Unverified Commit aab45637 authored by acpaquette's avatar acpaquette Committed by GitHub
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Kernel Timing Update (#4806) 



* Added Ckwriter to write Timing Offset to Comments (#4720)

* ckwriter adds timing offset to kernel's comments.

* account for timing padding.

* kerneldbgen adds timing offset if found in comments.

* Added documentation.

* Updated ckwriter offset calculations and added spkwriter calculations (#4722)

* Corrected time offset calculations in ckwriter. Added time offset calculations to spkwriter. Added end time offsets.

* Fixed padding checks.

* Fixes ckwriter and spkwriter test failures. (#4726)

* Kerneldb changes for spice kernel timing (#4728)

* Added checks for instruments and spice kernel timing offsets

* Addressed PR feedback

* Addressed PR feedback

* Removed extra whitespace

* Kernel Timing Tests (#4729)

* Added tests for ckwriter and spkwriter. Converted kerneldbgen tests to GTests and added tests.

* Small updates

* Fixes mex module timeout errors.

* Removed large kernel files from ck tests.

* KernelDB Tests (#4807)

* Added tests for ckwriter and spkwriter. Converted kerneldbgen tests to GTests and added tests.

* Removed large kernel files from ck tests.

* KernelDB test.

* Added comments and use sc clock count for offset

* Reverted logic back to start/stop time

* Fixed syntax errors

* Added local sclks

* Modified sclk path to point to local data area

Co-authored-by: default avatarAmy Stamile <74275278+amystamile-usgs@users.noreply.github.com>
Co-authored-by: default avatarAustinSanders <arsanders@usgs.gov>
Co-authored-by: default avatarAustin Sanders <austinsanders1993@gmail.com>
parent e0868b9b

CHANGELOG.md

+0 −1
Original line number Diff line number Diff line
@@ -158,7 +158,6 @@ Keywords when running CAMSTATS. [#3605](https://github.com/USGS-Astrogeology/IS 
- Fixed issue where serial numbers for Kaguya TC and MI image could not be generated. [4235](https://github.com/USGS-Astrogeology/ISIS3/issues/4235)

- Fixed hardcoded file naming in the hijitter app dealing with output from pipeline. [#4372](https://github.com/USGS-Astrogeology/ISIS3/pull/4372)

- Fixed "About Qview" to point to website documentation. [4333](https://github.com/USGS-Astrogeology/ISIS3/issues/4333)

- Fixed bug where the time bias was not being added to the ephemeris times in ckwriter. [4129](https://github.com/USGS-Astrogeology/ISIS3/issues/4129)



### Changed

isis/src/base/apps/ckwriter/CkSpiceSegment.cpp

+55 −3
Original line number Diff line number Diff line
@@ -42,6 +42,7 @@ 
#include "FileName.h"

#include "IException.h"

#include "IString.h"

#include "iTime.h"

#include "NaifStatus.h"

#include "CkSpiceSegment.h"

#include "Table.h"
@@ -210,13 +211,25 @@ void CkSpiceSegment::import(Cube &cube, const QString &tblname) { 
    if (!value.isEmpty()) { _target = value; }

     _camVersion = _kernels.CameraVersion();



    QString labStartTime = getKeyValue(*label, "StartTime");

    QString labEndTime;

    value = getKeyValue(*label, "StopTime");

    if (!value.isEmpty()) {

      labEndTime = value;

    }

    else {

      labEndTime = labStartTime;

    }

    iTime etLabStart(labStartTime);

    iTime etLabEnd(labEndTime);



    //  Get the SPICE data

    Table ckCache = camera->instrumentRotation()->LineCache(tblname);

    SMatrix spice = load(ckCache);



    _quats = getQuaternions(spice);

    _avvs = getAngularVelocities(spice);

    _times = getTimes(spice, camera->instrumentRotation()->TimeBias());

    _times = getTimes(spice);



    _startTime = _times[0];

    _endTime = _times[size(_times)-1];
@@ -260,6 +273,33 @@ void CkSpiceSegment::import(Cube &cube, const QString &tblname) { 


    _utcStartTime = toUTC(startTime());

    _utcEndTime   = toUTC(endTime());



    // These offsets are absolute values. If there is a StartOffset, then this

    // must be subtracted from the label's original start time and if there is

    // an EndOffset, then the offset must be added to the label's original end

    // time.

    _startOffset =  etLabStart.Et() - startTime();

    _endOffset =  etLabEnd.Et() - endTime();





    // Label start/end times are 3 decimal places, so round offsets to match.

    _startOffset = qRound(_startOffset * 1000.0) / 1000.0;

    _endOffset = qRound(_endOffset * 1000.0) / 1000.0;



    // account for padding

    if (_startOffset >= 0.003) {

      _startOffset = 0.0;

    }

    else {

      _startOffset = fabs(_startOffset);

    }

    if (_endOffset <= 0.003) {

      _endOffset = 0.0;

    }

    else {

      _endOffset = fabs(_endOffset);

    }



    _kernels.UnLoad("CK,FK,SCLK,LSK,IAK");



  } catch ( IException &ie  ) {
@@ -303,13 +343,13 @@ CkSpiceSegment::SMatrix CkSpiceSegment::getAngularVelocities(const SMatrix &spic 
}





CkSpiceSegment::SVector CkSpiceSegment::getTimes(const SMatrix &spice, const double timeBias) const {

CkSpiceSegment::SVector CkSpiceSegment::getTimes(const SMatrix &spice) const {

  int nrecs = size(spice);

  SVector etdp(nrecs);

  int tcol = spice.dim2() - 1;



  for ( int i = 0 ; i < nrecs ; i++ ) {

    etdp[i] = spice[i][tcol] + timeBias;

    etdp[i] = spice[i][tcol];

  }

  return (etdp);

}
@@ -688,6 +728,16 @@ QString CkSpiceSegment::getComment() const { 
"  RefFrame:   " << _refFrame << endl <<

"  Records:    " << size() << endl;



  if (_startOffset != 0) {

    comment <<

"  StartOffset: " << _startOffset << endl;

  }



  if (_endOffset != 0) {

    comment <<

"  EndOffset: " << _endOffset << endl;

  }



  QString hasAV = (size(_avvs) > 0) ? "YES" : "NO";

  comment <<

"  HasAV:      " << hasAV << endl;
@@ -715,6 +765,8 @@ void CkSpiceSegment::init() { 
  _instId = _target = "UNKNOWN";

  _instCode = 0;

  _instFrame = _refFrame = "";

  _startOffset = 0.0;

  _endOffset = 0.0;

  _quats = _avvs = SMatrix(0,0);

  _times = SVector(0);

  _tickRate = 0.0;

isis/src/base/apps/ckwriter/CkSpiceSegment.h

+16 −11
Original line number Diff line number Diff line
@@ -87,7 +87,10 @@ class PvlObject; 
 * @history 2019-12-05 Adam Paquette - Changed how kernels are loaded so CkSpiceSegment

 *                          no longer needs to use the Spice class.

 *

 * @history 2021-03-23 Kaitlyn Lee - Added time bias to ET times in getTimes(). Fixes #4129

 * @history 2021-12-22 Amy Stamile - Added timing offset information to kernel comments

 *                          by calculating difference between label StartTime and camera model

 *                          StartTime. This is to allow for spiceinit to handle offsets

 *                          when finding associated smithed kernels. References #3363.

 */

class CkSpiceSegment {

  public:
@@ -156,6 +159,8 @@ class CkSpiceSegment { 
    QString     _utcEndTime;   //  requires leap seconds kernel

    QString     _instId;       //  Instrument ID

    QString     _target;       //  Target name

    double      _startOffset;  // time offset between camera model and label start time

    double      _endOffset;    // time offset between camera model and label end time

    int         _instCode;     //  NAIF instrument code of the SPICE segment

    QString     _instFrame;    //  NAIF instrument frame

    QString     _refFrame;     //  NAIF reference frame
@@ -174,7 +179,7 @@ class CkSpiceSegment { 
    SMatrix load(Table &cache);

    SMatrix getQuaternions(const SMatrix &spice) const;

    SMatrix getAngularVelocities(const SMatrix &spice) const;

    SVector getTimes(const SMatrix &spice, const double timeBias) const;

    SVector getTimes(const SMatrix &spice) const;



    bool getTimeDependentFrameIds(Table &table, int &toId, int &fromId) const;

    bool getFrameChains(Table &table, const int &leftBase,

isis/src/base/apps/spkwriter/SpkSegment.cpp

+52 −0
Original line number Diff line number Diff line
@@ -37,7 +37,9 @@ 
#include "FileName.h"

#include "IException.h"

#include "IString.h"

#include "iTime.h"

#include "NaifStatus.h"

#include "Spice.h"

#include "SpkSegment.h"

#include "Table.h"
@@ -168,6 +170,43 @@ void SpkSegment::import(Cube &cube) { 
    setStartTime(m_epochs[0]);

    setEndTime(m_epochs[size(m_epochs)-1]);



    Pvl *label = cube.label();

    QString labStartTime = getKeyValue(*label, "StartTime");

    QString labEndTime;

    QString value = getKeyValue(*label, "StopTime");

    if (!value.isEmpty()) {

      labEndTime = value;

    }

    else {

      labEndTime = labStartTime;

    }



    iTime etLabStart(labStartTime);

    iTime etLabEnd(labEndTime);



    m_startOffset = etLabStart.Et() - m_epochs[0];

    m_endOffset = etLabEnd.Et() - m_epochs[size(m_epochs)-1];



    // Label start/end times are 3 decimal places, so round offsets to match.

    m_startOffset = qRound(m_startOffset * 1000.0) / 1000.0;

    m_endOffset = qRound(m_endOffset * 1000.0) / 1000.0;



    // account for padding

    if (m_startOffset >= 0.003) {

      m_startOffset = 0.0;

    }

    else {

      m_startOffset = fabs(m_startOffset);

    }

    if (m_endOffset <= 0.003) {

      m_endOffset = 0.0;

    }

    else {

      m_endOffset = fabs(m_endOffset);

    }



    m_instId = getKeyValue(*label, "InstrumentId");



  } catch ( IException &ie  ) {

    ostringstream mess;

    mess << "Failed to construct SPK content from ISIS file " << Source();
@@ -291,11 +330,22 @@ QString SpkSegment::getComment() const { 
"  Segment ID:  " << Id() << " (ProductId)" << endl <<

"  StartTime:   " << utcStartTime() << endl <<

"  EndTime:     " << utcEndTime() << endl <<

"  Instrument:  " << m_instId << endl <<

"  Target Body: " << "Body " << m_body << ", " << m_bodyFrame << endl <<

"  Center Body: " << "Body " << m_center << ", " << m_centerFrame << endl <<

"  RefFrame:    " << m_refFrame << endl <<

"  Records:     " << size() << endl;



  if (m_startOffset != 0) {

    comment <<

"  StartOffset: " << m_startOffset << endl;

  }



  if (m_endOffset != 0) {

    comment <<

"  EndOffset:   " << m_endOffset << endl;

  }



  string hasVV = (m_hasVV) ? "YES" : "NO";

  comment <<

"  HasVV:       " << hasVV << endl;
@@ -358,10 +408,12 @@ void SpkSegment::init(const int spkType) { 
  m_spkType = spkType;

  m_body = m_center = 1;

  m_bodyFrame = m_centerFrame = m_refFrame = "";

  m_instId = "UNKNOWN";

  m_states = SMatrix(0,0);

  m_epochs = SVector(0);

  m_hasVV = false;

  m_degree = 1;

  m_startOffset = 0.0;

  return;

}

isis/src/base/apps/spkwriter/SpkSegment.h

+3 −0
Original line number Diff line number Diff line
@@ -108,12 +108,15 @@ class SpkSegment : public SpkSpiceSegment { 
    int         m_body;         //  NAIF body code of the SPICE segment

    QString     m_bodyFrame;    //  NAIF body frame

    int         m_center;       //  NAIF center code of the SPICE segment

    QString     m_instId;       //  Instrument ID

    QString     m_centerFrame;  //  NAIF center frame

    QString     m_refFrame;     //  NAIF reference frame

    SMatrix     m_states;       //  Position states

    SVector     m_epochs;       //  ET times of records

    bool        m_hasVV;        //  Has velocity vectors?

    int         m_degree;       //  Degree of polynomial to fit in NAIF kernel

    double      m_startOffset;  // time offset between camera model and label start time

    double      m_endOffset;    // time offset between camera model and label end time



    // Internal processing methods

    void init(const int spkType = 13);