From 5c010cdda719b24793dece8b359b45624786cccc Mon Sep 17 00:00:00 2001 From: Laura Sandoval <46567335+laspsandoval@users.noreply.github.com> Date: Thu, 12 Sep 2024 14:56:56 -0600 Subject: [PATCH] Pointing frame updates (#814) * add multiple segments --- imap_processing/spice/kernels.py | 217 +++++++++++------- .../spice/test_data/sim_1yr_imap_attitude.bc | Bin 0 -> 56320 bytes .../test_data/sim_1yr_imap_pointing_frame.bc | Bin 0 -> 62464 bytes imap_processing/tests/spice/test_kernels.py | 124 ++++++++-- 4 files changed, 239 insertions(+), 102 deletions(-) create mode 100755 imap_processing/tests/spice/test_data/sim_1yr_imap_attitude.bc create mode 100644 imap_processing/tests/spice/test_data/sim_1yr_imap_pointing_frame.bc diff --git a/imap_processing/spice/kernels.py b/imap_processing/spice/kernels.py index 0a3f18493..87d73945b 100644 --- a/imap_processing/spice/kernels.py +++ b/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. @@ -187,7 +187,13 @@ 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: @@ -195,125 +201,158 @@ def spice_ck_file(pointing_frame_path: str) -> Generator[int, None, None]: @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 diff --git a/imap_processing/tests/spice/test_data/sim_1yr_imap_attitude.bc b/imap_processing/tests/spice/test_data/sim_1yr_imap_attitude.bc new file mode 100755 index 0000000000000000000000000000000000000000..589f2f08f59374d34712393e5140265ff8a02bbb GIT binary patch literal 56320 zcmeFaXH*nT`u>kuR8UNqK~YgqBnS#9C5<4GB^Xda0WqMWl2kBa!~lYVBtcM61e7!) zqD9U*&q#(D6axy1S$@s*%(UHO&-uUDeewOD3Yl&NVO ztwjU>jeP$<{Z5(x@Sl*OnXw7lrI=}(TbM}dtT)hBlXTv7;E>ZUXO}~A&PSbv{=*4n zgoL))?ApEe;9$pu_B>|#)`MBCjWi9lB_&r&N*~<0*Ir&;K~c_mzmv3(nU(?h1A7nb zJY?-;yWhcD9{rPZcCwWg(lJGGv%kIx{UY|~+#GDt)3BFD`${8oZBrvn1LBANKlY#~ zucdEozQu%njEaN8OnaT7wvoB@`nBxCW`B{HmLy_fCTVJHu4%sB*htb))7*5umbRHR znjLk&#b3bE>0 zxgc-_HMl|`xRM%NDG*ep22}-tit>~o8WM1hiVD=AfS0f;BtW= zu}k>d0E){00IBYOo^2GV9fgJjwKlb*6a_j;k=jvcNKi& 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