Merge pull request #36 from anise-toolkit/30-spice-bsp-files-should-b…

…e-usable-without-needing-the-anise-file-equivalent

Read SPK files directly

.cargo/config.toml

@@ -0,0 +1,2 @@
+[env]
+CSPICE_DIR = {value = "./cspice/", relative = true}

.gitattributes

@@ -1,5 +1,5 @@
 data/*.bsp filter=lfs diff=lfs merge=lfs -text
-data/earth_old_high_prec.bpc filter=lfs diff=lfs merge=lfs -text
+data/*.bpc filter=lfs diff=lfs merge=lfs -text
 data/de421.anise filter=lfs diff=lfs merge=lfs -text
 data/de430.anise filter=lfs diff=lfs merge=lfs -text
 data/de438s.anise filter=lfs diff=lfs merge=lfs -text

.github/workflows/benchmarks.yml

@@ -0,0 +1,65 @@
+name: Benchmarks
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - "*"
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  type2_chebyshev:
+    name: JPL DE Benchmark
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout sources
+        uses: actions/checkout@v3
+        with:
+          lfs: true
+
+      - name: Install stable toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          override: true
+
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh && cd .. # Return to root
+
+      - name: Bench
+        run: cargo bench --bench "*_jpl_ephemerides"
+
+      - name: Save benchmark artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: jpl-development-ephemerides-benchmark
+          path: target/criterion/**/report/*
+
+  type13_hermite:
+    name: Hermite Benchmark
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout sources
+        uses: actions/checkout@v3
+        with:
+          lfs: true
+
+      - name: Install stable toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          override: true
+
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh && cd .. # Return to root
+
+      - name: Bench
+        run: cargo bench --bench "*_spacecraft_ephemeris"
+
+      - name: Save benchmark artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: spacecraft-ephemeris-benchmark
+          path: target/criterion/**/report/*

.github/workflows/tests.yml

@@ -25,13 +25,16 @@ jobs:
           toolchain: stable
           override: true
 
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh
+
       - name: Run cargo check
         uses: actions-rs/cargo@v1
         with:
           command: check
 
-  spice-convert-and-test:
-    name: Converts SPICE BSP files into ANISE files and runs the tests
+  test:
+    name: Run tests
     runs-on: ubuntu-latest
     steps:
       - name: Checkout sources
@@ -46,17 +49,8 @@ jobs:
           toolchain: stable
           override: true
 
-      - name: Build
-        run: cargo build --release
-
-      - name: Convert DE438s and verify every coefficient (slow)
-        run: cargo run --release -- convert ./data/de438s.bsp --check
-
-      - name: Convert DE421, DE430, DE440
-        run: |
-          cargo run --release -- convert ./data/de421.bsp
-          cargo run --release -- convert ./data/de430.bsp
-          cargo run --release -- convert ./data/de440.bsp
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh && cd .. # Return to root
 
       - name: Test debug (default features) # This has overflow checks etc.
         run: cargo test
@@ -70,12 +64,6 @@ jobs:
       - name: Test (no default features and release)
         run: cargo test --no-default-features --release
 
-      - name: Create DE ANISE artifacts # At this stage, all of the tests have passed, so let's store these artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: anise-jpl-development-ephemerides
-          path: data/*.anise
-
   lints:
     name: Lints
     runs-on: ubuntu-latest
@@ -102,3 +90,92 @@ jobs:
         with:
           command: clippy
           args: -- -D warnings
+
+  validation:
+    name: Validation
+    runs-on: ubuntu-latest
+    needs: [check, test, lints]
+    steps:
+      - name: Checkout sources
+        uses: actions/checkout@v2
+        with:
+          lfs: true
+
+      - name: Install stable toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh && cd .. # Return to root
+
+      - name: CLI SPK
+        run: |
+          cargo run -- inspect data/gmat-hermite.bsp
+          cargo run -- inspect data/de440.bsp
+
+      - name: Rust-SPICE JPL DE validation
+        run: RUST_BACKTRACE=full RUST_LOG=debug cargo test validate_jplde_translation --features validation --release -- --nocapture
+
+      - name: Rust-SPICE hermite validation
+        run: RUST_BACKTRACE=full RUST_LOG=debug cargo test validate_hermite_translation --features validation --release -- --nocapture
+
+      # Now analyze the results and create pretty plots
+      - uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+
+      - name: Validation analysis
+        run: |
+          cd analysis
+          pip install -r requirements.txt
+          python spk_type2_jplde_val_err.py
+          python spk_type13_val_err.py
+
+      - name: Save validation artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: validation-artifacts
+          path: target/*.html
+
+  coverage:
+    name: Coverage
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          lfs: true
+
+      - name: Install stable toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          components: rustfmt, clippy
+
+      - name: Install CSPICE
+        run: sh dev-env-setup.sh && cd .. # Return to root
+
+      - name: Install cargo-llvm-cov
+        uses: taiki-e/install-action@cargo-llvm-cov
+
+      - name: Generate coverage report
+        run: |
+          cargo llvm-cov clean --workspace
+          cargo llvm-cov test --no-report --features=std -- --test-threads=1
+          cargo llvm-cov test --no-report --tests --features=std -- compile_fail
+          cargo llvm-cov report --lcov > lcov.txt
+        env:
+          RUSTFLAGS: --cfg __ui_tests
+
+      - name: Upload coverage report
+        uses: codecov/codecov-action@v3
+        env:
+          TOKEN: ${{ secrets.CODECOV_TOKEN }}
+        with:
+          files: ./lcov.txt

.gitignore

@@ -1,3 +1,9 @@
 /target
 Cargo.lock
-*.anis*
+*.anis*
+cspice
+*.parquet
+*.svg
+perf.data*
+analysis/.venv
+cspice.tar.Z

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "specs"]
-	path = specs
-	url = https://github.com/anise-toolkit/specs.git

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "python.formatting.provider": "yapf"
+}

AUTHORS.md

@@ -0,0 +1,5 @@
+# Authors
+
++ Christopher Rabotin <[email protected]>
++ Chris de Claverie <[email protected]>
++ Grégoire Henry <[email protected]>

Cargo.toml

@@ -11,20 +11,49 @@ keywords = ["attitude","navigation","instrument", "spacecraft", "ephemeris"]
 categories = ["science", "simulation"]
 readme = "README.md"
 license = "MPL-2.0"
+exclude = ["cspice"]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-# hifitime = {version = "3.4.0", features = ["asn1der"]}
-hifitime = {git = "https://github.com/nyx-space/hifitime", rev= "042599948499086ea4e854727eac885f6cab5d89"} # TODO: Switch to 3.4.1 when published.
-memmap2 = "0.5.7"
+hifitime = {version = "3.7.0", features = []}
+memmap2 = "0.5.8"
 crc32fast = "1.3.0"
-der = {version = "0.6.0", features = ["derive", "alloc", "real"]}
+# der = {version = "0.6.0", features = ["derive", "alloc", "real"]} # Disabled until DER is needed again.
 clap = {version = "3.1", features = ["derive"]}
 thiserror = "1.0"
 log = "0.4"
 pretty_env_logger = "0.4"
-tabled = "0.8"
+tabled = "0.10"
 const_format = "0.2"
 nalgebra = "0.31"
-approx = "0.5.1"
+approx = "0.5.1"
+zerocopy = "0.6.1"
+
+[dev-dependencies]
+rust-spice = "0.7.4"
+parquet = "25.0.0"
+arrow = "25.0.0"
+criterion = "0.3"
+iai = "0.1"
+polars = {version = "0.25", features = ["lazy", "parquet"]}
+
+[features]
+default = ["std"]
+std = []
+validation = [] # Enabling this flag significantly reduces compilation times due to Arrow and Polars.
+
+[profile.bench]
+debug = true
+
+[[bench]]
+name = "iai_jpl_ephemerides"
+harness = false
+
+[[bench]]
+name = "crit_jpl_ephemerides"
+harness = false
+
+[[bench]]
+name = "iai_spacecraft_ephemeris"
+harness = false

README.md

@@ -38,4 +38,5 @@ Solar System barycenter
 # Development
 ## Requirements
 1. `rustc` version `1.64` or higher (required for the 2021 edition): https://rust-lang.org/ (TODO: Set a minimum compatible rust version)
-2. `git`
+2. `git`
+1. `rust-spice` is used for exhaustive testing of the SPICE interoperability. It requires the cspice library.

analysis/requirements.txt

@@ -0,0 +1,10 @@
+hifitime==3.7.0
+numpy==1.23.4
+pandas==1.5.1
+plotly==5.10.0
+polars==0.14.21
+pyarrow==10.0.1
+python-dateutil==2.8.2
+pytz==2022.5
+six==1.16.0
+tenacity==8.1.0

analysis/spk_type13_val_err.py

@@ -0,0 +1,36 @@
+import pandas as pd
+import plotly.express as px
+from os.path import abspath, join, dirname
+
+if __name__ == '__main__':
+
+    target_folder = join(abspath(dirname(__file__)), '..', 'target')
+
+    for name, filename in [("validation", "type13-validation-test-results"),
+                           ("outliers", "type13-validation-outliers")]:
+
+        # Load the parquet file
+        df = pd.read_parquet(f"{target_folder}/{filename}.parquet")
+
+        if name == 'validation':
+            y = 'relative error'
+        else:
+            y = 'absolute error'
+
+        for kind, columns in [("Position", ["X", "Y", "Z"]),
+                                ("Velocity", ["VX", "VY", "VZ"])]:
+
+            print(f"== {kind} {name} ==")
+
+            subset = df.loc[df.component.isin(columns)]
+
+            print(subset.describe())
+
+            plt = px.scatter(subset,
+                                x='File delta T (s)',
+                                y=y,
+                                color='source frame')
+
+            plt.write_html(
+                f"{target_folder}/{name}-{kind}-validation.html")
+            plt.show()