Pointing frame updates (#814)

* add multiple segments

imap_processing/spice/kernels.py

@@ -173,7 +173,7 @@ def wrapper_ensure_spice(*args: Any, **kwargs: Any) -> Any:
 
 
 @contextmanager
-def spice_ck_file(pointing_frame_path: str) -> Generator[int, None, None]:
+def open_spice_ck_file(pointing_frame_path: Path) -> Generator[int, None, None]:
     """
     Context manager for handling SPICE CK files.
 
@@ -187,133 +187,172 @@ def spice_ck_file(pointing_frame_path: str) -> Generator[int, None, None]:
     handle : int
         Handle to the opened CK file.
     """
-    handle = spice.ckopn(pointing_frame_path, "CK", 0)
+    # TODO: We will need to figure out if ck kernel changes
+    # and how that will affect appending to the pointing
+    # frame kernel.
+    if pointing_frame_path.exists():
+        handle = spice.dafopw(str(pointing_frame_path))
+    else:
+        handle = spice.ckopn(str(pointing_frame_path), "CK", 0)
     try:
         yield handle
     finally:
         spice.ckcls(handle)
 
 
 @ensure_spice
-def create_pointing_frame(pointing_frame_path: Optional[Path] = None) -> Path:
+def create_pointing_frame(pointing_frame_path: Path, ck_path: Path) -> None:
     """
     Create the pointing frame.
 
     Parameters
     ----------
     pointing_frame_path : Path
-        Directory of where pointing frame will be saved.
+        Location of pointing frame kernel.
+    ck_path : Path
+        Location of the CK kernel.
 
-    Returns
-    -------
-    pointing_frame_path : Path
-        Path to pointing frame.
+    Notes
+    -----
+    Kernels required to be furnished:
+    "imap_science_0001.tf",
+    "imap_sclk_0000.tsc",
+    "imap_sim_ck_2hr_2secsampling_with_nutation.bc" or
+    "sim_1yr_imap_attitude.bc",
+    "imap_wkcp.tf",
+    "naif0012.tls"
+
+    Assumptions:
+    - The MOC has removed timeframe in which nutation/procession are present.
+    TODO: We may come back and have a check for this.
+    - We will continue to append to the pointing frame kernel.
+    TODO: Figure out how we want to handle the file size becoming too large.
+    - For now we can only furnish a single ck kernel.
+    TODO: This will not be the case once we add the ability to query the .csv.
 
     References
     ----------
     https://numpydoc.readthedocs.io/en/latest/format.html#references
     """
-    ck_kernel, _, _, _ = spice.kdata(0, "ck")
-
-    # Get timerange for the pointing frame kernel.
-    et_start, et_end, et_times = _get_et_times(ck_kernel)
-    # Create a rotation matrix
-    rotation_matrix = _create_rotation_matrix(et_times)
-
-    # Convert the rotation matrix to a quaternion.
-    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.m2q
-    q_avg = spice.m2q(rotation_matrix)
-
-    # TODO: come up with naming convention.
-    if pointing_frame_path is None:
-        pointing_frame_path = Path(ck_kernel).parent / "imap_dps.bc"
-
-    # Open a new CK file, returning the handle of the opened file.
-    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.ckopn
-    with spice_ck_file(str(pointing_frame_path)) as handle:
-        # Get the SCLK ID.
-        # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.gipool
-        id_imap_sclk = spice.gipool("CK_-43000_SCLK", 0, 1)
-        # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.sce2c
-        # Convert start and end times to SCLK.
-        sclk_begtim = spice.sce2c(int(id_imap_sclk), et_start)
-        sclk_endtim = spice.sce2c(int(id_imap_sclk), et_end)
-
-        # Get the pointing frame ID.
-        # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.gipool
-        id_imap_dps = spice.gipool("FRAME_IMAP_DPS", 0, 1)
-        # TODO: Figure out how to write new pointings to same CK kernel.
-        # Create the pointing frame kernel.
-        # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.ckw02
-        spice.ckw02(
-            # Handle of an open CK file.
-            handle,
-            # Start time of the segment.
-            sclk_begtim,
-            # End time of the segment.
-            sclk_endtim,
-            # Pointing frame ID.
-            int(id_imap_dps),
-            # Reference frame.
-            "ECLIPJ2000",  # Reference frame
-            # Identifier.
-            "IMAP_DPS",
-            # Number of pointing intervals.
-            1,
-            # Start times of individual pointing records within segment.
-            # Since there is only a single record this is equal to sclk_begtim.
-            np.array([sclk_begtim]),
-            # End times of individual pointing records within segment.
-            # Since there is only a single record this is equal to sclk_endtim.
-            np.array([sclk_endtim]),  # Single stop time
-            # Average quaternion.
-            q_avg,
-            # 0.0 Angular rotation terms.
-            np.array([0.0, 0.0, 0.0]),
-            # Rates (seconds per tick) at which the quaternion and
-            # angular velocity change.
-            np.array([1.0]),
-        )
+    # Get IDs.
+    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.gipool
+    id_imap_dps = spice.gipool("FRAME_IMAP_DPS", 0, 1)
+    id_imap_sclk = spice.gipool("CK_-43000_SCLK", 0, 1)
 
-    return pointing_frame_path
+    # Verify that only ck_path kernel is loaded.
+    count = spice.ktotal("ck")
+    loaded_ck_kernel, _, _, _ = spice.kdata(count - 1, "ck")
 
+    if count != 1 or str(ck_path) != loaded_ck_kernel:
+        raise ValueError(f"Error: Expected CK kernel {ck_path}")
 
-@ensure_spice
-def _get_et_times(ck_kernel: str) -> tuple[float, float, np.ndarray]:
+    # If the pointing frame kernel already exists, find the last time.
+    if pointing_frame_path.exists():
+        # Get the last time in the pointing frame kernel.
+        pointing_cover = spice.ckcov(
+            str(pointing_frame_path), int(id_imap_dps), True, "SEGMENT", 0, "TDB"
+        )
+        num_segments = spice.wncard(pointing_cover)
+        _, et_end_pointing_frame = spice.wnfetd(pointing_cover, num_segments - 1)
+    else:
+        et_end_pointing_frame = None
+
+    # TODO: Query for .csv file to get the pointing start and end times.
+    # TODO: Remove next four lines once query is added.
+    id_imap_spacecraft = spice.gipool("FRAME_IMAP_SPACECRAFT", 0, 1)
+    ck_cover = spice.ckcov(
+        str(ck_path), int(id_imap_spacecraft), True, "INTERVAL", 0, "TDB"
+    )
+    num_intervals = spice.wncard(ck_cover)
+
+    with open_spice_ck_file(pointing_frame_path) as handle:
+        # TODO: this will change to the number of pointings.
+        for i in range(num_intervals):
+            # Get the coverage window
+            # TODO: this will change to pointing start and end time.
+            et_start, et_end = spice.wnfetd(ck_cover, i)
+            et_times = _get_et_times(et_start, et_end)
+
+            # TODO: remove after query is added.
+            if (
+                et_end_pointing_frame is not None
+                and et_times[0] < et_end_pointing_frame
+            ):
+                break
+
+            # Create a rotation matrix
+            rotation_matrix = _create_rotation_matrix(et_times)
+
+            # Convert the rotation matrix to a quaternion.
+            # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.m2q
+            q_avg = spice.m2q(rotation_matrix)
+
+            # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.sce2c
+            # Convert start and end times to SCLK.
+            sclk_begtim = spice.sce2c(int(id_imap_sclk), et_times[0])
+            sclk_endtim = spice.sce2c(int(id_imap_sclk), et_times[-1])
+
+            # Create the pointing frame kernel.
+            # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.ckw02
+            spice.ckw02(
+                # Handle of an open CK file.
+                handle,
+                # Start time of the segment.
+                sclk_begtim,
+                # End time of the segment.
+                sclk_endtim,
+                # Pointing frame ID.
+                int(id_imap_dps),
+                # Reference frame.
+                "ECLIPJ2000",  # Reference frame
+                # Identifier.
+                "IMAP_DPS",
+                # Number of pointing intervals.
+                1,
+                # Start times of individual pointing records within segment.
+                # Since there is only a single record this is equal to sclk_begtim.
+                np.array([sclk_begtim]),
+                # End times of individual pointing records within segment.
+                # Since there is only a single record this is equal to sclk_endtim.
+                np.array([sclk_endtim]),  # Single stop time
+                # Average quaternion.
+                q_avg,
+                # 0.0 Angular rotation terms.
+                np.array([0.0, 0.0, 0.0]),
+                # Rates (seconds per tick) at which the quaternion and
+                # angular velocity change.
+                np.array([1.0]),
+            )
+
+
+def _get_et_times(et_start: float, et_end: float) -> NDArray[np.float64]:
     """
     Get times for pointing start and stop.
 
     Parameters
     ----------
-    ck_kernel : str
-        Path of ck_kernel used to create the pointing frame.
-
-    Returns
-    -------
     et_start : float
         Pointing start time.
     et_end : float
         Pointing end time.
+
+    Returns
+    -------
     et_times : numpy.ndarray
         Array of times between et_start and et_end.
     """
-    # Get the spacecraft ID.
-    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.gipool
-    id_imap_spacecraft = spice.gipool("FRAME_IMAP_SPACECRAFT", 0, 1)
-
     # TODO: Queried pointing start and stop times here.
     # TODO removing the @ensure_spice decorator when using the repointing table.
 
-    # Get the coverage window
-    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.ckcov
-    cover = spice.ckcov(ck_kernel, int(id_imap_spacecraft), True, "SEGMENT", 0, "TDB")
-    # https://spiceypy.readthedocs.io/en/main/documentation.html#spiceypy.spiceypy.wnfetd
-    et_start, et_end = spice.wnfetd(cover, 0)
-    # 1 spin/15 seconds; 10 quaternions / spin
+    # 1 spin/15 seconds; 10 quaternions / spin.
     num_samples = (et_end - et_start) / 15 * 10
-    et_times = np.linspace(et_start, et_end, int(num_samples))
+    # There were rounding errors when using spice.pxform so np.ceil and np.floor
+    # were used to ensure the start and end times were included in the array.
+    et_times = np.linspace(
+        np.ceil(et_start * 1e6) / 1e6, np.floor(et_end * 1e6) / 1e6, int(num_samples)
+    )
 
-    return et_start, et_end, et_times
+    return et_times
 
 
 @ensure_spice