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extern crate csv;
pub use crate::celestia::*;
use crate::dimensions::{Matrix2, Matrix3, Matrix6, Vector2, Vector3, Vector6, U2, U3, U6};
use crate::dynamics::spacecraft::SpacecraftState;
use crate::io::formatter::NavSolutionFormatter;
use crate::io::scenario::ScenarioSerde;
use crate::io::{parse_duration, ParsingError};
use crate::md::ui::{MDProcess, StmStateFlag};
use crate::od::ranging::GroundStation;
use crate::od::ui::*;
use crate::od::{Measurement, MeasurementDevice};
use crate::time::SECONDS_PER_DAY;
use std::sync::mpsc::channel;
use std::time::Instant;
pub struct OdpScenario<'a> {
truth: MDProcess<'a>,
nav: MDProcess<'a>,
ekf_msr_trigger: usize,
kf: KF<U6, U3, U2, SpacecraftState>,
stations: Vec<GroundStation<'a>>,
formatter: Option<NavSolutionFormatter<'a>>,
}
impl<'a> OdpScenario<'a> {
pub fn try_from_scenario(
scenario: &ScenarioSerde,
seq_name: String,
cosm: &'a Cosm,
) -> Result<Self, ParsingError> {
if scenario.odp.is_none() {
return Err(ParsingError::UseMdInstead);
}
let odp = &scenario.odp.as_ref().unwrap();
// Ensure valid ODP scenario
if scenario.measurements.is_none() {
return Err(ParsingError::OD(
"missing `measurements` section".to_string(),
));
} else if scenario.estimate.is_none() {
return Err(ParsingError::OD("missing `estimate` section".to_string()));
} else if scenario.stations.is_none() {
return Err(ParsingError::OD("missing `stations` section".to_string()));
}
let all_measurements = scenario.measurements.as_ref().unwrap();
let all_estimates = scenario.estimate.as_ref().unwrap();
let all_stations = scenario.stations.as_ref().unwrap();
if let Some(odp_seq) = odp.get(&seq_name) {
// Get the measurement generation
match all_measurements.get(&odp_seq.measurements) {
None => unimplemented!(),
Some(ref msr) => {
// Get the IAU Earth frame
let iau_earth = cosm.frame("IAU Earth");
// Build the stations
let mut stations = Vec::with_capacity(5);
for device in &msr.msr_device {
match all_stations.get(device) {
None => {
return Err(ParsingError::OD(format!(
"station `{}` in sequence `{}` not found",
device, seq_name
)))
}
Some(s) => {
let gs = if let Some(base) = &s.from {
match base.to_lowercase().as_str() {
"dss13" => GroundStation::dss13_goldstone(
s.elevation,
s.range_noise,
s.range_rate_noise,
cosm,
),
"dss34" => GroundStation::dss34_canberra(
s.elevation,
s.range_noise,
s.range_rate_noise,
cosm,
),
"dss65" => GroundStation::dss65_madrid(
s.elevation,
s.range_noise,
s.range_rate_noise,
cosm,
),
_ => {
return Err(ParsingError::OD(format!(
"unknown base station `{}`",
base
)))
}
}
} else {
let station_name = device.clone();
GroundStation::from_noise_values(
station_name,
s.elevation,
s.latitude.unwrap(),
s.longitude.unwrap(),
s.height.unwrap(),
s.range_noise,
s.range_rate_noise,
iau_earth,
cosm,
)
};
stations.push(gs);
}
}
}
// Build the truth MD
let md = MDProcess::try_from_scenario(
scenario,
msr.propagator.as_ref().unwrap().to_string(),
StmStateFlag::Without(()),
cosm,
)?;
// Build the initial estimate
if all_estimates.get(&odp_seq.initial_estimate).is_none() {
return Err(ParsingError::OD(format!(
"estimate `{}` not found",
&odp_seq.initial_estimate
)));
}
let est_serde = &all_estimates[&odp_seq.initial_estimate];
if scenario.state.get(&est_serde.state).is_none() {
return Err(ParsingError::OD(format!(
"state `{}` not found",
&est_serde.state
)));
}
let est_init_state_serde = &scenario.state[&est_serde.state];
let state_frame = cosm.frame(est_init_state_serde.frame.as_str());
let est_init_state = est_init_state_serde.as_state(state_frame);
// Build the covariance
let mut cov;
if let Some(covar_mat) = &est_serde.covar_mat {
cov = Matrix6::from_element(0.0);
let max_i = covar_mat.len();
let mut max_j = 0;
for (i, row) in covar_mat.iter().enumerate() {
for (j, item) in row.iter().enumerate() {
cov[(i, j)] = *item;
if j > max_j {
max_j = j;
}
}
}
if max_i != 6 || max_j != 6 {
return Err(ParsingError::OD(format!(
"initial covariance `{}` does not have 36 items",
&odp_seq.initial_estimate
)));
}
} else if let Some(covar_diag) = &est_serde.covar_diag {
let mut as_v = Vector6::zeros();
for (i, item) in covar_diag.iter().enumerate() {
as_v[i] = *item;
}
cov = Matrix6::from_diagonal(&as_v);
} else {
return Err(ParsingError::OD(format!(
"initial covariance not specified in `{}`",
&odp_seq.initial_estimate
)));
}
let mut init_sc_state = md.state();
init_sc_state.orbit = est_init_state;
let initial_estimate = KfEstimate::from_covar(init_sc_state, cov);
let measurement_noise = Matrix2::from_diagonal(&Vector2::new(
odp_seq.msr_noise[0],
odp_seq.msr_noise[1],
));
// Build the filter
let kf = match &odp_seq.snc {
None => KF::no_snc(initial_estimate, measurement_noise),
Some(snc) => {
if snc.len() != 3 {
return Err(ParsingError::OD(
"SNC must have three components".to_string(),
));
}
let process_noise =
Matrix3::from_diagonal(&Vector3::new(snc[0], snc[1], snc[2]));
// Disable SNC if there is more than 120 seconds between two measurements
let process_noise_dt = match &odp_seq.snc_disable {
None => {
warn!("No SNC disable time specified, assuming 120 seconds");
Some(120.0)
}
Some(snd_disable_dt) => Some(parse_duration(snd_disable_dt)?),
};
// And build the filter
KF::new(
initial_estimate,
process_noise,
measurement_noise,
process_noise_dt,
)
}
};
// Build the estimation propagator
let estimator = MDProcess::try_from_scenario(
scenario,
odp_seq.navigation_prop.to_string(),
StmStateFlag::With(()),
cosm,
)?;
// Get the formatter
let formatter = match &odp_seq.output {
Some(output) => match &scenario.output.get(output) {
None => {
return Err(ParsingError::OD(format!(
"output `{}` not found",
output
)))
}
Some(output) => Some(output.to_nav_sol_formatter(&cosm)),
},
None => None,
};
return Ok(Self {
truth: md,
nav: estimator,
kf,
ekf_msr_trigger: match &odp_seq.ekf_msr_trigger {
Some(val) => *val,
None => 100_000,
},
stations,
formatter,
});
}
}
}
Err(ParsingError::OD("sequence not found".to_string()))
}
/// Will generate the measurements and run the filter.
pub fn execute(mut self) {
// Generate the measurements.
let prop_time = self.truth.prop_time_s.unwrap();
let mut prop = self.truth.propagator();
// Set up the channels
let (tx, rx) = channel();
prop.tx_chan = Some(tx);
// Generate the measurements
info!(
"Generating measurements over {} seconds (~ {:.3} days)",
prop_time,
prop_time / SECONDS_PER_DAY
);
let start = Instant::now();
prop.until_time_elapsed(prop_time);
let mut sim_measurements = Vec::with_capacity(10000);
while let Ok(rx_state) = rx.try_recv() {
for station in self.stations.iter() {
let meas = station.measure(&rx_state).unwrap();
if meas.visible() {
sim_measurements.push(meas);
break; // We know that only one station is in visibility at each time.
}
}
}
info!(
"Generated {} measurements in {:.3} seconds",
sim_measurements.len(),
(Instant::now() - start).as_secs_f64()
);
// Build the ODP
let nav = self.nav.stm_propagator();
let kf = self.kf;
let mut odp = ODProcess::ekf(
nav,
kf,
self.stations.clone(),
false,
100_000,
NumMsrEkfTrigger::init(self.ekf_msr_trigger),
);
odp.process_measurements_covar(&sim_measurements);
// Save to output file if requested
// Create the output file
if let Some(fmtr) = &self.formatter {
let mut wtr =
csv::Writer::from_path(fmtr.filename.clone()).expect("could not create file");
wtr.serialize(&fmtr.headers)
.expect("could not write headers");
info!("Saving output to {}", fmtr.filename);
for est in &odp.estimates {
wtr.serialize(fmtr.fmt(est))
.expect("could not format state");
}
};
}
}