nyx_space/propagators/

instance.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 super::{DynamicsSnafu, IntegrationDetails, PropagationError, Propagator};
use crate::dynamics::{Dynamics, DynamicsAlmanacSnafu};
use crate::linalg::allocator::Allocator;
use crate::linalg::{DefaultAllocator, OVector};
use crate::md::trajectory::{Interpolatable, Traj};
use crate::time::{Duration, Epoch, Unit};
use crate::State;
use anise::almanac::Almanac;
use anise::errors::MathError;
use log::{debug, info, warn};
use rayon::iter::ParallelBridge;
use rayon::prelude::ParallelIterator;
use snafu::ResultExt;
use std::f64;
use std::sync::mpsc::{channel, Sender};
use std::sync::Arc;
#[cfg(not(target_arch = "wasm32"))]
use std::time::Instant;

/// A Propagator allows propagating a set of dynamics forward or backward in time.
/// It is an EventTracker, without any event tracking. It includes the options, the integrator
/// details of the previous step, and the set of coefficients used for the monomorphic instance.
pub struct PropInstance<'a, D: Dynamics>
where
    DefaultAllocator: Allocator<<D::StateType as State>::Size>
        + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>
        + Allocator<<D::StateType as State>::VecLength>,
{
    /// The state of this propagator instance
    pub state: D::StateType,
    /// The propagator setup (kind, stages, etc.)
    pub prop: &'a Propagator<D>,
    /// Stores the details of the previous integration step
    pub details: IntegrationDetails,
    /// Should progress reports be logged
    pub log_progress: bool,
    pub(crate) almanac: Arc<Almanac>,
    pub(crate) step_size: Duration, // Stores the adapted step for the _next_ call
    pub(crate) fixed_step: bool,
    // Allows us to do pre-allocation of the ki vectors
    pub(crate) k: Vec<OVector<f64, <D::StateType as State>::VecLength>>,
}

impl<D: Dynamics> PropInstance<'_, D>
where
    DefaultAllocator: Allocator<<D::StateType as State>::Size>
        + Allocator<<D::StateType as State>::Size, <D::StateType as State>::Size>
        + Allocator<<D::StateType as State>::VecLength>,
{
    /// Sets this instance to not log progress
    pub fn quiet(mut self) -> Self {
        self.log_progress = false;
        self
    }

    /// Sets this instance to log progress
    pub fn verbose(mut self) -> Self {
        self.log_progress = true;
        self
    }

    /// Allows setting the step size of the propagator
    pub fn set_step(&mut self, step_size: Duration, fixed: bool) {
        self.step_size = step_size;
        self.fixed_step = fixed;
    }

    #[allow(clippy::erasing_op)]
    pub(crate) fn propagate<F>(
        &mut self,
        duration: Duration,
        maybe_tx_chan: Option<Sender<D::StateType>>,
        mut stop_condition: Option<F>,
    ) -> Result<D::StateType, PropagationError>
    where
        F: FnMut(D::StateType) -> Result<bool, PropagationError>,
    {
        if duration == 0 * Unit::Second {
            return Ok(self.state);
        }
        let stop_time = self.state.epoch() + duration;

        if self.log_progress {
            // Prevent the print spam for orbit determination cases
            info!("Propagating for {duration} until {stop_time}");
        }
        // Call `finally` on the current state to set anything up
        self.state = self
            .prop
            .dynamics
            .finally(self.state, self.almanac.clone())
            .context(DynamicsSnafu)?;

        let backprop = duration.is_negative();
        if backprop {
            self.step_size = -self.step_size; // Invert the step size
        }

        // Transform the state if needed
        let mut original_frame = None;
        if let Some(integration_frame) = self.prop.opts.integration_frame {
            if integration_frame != self.state.orbit().frame {
                original_frame = Some(self.state.orbit().frame);
                let mut new_orbit = self
                    .almanac
                    .transform_to(self.state.orbit(), integration_frame, None)
                    .context(DynamicsAlmanacSnafu {
                        action: "transforming state into desired integration frame",
                    })
                    .context(DynamicsSnafu)?;
                // If the integration frame has parameters, we set them here.
                if let Some(mu_km3_s2) = integration_frame.mu_km3_s2 {
                    new_orbit.frame.mu_km3_s2 = Some(mu_km3_s2);
                }
                // If the integration frame has parameters, we set them here.
                if let Some(shape) = integration_frame.shape {
                    new_orbit.frame.shape = Some(shape);
                }
                if self.log_progress {
                    info!("State transformed to the integration frame {integration_frame}");
                }
                self.state.set_orbit(new_orbit);
            }
        }

        #[cfg(not(target_arch = "wasm32"))]
        let tick = Instant::now();
        #[cfg(not(target_arch = "wasm32"))]
        let mut prev_tick = Instant::now();

        loop {
            let epoch = self.state.epoch();
            if (!backprop && epoch + self.step_size > stop_time)
                || (backprop && epoch + self.step_size <= stop_time)
            {
                // We don't check for the interrupt condition on the last step.
                // If we're reached this far without hitting it, we most certainly won't trigger it.
                if stop_time == epoch {
                    // No propagation necessary
                    #[cfg(not(target_arch = "wasm32"))]
                    {
                        if self.log_progress {
                            let tock: Duration = tick.elapsed().into();
                            debug!("Done in {tock}");
                        }
                    }

                    // Rotate back if needed
                    if let Some(original_frame) = original_frame {
                        let new_orbit = self
                            .almanac
                            .transform_to(self.state.orbit(), original_frame, None)
                            .context(DynamicsAlmanacSnafu {
                                action: "transforming state from desired integration frame",
                            })
                            .context(DynamicsSnafu)?;
                        self.state.set_orbit(new_orbit);
                    }

                    return Ok(self.state);
                }

                // Take one final step of exactly the needed duration until the stop time
                let prev_step_size = self.step_size;
                let prev_step_kind = self.fixed_step;
                self.set_step(stop_time - epoch, true);

                self.single_step()?;

                // Publish to channel if provided
                if let Some(ref chan) = maybe_tx_chan {
                    if let Err(e) = chan.send(self.state) {
                        warn!("{e} when sending on channel")
                    }
                }

                // Restore the step size for subsequent calls
                self.set_step(prev_step_size, prev_step_kind);

                if backprop {
                    self.step_size = -self.step_size; // Restore to a positive step size
                }

                #[cfg(not(target_arch = "wasm32"))]
                {
                    if self.log_progress {
                        let tock: Duration = tick.elapsed().into();
                        info!("\t... done in {tock}");
                    }
                }

                // Rotate back if needed
                if let Some(original_frame) = original_frame {
                    let new_orbit = self
                        .almanac
                        .transform_to(self.state.orbit(), original_frame, None)
                        .context(DynamicsAlmanacSnafu {
                            action: "transforming state from desired integration frame",
                        })
                        .context(DynamicsSnafu)?;
                    self.state.set_orbit(new_orbit);
                }

                return Ok(self.state);
            } else {
                #[cfg(not(target_arch = "wasm32"))]
                {
                    if self.log_progress {
                        let tock: Duration = prev_tick.elapsed().into();
                        if tock.to_unit(Unit::Minute) > 1.0 {
                            // Report status every minute
                            let cur_epoch = self.state.epoch();
                            let dur_to_go = (stop_time - cur_epoch).floor(Unit::Second * 1);
                            info!(
                                "\t... current epoch {}, remaining {} (step size = {})",
                                cur_epoch, dur_to_go, self.details.step
                            );
                            prev_tick = Instant::now();
                        }
                    }
                }

                self.single_step()?;

                if let Some(ref mut condition) = stop_condition {
                    if condition(self.state)? {
                        // Stopping condition triggered. We don't send
                        // the new state on the channel for the caller to know that the exact
                        // condition they are seeking is between the last state on the channel
                        // and the state we're returning

                        return Ok(self.state);
                    }
                }

                // Publish to channel if provided
                if let Some(ref chan) = maybe_tx_chan {
                    if let Err(e) = chan.send(self.state) {
                        warn!("{e} when sending on channel")
                    }
                }
            }
        }
    }

    /// This method propagates the provided Dynamics for the provided duration.
    pub fn for_duration(&mut self, duration: Duration) -> Result<D::StateType, PropagationError> {
        self.propagate(duration, None, Some(|_| Ok(false)))
    }

    /// This method propagates the provided Dynamics for the provided duration and publishes each state on the channel.
    pub fn for_duration_with_channel(
        &mut self,
        duration: Duration,
        tx_chan: Sender<D::StateType>,
    ) -> Result<D::StateType, PropagationError> {
        self.propagate(duration, Some(tx_chan), Some(|_| Ok(false)))
    }

    /// Propagates the provided Dynamics until the provided epoch. Returns the end state.
    pub fn until_epoch(&mut self, end_time: Epoch) -> Result<D::StateType, PropagationError> {
        let duration: Duration = end_time - self.state.epoch();
        self.for_duration(duration)
    }

    /// Propagates the provided Dynamics until the provided epoch and publishes states on the provided channel. Returns the end state.
    pub fn until_epoch_with_channel(
        &mut self,
        end_time: Epoch,
        tx_chan: Sender<D::StateType>,
    ) -> Result<D::StateType, PropagationError> {
        let duration: Duration = end_time - self.state.epoch();
        self.for_duration_with_channel(duration, tx_chan)
    }

    /// Propagates the provided Dynamics for the provided duration and generate the trajectory of these dynamics on its own thread.
    /// Returns the end state and the trajectory.
    #[allow(clippy::map_clone)]
    pub fn for_duration_with_traj(
        &mut self,
        duration: Duration,
    ) -> Result<(D::StateType, Traj<D::StateType>), PropagationError>
    where
        <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send,
        D::StateType: Interpolatable,
    {
        let end_state;
        let mut traj = Traj::new();
        let start_state = self.state;

        let rx = {
            // Channels that have a single state for the propagator
            let (tx, rx) = channel();
            // Propagate the dynamics
            // Note that the end state is also sent on the channel before the return of this function.
            end_state = self.for_duration_with_channel(duration, tx)?;
            rx
        };

        traj.states = rx.into_iter().par_bridge().collect();
        // Push the start state -- will be reordered in the finalize call.
        // For some reason, this must happen at the end -- can't figure out why.
        traj.states.push(start_state);

        traj.finalize();

        Ok((end_state, traj))
    }

    /// Propagates the provided Dynamics until the provided epoch and generate the trajectory of these dynamics on its own thread.
    /// Returns the end state and the trajectory.
    /// Known bug #190: Cannot generate a valid trajectory when propagating backward
    pub fn until_epoch_with_traj(
        &mut self,
        end_time: Epoch,
    ) -> Result<(D::StateType, Traj<D::StateType>), PropagationError>
    where
        <DefaultAllocator as Allocator<<D::StateType as State>::VecLength>>::Buffer<f64>: Send,
        D::StateType: Interpolatable,
    {
        let duration: Duration = end_time - self.state.epoch();
        self.for_duration_with_traj(duration)
    }

    /// Take a single propagator step and emit the result on the TX channel (if enabled)
    pub fn single_step(&mut self) -> Result<(), PropagationError> {
        let (t, state_vec) = self.derive()?;
        self.state.set(self.state.epoch() + t, &state_vec);
        self.state = self
            .prop
            .dynamics
            .finally(self.state, self.almanac.clone())
            .context(DynamicsSnafu)?;
        Ok(())
    }

    /// This method integrates whichever function is provided as `d_xdt`. Everything passed to this function is in **seconds**.
    ///
    /// This function returns the step sized used (as a Duration) and the new state as y_{n+1} = y_n + \frac{dy_n}{dt}.
    /// To get the integration details, check `self.latest_details`.
    fn derive(
        &mut self,
    ) -> Result<(Duration, OVector<f64, <D::StateType as State>::VecLength>), PropagationError>
    {
        let state_vec = &self.state.to_vector();
        let state_ctx = &self.state;
        // Reset the number of attempts used (we don't reset the error because it's set before it's read)
        self.details.attempts = 1;
        // Convert the step size to seconds -- it's mutable because we may change it below
        let mut step_size_s = self.step_size.to_seconds();
        loop {
            let ki = self
                .prop
                .dynamics
                .eom(0.0, state_vec, state_ctx, self.almanac.clone())
                .context(DynamicsSnafu)?;
            self.k[0] = ki;
            let mut a_idx: usize = 0;
            for i in 0..(self.prop.method.stages() - 1) {
                // Let's compute the c_i by summing the relevant items from the list of coefficients.
                // \sum_{j=1}^{i-1} a_ij  ∀ i ∈ [2, s]
                let mut ci: f64 = 0.0;
                // The wi stores the a_{s1} * k_1 + a_{s2} * k_2 + ... + a_{s, s-1} * k_{s-1} +
                let mut wi = OVector::<f64, <D::StateType as State>::VecLength>::from_element(0.0);
                for kj in &self.k[0..i + 1] {
                    let a_ij = self.prop.method.a_coeffs()[a_idx];
                    ci += a_ij;
                    wi += a_ij * kj;
                    a_idx += 1;
                }

                let ki = self
                    .prop
                    .dynamics
                    .eom(
                        ci * step_size_s,
                        &(state_vec + step_size_s * wi),
                        state_ctx,
                        self.almanac.clone(),
                    )
                    .context(DynamicsSnafu)?;
                self.k[i + 1] = ki;
            }
            // Compute the next state and the error
            let mut next_state = state_vec.clone();
            // State error estimation from https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods#Adaptive_Runge%E2%80%93Kutta_methods
            // This is consistent with GMAT https://github.com/ChristopherRabotin/GMAT/blob/37201a6290e7f7b941bc98ee973a527a5857104b/src/base/propagator/RungeKutta.cpp#L537
            let mut error_est =
                OVector::<f64, <D::StateType as State>::VecLength>::from_element(0.0);
            for (i, ki) in self.k.iter().enumerate() {
                let b_i = self.prop.method.b_coeffs()[i];
                if !self.fixed_step {
                    let b_i_star = self.prop.method.b_coeffs()[i + self.prop.method.stages()];
                    error_est += step_size_s * (b_i - b_i_star) * ki;
                }
                next_state += step_size_s * b_i * ki;
            }

            if self.fixed_step {
                // Using a fixed step, no adaptive step necessary
                self.details.step = self.step_size;
                return Ok(((self.details.step), next_state));
            } else {
                // Compute the error estimate.
                self.details.error =
                    self.prop
                        .opts
                        .error_ctrl
                        .estimate(&error_est, &next_state, state_vec);

                if self.details.error <= self.prop.opts.tolerance
                    || step_size_s <= self.prop.opts.min_step.to_seconds()
                    || self.details.attempts >= self.prop.opts.attempts
                {
                    if next_state.iter().any(|x| x.is_nan()) {
                        return Err(PropagationError::PropMathError {
                            source: MathError::DomainError {
                                value: f64::NAN,
                                msg: "try another integration method, or decrease step size; part of state vector is",
                            },
                        });
                    }
                    if self.details.attempts >= self.prop.opts.attempts {
                        warn!(
                            "Could not further decrease step size: maximum number of attempts reached ({})",
                            self.details.attempts
                        );
                    }

                    self.details.step = step_size_s * Unit::Second;
                    if self.details.error < self.prop.opts.tolerance {
                        // Let's increase the step size for the next iteration.
                        // Error is less than tolerance, let's attempt to increase the step for the next iteration.
                        let proposed_step = 0.9
                            * step_size_s
                            * (self.prop.opts.tolerance / self.details.error)
                                .powf(1.0 / f64::from(self.prop.method.order()));

                        step_size_s =
                            if proposed_step.abs() > self.prop.opts.max_step.to_seconds().abs() {
                                self.prop.opts.max_step.to_seconds() * proposed_step.signum()
                            } else {
                                proposed_step
                            };
                    }
                    // In all cases, let's update the step size to whatever was the adapted step size
                    self.step_size = step_size_s * Unit::Second;
                    if self.step_size.abs() < self.prop.opts.min_step {
                        // Custom signum in case the step size becomes zero.
                        let signum = if self.step_size.is_negative() {
                            -1.0
                        } else {
                            1.0
                        };
                        self.step_size = self.prop.opts.min_step * signum;
                    }
                    return Ok((self.details.step, next_state));
                } else {
                    // Error is too high and we aren't using the smallest step, and we haven't hit the max number of attempts.
                    // So let's adapt the step size.
                    self.details.attempts += 1;
                    let proposed_step_s = 0.9
                        * step_size_s
                        * (self.prop.opts.tolerance / self.details.error)
                            .powf(1.0 / f64::from(self.prop.method.order() - 1));

                    step_size_s = if proposed_step_s < self.prop.opts.min_step.to_seconds() {
                        self.prop.opts.min_step.to_seconds()
                    } else {
                        proposed_step_s
                    };
                    // Note that we don't set self.step_size, that will be updated right before we return
                }
            }
        }
    }

    /// Copy the details of the latest integration step.
    pub fn latest_details(&self) -> IntegrationDetails {
        self.details
    }
}