clone)]
    pub fn to_frame(&self, new_frame: Frame, almanac: Arc<Almanac>) -> Result<Self, NyxError> {
        if self.states.is_empty() {
            return Err(NyxError::Trajectory {
                source: TrajError::CreationError {
                    msg: "No trajectory to convert".to_string(),
                },
            });
        }

        #[cfg(not(target_arch = "wasm32"))]
        let start_instant = Instant::now();
        let mut traj = Self::new();
        for state in &self.states {
            let new_orbit =
                almanac
                    .transform_to(state.orbit, new_frame, None)
                    .context(FromAlmanacSnafu {
                        action: "transforming trajectory into new frame",
                    })?;
            traj.states.push(state.with_orbit(new_orbit));
        }
        traj.finalize();

        #[cfg(not(target_arch = "wasm32"))]
        info!(
            "Converted trajectory from {} to {} in {} ms: {traj}",
            self.first().orbit.frame,
            new_frame,
            (Instant::now() - start_instant).as_millis()
        );

        #[cfg(target_arch = "wasm32")]
        info!(
            "Converted trajectory from {} to {}: {traj}",
            self.first().orbit.frame,
            new_frame,
        );

        Ok(traj)
    }

    /// A shortcut to `to_parquet_with_cfg`
    pub fn to_parquet_with_step<P: AsRef<Path>>(
        &self,
        path: P,
        step: Duration,
        almanac: Arc<Almanac>,
    ) -> Result<(), Box<dyn Error>> {
        self.to_parquet_with_cfg(
            path,
            ExportCfg {
                step: Some(step),
                ..Default::default()
            },
            almanac,
        )?;

        Ok(())
    }

    /// Exports this trajectory to the provided filename in parquet format with only the epoch, the geodetic latitude, longitude, and height at one state per minute.
    /// Must provide a body fixed frame to correctly compute the latitude and longitude.
    #[allow(clippy::identity_op)]
    pub fn to_groundtrack_parquet<P: AsRef<Path>>(
        &self,
        path: P,
        body_fixed_frame: Frame,
        events: Option<Vec<&dyn EventEvaluator<Spacecraft>>>,
        metadata: Option<HashMap<String, String>>,
        almanac: Arc<Almanac>,
    ) -> Result<PathBuf, Box<dyn Error>> {
        let traj = self.to_frame(body_fixed_frame, almanac.clone())?;

        let mut cfg = ExportCfg::builder()
            .step(1.minutes())
            .fields(vec![
                StateParameter::Latitude,
                StateParameter::Longitude,
                StateParameter::Height,
                StateParameter::Rmag,
            ])
            .build();
        cfg.metadata = metadata;

        traj.to_parquet(path, events, cfg, almanac)
    }

    /// Initialize a new spacecraft trajectory from the path to a CCSDS OEM file.
    ///
    /// CCSDS OEM only contains the orbit information but Nyx builds spacecraft trajectories.
    /// If not spacecraft template is provided, then a default massless spacecraft will be built.
    pub fn from_oem_file<P: AsRef<Path>>(
        path: P,
        tpl_option: Option<Spacecraft>,
    ) -> Result<Self, NyxError> {
        // Open the file
        let file = File::open(path).map_err(|e| NyxError::CCSDS {
            msg: format!("File opening error: {e}"),
        })?;
        let reader = BufReader::new(file);

        let template = tpl_option.unwrap_or_default();

        // Parse the Orbit Element messages
        let mut time_system = String::new();

        let ignored_tokens: HashSet<_> = [
            "CCSDS_OMM_VERS".to_string(),
            "CREATION_DATE".to_string(),
            "ORIGINATOR".to_string(),
        ]
        .into();

        let mut traj = Self::default();

        let mut parse = false;

        let mut center_name = None;
        let mut orient_name = None;

        'lines: for (lno, line) in reader.lines().enumerate() {
            let line = line.map_err(|e| NyxError::CCSDS {
                msg: format!("File read error: {e}"),
            })?;
            let line = line.trim();
            if line.is_empty() {
                continue;
            }

            if ignored_tokens.iter().any(|t| line.starts_with(t)) {
                continue 'lines;
            }
            if line.starts_with("OBJECT_NAME") {
                // Extract the object ID from the line
                let parts: Vec<&str> = line.split('=').collect();
                let name = parts[1].trim().to_string();
                debug!("[line: {}] Found object {name}", lno + 1);
                traj.name = Some(name);
            } else if line.starts_with("CENTER_NAME") {
                let parts: Vec<&str> = line.split('=').collect();
                center_name = Some(parts[1].trim().to_owned());
            } else if line.starts_with("REF_FRAME") {
                let parts: Vec<&str> = line.split('=').collect();
                orient_name = Some(parts[1].trim().to_owned());
            } else if line.starts_with("TIME_SYSTEM") {
                let parts: Vec<&str> = line.split('=').collect();
                time_system = parts[1].trim().to_string();
                debug!("[line: {}] Found time system `{time_system}`", lno + 1);
            } else if line.starts_with("META_STOP") {
                // We can start parsing now
                parse = true;
            } else if line.starts_with("META_START") {
                // Stop the parsing
                parse = false;
            } else if line.starts_with("COVARIANCE_START") {
                // Stop the parsing
                warn!("[line: {}] Skipping covariance in OEM parsing", lno + 1);
                parse = false;
            } else if parse {
                let frame = Frame::from_name(
                    center_name.clone().unwrap().as_str(),
                    orient_name.clone().unwrap().as_str(),
                )
                .map_err(|e| NyxError::CCSDS {
                    msg: format!("frame error `{center_name:?} {orient_name:?}`: {e}"),
                })?;
                // Split the line into components
                let parts: Vec<&str> = line.split_whitespace().collect();

                if parts.len() < 7 {
                    debug!("[line: {}] Could not understand `{parts:?}`", lno + 1);
                } else {
                    // Extract the values
                    let epoch_str = format!("{} {time_system}", parts[0]);
                    match parts[1].parse::<f64>() {
                        Ok(x_km) => {
                            // Look good!
                            let y_km = parts[2].parse::<f64>().unwrap();
                            let z_km = parts[3].parse::<f64>().unwrap();
                            let vx_km_s = parts[4].parse::<f64>().unwrap();
                            let vy_km_s = parts[5].parse::<f64>().unwrap();
                            let vz_km_s = parts[6].parse::<f64>().unwrap();

                            let epoch =
                                Epoch::from_str(epoch_str.trim()).map_err(|e| NyxError::CCSDS {
                                    msg: format!("Parsing epoch error: {e}"),
                                })?;

                            let orbit = Orbit::new(
                                x_km, y_km, z_km, vx_km_s, vy_km_s, vz_km_s, epoch, frame,
                            );

                            traj.states.push(template.with_orbit(orbit));
                        }
                        Err(_) => {
                            // Probably a comment
                            debug!("[line: {}] Could not parse `{parts:?}`", lno + 1);
                            continue;
                        }
                    };
                }
            }
        }

        traj.finalize();

        Ok(traj)
    }

    pub fn to_oem_file<P: AsRef<Path>>(
        &self,
        path: P,
        cfg: ExportCfg,
    ) -> Result<PathBuf, NyxError> {
        if self.states.is_empty() {
            return Err(NyxError::CCSDS {
                msg: "Cannot export an empty trajectory to OEM".to_string(),
            });
        }
        let tick = Epoch::now().unwrap();
        info!("Exporting trajectory to CCSDS OEM file...");

        // Grab the path here before we move stuff.
        let path_buf = cfg.actual_path(path);

        let metadata = cfg.metadata.unwrap_or_default();

        let file = File::create(&path_buf).map_err(|e| NyxError::CCSDS {
            msg: format!("File creation error: {e}"),
        })?;
        let mut writer = BufWriter::new(file);

        let err_hdlr = |e| NyxError::CCSDS {
            msg: format!("Could not write: {e}"),
        };

        // Build the states iterator -- this does require copying the current states but I can't either get a reference or a copy of all the states.
        let states = if cfg.start_epoch.is_some() || cfg.end_epoch.is_some() || cfg.step.is_some() {
            // Must interpolate the data!
            let start = cfg.start_epoch.unwrap_or_else(|| self.first().epoch());
            let end = cfg.end_epoch.unwrap_or_else(|| self.last().epoch());
            let step = cfg.step.unwrap_or_else(|| 1.minutes());
            self.every_between(step, start, end).collect()
        } else {
            self.states.to_vec()
        };

        // Epoch formmatter.
        let iso8601_no_ts = Format::from_str("%Y-%m-%dT%H:%M:%S.%f").unwrap();

        // Write mandatory metadata
        writeln!(writer, "CCSDS_OMM_VERS = 2.0").map_err(err_hdlr)?;
        writeln!(
            writer,
            "CREATION_DATE = {}",
            Formatter::new(Epoch::now().unwrap(), iso8601_no_ts)
        )
        .map_err(err_hdlr)?;
        writeln!(
            writer,
            "ORIGINATOR = {}\n",
            metadata
                .get("originator")
                .unwrap_or(&"Nyx Space".to_string())
        )
        .map_err(err_hdlr)?;

        writeln!(writer, "META_START").map_err(err_hdlr)?;
        // Write optional metadata
        if let Some(object_name) = metadata.get("object_name") {
            writeln!(writer, "OBJECT_NAME = {}", object_name).map_err(err_hdlr)?;
        } else if let Some(object_name) = &self.name {
            writeln!(writer, "OBJECT_NAME = {}", object_name).map_err(err_hdlr)?;
        }

        let first_orbit = states[0].orbit;
        let first_frame = first_orbit.frame;
        let frame_str = format!(
            "{first_frame:e} {}",
            match first_frame.orientation_id {
                J2000 => "ICRF".to_string(),
                _ => format!("{first_frame:o}"),
            }
        );
        let splt: Vec<&str> = frame_str.split(' ').collect();
        let center = splt[0];
        let ref_frame = frame_str.replace(center, " ");
        writeln!(
            writer,
            "REF_FRAME = {}",
            match ref_frame.trim() {
                "J2000" => "ICRF",
                _ => ref_frame.trim(),
            }
        )
        .map_err(err_hdlr)?;

        writeln!(writer, "CENTER_NAME = {center}",).map_err(err_hdlr)?;

        writeln!(writer, "TIME_SYSTEM = {}", first_orbit.epoch.time_scale).map_err(err_hdlr)?;

        writeln!(
            writer,
            "START_TIME = {}",
            Formatter::new(states[0].epoch(), iso8601_no_ts)
        )
        .map_err(err_hdlr)?;
        writeln!(
            writer,
            "USEABLE_START_TIME = {}",
            Formatter::new(states[0].epoch(), iso8601_no_ts)
        )
        .map_err(err_hdlr)?;
        writeln!(
            writer,
            "USEABLE_STOP_TIME = {}",
            Formatter::new(states[states.len() - 1].epoch(), iso8601_no_ts)
        )
        .map_err(err_hdlr)?;
        writeln!(
            writer,
            "STOP_TIME = {}",
            Formatter::new(states[states.len() - 1].epoch(), iso8601_no_ts)
        )
        .map_err(err_hdlr)?;

        writeln!(writer, "META_STOP\n").map_err(err_hdlr)?;

        writeln!(
            writer,
            "COMMENT Generated by {} provided in AGPLv3 license -- https://nyxspace.com/\n",
            prj_name_ver()
        )
        .map_err(err_hdlr)?;

        for sc_state in &states {
            let state = sc_state.orbit;
            writeln!(
                writer,
                "{} {:E} {:E} {:E} {:E} {:E} {:E}",
                Formatter::new(state.epoch, iso8601_no_ts),
                state.radius_km.x,
                state.radius_km.y,
                state.radius_km.z,
                state.velocity_km_s.x,
                state.velocity_km_s.y,
                state.velocity_km_s.z
            )
            .map_err(err_hdlr)?;
        }

        #[allow(clippy::writeln_empty_string)]
        writeln!(writer, "").map_err(err_hdlr)?;

        // Return the path this was written to
        let tock_time = Epoch::now().unwrap() - tick;
        info!(
            "Trajectory written to {} in {tock_time}",
            path_buf.display()
        );
        Ok(path_buf)
    }
}

#[cfg(test)]
mod ut_ccsds_oem {

    use crate::md::prelude::{OrbitalDynamics, Propagator, SpacecraftDynamics};
    use crate::time::{Epoch, TimeUnits};
    use crate::Spacecraft;
    use crate::{io::ExportCfg, md::prelude::Traj, Orbit};
    use anise::almanac::Almanac;
    use anise::constants::frames::MOON_J2000;
    use pretty_env_logger;
    use std::env;
    use std::str::FromStr;
    use std::sync::Arc;
    use std::{collections::HashMap, path::PathBuf};

    #[test]
    fn test_load_oem_leo() {
        // All three samples were taken from https://github.com/bradsease/oem/blob/main/tests/samples/real/
        let path: PathBuf = [
            env!("CARGO_MANIFEST_DIR"),
            "data",
            "tests",
            "ccsds",
            "oem",
            "LEO_10s.oem",
        ]
        .iter()
        .collect();

        let _ = pretty_env_logger::try_init();

        let traj: Traj<Spacecraft> = Traj::from_oem_file(path, None).unwrap();

        // This trajectory has two duplicate epochs, which should be removed by the call to finalize()
        assert_eq!(traj.states.len(), 361);
        assert_eq!(traj.name.unwrap(), "TEST_OBJ".to_string());
    }

    #[test]
    fn test_load_oem_meo() {
        // All three samples were taken from https://github.com/bradsease/oem/blob/main/tests/samples/real/
        let path: PathBuf = [
            env!("CARGO_MANIFEST_DIR"),
            "data",
            "tests",
            "ccsds",
            "oem",
            "MEO_60s.oem",
        ]
        .iter()
        .collect();

        let _ = pretty_env_logger::try_init();

        let traj: Traj<Spacecraft> = Traj::from_oem_file(path, None).unwrap();

        assert_eq!(traj.states.len(), 61);
        assert_eq!(traj.name.unwrap(), "TEST_OBJ".to_string());
    }

    #[test]
    fn test_load_oem_geo() {
        use pretty_env_logger;
        use std::env;

        // All three samples were taken from https://github.com/bradsease/oem/blob/main/tests/samples/real/
        let path: PathBuf = [
            env!("CARGO_MANIFEST_DIR"),
            "data",
            "tests",
            "ccsds",
            "oem",
            "GEO_20s.oem",
        ]
        .iter()
        .collect();

        let _ = pretty_env_logger::try_init();

        let traj: Traj<Spacecraft> = Traj::from_oem_file(path, None).unwrap();

        assert_eq!(traj.states.len(), 181);
        assert_eq!(traj.name.as_ref().unwrap(), &"TEST_OBJ".to_string());

        // Reexport this to CCSDS.
        let cfg = ExportCfg::builder()
            .timestamp(true)
            .metadata(HashMap::from([
                ("originator".to_string(), "Test suite".to_string()),
                ("object_name".to_string(), "TEST_OBJ".to_string()),
            ]))
            .build();

        let path: PathBuf = [
            env!("CARGO_MANIFEST_DIR"),
            "output_data",
            "GEO_20s_rebuilt.oem",
        ]
        .iter()
        .collect();

        let out_path = traj.to_oem_file(path.clone(), cfg).unwrap();
        // And reload, make sure we have the same data.
        let traj_reloaded: Traj<Spacecraft> = Traj::from_oem_file(out_path, None).unwrap();

        assert_eq!(traj_reloaded, traj);

        // Now export after trimming one state on either end
        let cfg = ExportCfg::builder()
            .timestamp(true)
            .metadata(HashMap::from([
                ("originator".to_string(), "Test suite".to_string()),
                ("object_name".to_string(), "TEST_OBJ".to_string()),
            ]))
            .step(20.seconds())
            .start_epoch(traj.first().orbit.epoch + 1.seconds())
            .end_epoch(traj.last().orbit.epoch - 1.seconds())
            .build();
        let out_path = traj.to_oem_file(path, cfg).unwrap();
        // And reload, make sure we have the same data.
        let traj_reloaded: Traj<Spacecraft> = Traj::from_oem_file(out_path, None).unwrap();

        // Note that the number of states has changed because we interpolated with a step similar to the original one but
        // we started with a different time.
        assert_eq!(traj_reloaded.states.len(), traj.states.len() - 1);
        assert_eq!(
            traj_reloaded.first().orbit.epoch,
            traj.first().orbit.epoch + 1.seconds()
        );
        // Note: because we used a fixed step, the last epoch is actually an offset of step size - end offset
        // from the original trajectory
        assert_eq!(
            traj_reloaded.last().orbit.epoch,
            traj.last().orbit.epoch - 19.seconds()
        );
    }

    #[test]
    fn test_moon_frame_long_prop() {
        use std::path::PathBuf;

        let manifest_dir =
            PathBuf::from(std::env::var("CARGO_MANIFEST_DIR").unwrap_or(".".to_string()));

        let almanac = Almanac::new(
            &manifest_dir
                .clone()
                .join("data/pck08.pca")
                .to_string_lossy(),
        )
        .unwrap()
        .load(&manifest_dir.join("data/de440s.bsp").to_string_lossy())
        .unwrap();

        let epoch = Epoch::from_str("2022-06-13T12:00:00").unwrap();
        let orbit = Orbit::try_keplerian_altitude(
            350.0,
            0.02,
            30.0,
            45.0,
            85.0,
            0.0,
            epoch,
            almanac.frame_from_uid(MOON_J2000).unwrap(),
        )
        .unwrap();

        let mut traj =
            Propagator::default_dp78(SpacecraftDynamics::new(OrbitalDynamics::two_body()))
                .with(orbit.into(), Arc::new(almanac))
                .for_duration_with_traj(45.days())
                .unwrap()
                .1;
        // Set the name of this object
        traj.name = Some("TEST_MOON_OBJ".to_string());

        // Export CCSDS OEM file
        let path: PathBuf = [env!("CARGO_MANIFEST_DIR"), "output_data", "moon_45days.oem"]
            .iter()
            .collect();

        let out_path = traj.to_oem_file(path, ExportCfg::default()).unwrap();

        // And reload
        let traj_reloaded: Traj<Spacecraft> = Traj::from_oem_file(out_path, None).unwrap();

        assert_eq!(traj, traj_reloaded);
    }
}
nyx_space/md/trajectory/sc_traj.rs

nyx_space/md/trajectory/
sc_traj.rs
