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Merged
jeanconn merged 12 commits into from
Jun 28, 2023
Merged

Calculate maneuver times and angle from cmds, replace maneuver summary file #408

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a4112ca
Calculate maneuvers from cmds, replace maneuver summary file
jeanconn May 31, 2023
c38a52b
Reorganize to only run hopper cmds once
jeanconn Jun 26, 2023
a9b0f6e
Tidy
jeanconn Jun 26, 2023
6d76843
Fix incorrectly named lines array
jeanconn Jun 26, 2023
3c9dca2
Put back Quat precision check as benign for now
jeanconn Jun 26, 2023
0264b11
Update calc for maneuver angle
jeanconn Jun 27, 2023
8e239a8
Remove sphere_dist print and extra q assign
jeanconn Jun 27, 2023
92065ea
Remove unused import
jeanconn Jun 27, 2023
771e3fd
Simplify angle determination
jeanconn Jun 27, 2023
cae2215
Update monitor window checks for new manvr end times
jeanconn Jun 27, 2023
25d960a
Put back the annotated manvr summary
jeanconn Jun 28, 2023
eb6127b
Fix a typo in a comment
jeanconn Jun 28, 2023
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67 changes: 54 additions & 13 deletions starcheck/pcad_att_check.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
# Licensed under a 3-clause BSD style license - see LICENSE.rst
import re
from astropy.table import Table
import numpy as np
import Quaternion
from Quaternion import Quat
import math

from parse_cm import read_backstop, read_or_list
from Chandra.Time import DateTime
Expand Down Expand Up @@ -71,23 +74,20 @@ def recent_attitude_history(time, file):
return greta_time, float(q1), float(q2), float(q3), float(q4)


def make_pcad_attitude_check_report(backstop_file, or_list_file=None, attitude_file=None,
simtrans_file=None, simfocus_file=None,
ofls_characteristics_file=None, out=None,
dynamic_offsets_file=None,
):
"""
Make a report for checking PCAD attitudes
def run(backstop_file, or_list_file=None, attitude_file=None,
simtrans_file=None, simfocus_file=None,
ofls_characteristics_file=None, out=None,
dynamic_offsets_file=None):

"""
all_ok = True
lines = [] # output report lines
lines = []

bs = read_backstop(backstop_file)

# Get initial state attitude and sim position from history
att_time, q1, q2, q3, q4 = recent_attitude_history(DateTime(bs[0]['date']).secs,
attitude_file)
att_time, q1, q2, q3, q4 = recent_attitude_history(
DateTime(bs[0]['date']).secs,
attitude_file)
q = Quaternion.normalize([q1, q2, q3, q4])
simfa_time, simfa = recent_sim_history(DateTime(bs[0]['date']).secs,
simfocus_file)
Expand Down Expand Up @@ -139,7 +139,46 @@ def make_pcad_attitude_check_report(backstop_file, or_list_file=None, attitude_f
# gives the history of updates as a dict with a `value` and `date` key.
sc = hopper.run_cmds(backstop_file, or_list, ofls_characteristics_file,
initial_state=initial_state, starcheck=True)
# Iterate through checks by obsid to print status

# Make maneuver structure
mm = []
for m in sc.maneuvers:
q1 = Quat(q=Quaternion.normalize(
[m['initial']['q1'], m['initial']['q2'],
m['initial']['q3'], m['initial']['q4']]))
q2 = Quat(q=Quaternion.normalize(
[m['final']['q1'], m['final']['q2'],
m['final']['q3'], m['final']['q4']]))

# Calculate maneuver angle using code borrowed from kadi
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Contributor Author

@jeanconn jeanconn Jun 28, 2023

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I updated the angle calculation to just use that 4th component -- which seems to work and was already numerically stable here with the logic from kadi commands even if q2 == q1?

q_manvr_3 = np.abs(-q2.q[0] * q1.q[0] - q2.q[1] * q1.q[1]
- q2.q[2] * q1.q[2] + q2.q[3] * -q1.q[3])
# 4th component is cos(theta/2)
if q_manvr_3 > 1:
q_manvr_3 = 1
angle = np.degrees(2 * math.acos(q_manvr_3))

# Re-arrange the hopper maneuever structure to match the structure previously used
# from Parse_CM_File.pm
man = {'initial_obsid': m['initial']['obsid'],
'final_obsid': m['final']['obsid'],
'start_date': m['initial']['date'],
'stop_date': m['final']['date'],
'ra': q2.ra,
'dec': q2.dec,
'roll': q2.roll,
'dur': m['dur'],
'angle': angle,
'q1': m['final']['q1'],
'q2': m['final']['q2'],
'q3': m['final']['q3'],
'q4': m['final']['q4'],
'tstart': DateTime(m['initial']['date']).secs,
'tstop': DateTime(m['final']['date']).secs,
}
mm.append(man)

# Do the attitude checks
checks = sc.get_checks_by_obsid()
for obsid in sc.obsids:
for check in checks[obsid]:
Expand All @@ -153,8 +192,10 @@ def make_pcad_attitude_check_report(backstop_file, or_list_file=None, attitude_f
line = '{:5d}: {}'.format(obsid, message)
lines.append(line)

# Write the attitude report
if out is not None:
with open(out, 'w') as fh:
fh.writelines("\n".join(lines))

return all_ok
# Return the attitude status check and the maneuver structure
return {'mm': mm, 'att_check_ok': all_ok}
27 changes: 13 additions & 14 deletions starcheck/src/lib/Ska/Starcheck/Obsid.pm
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Original file line number Diff line number Diff line change
Expand Up @@ -328,20 +328,19 @@ sub find_command {
##################################################################################
sub set_maneuver {
#
# Find the right obsid for each maneuver. Note that obsids in mm_file don't
# always match those in DOT, etc
# Find the maneuver for each dot obsid.
#
##################################################################################
my $self = shift;
my %mm = @_;
my $mm = shift;
my $n = 1;
my $c;
my $found;

while ($c = find_command($self, "MP_TARGQUAT", $n++)) {
$found = 0;
foreach my $m (values %mm) {
my $manvr_obsid = $m->{manvr_dest};
foreach my $m (@{$mm}) {
my $manvr_obsid = $m->{final_obsid};

# where manvr_dest is either the final_obsid of a maneuver or the eventual destination obsid
# of a segmented maneuver
Expand All @@ -359,9 +358,6 @@ sub set_maneuver {
$c->{man_err} = (exists $c->{angle}) ? 35 + $c->{angle} / 2. : 85;
$c->{man_err} = 85 if ($c->{man_err} > 85);

# Now check for consistency between quaternion from MANUEVER summary
# file and the quat from backstop (MP_TARGQUAT cmd)

# Get quat from MP_TARGQUAT (backstop) command.
# Compute 4th component (as only first 3 are uplinked) and renormalize.
# Intent is to match OBC Target Reference subfunction
Expand All @@ -372,14 +368,16 @@ sub set_maneuver {
sprintf(
"Uplink quaternion norm value $norm is too far from 1.0\n");
}

my @c_quat_norm = (
$c->{Q1} / $norm,
$c->{Q2} / $norm,
$c->{Q3} / $norm,
$q4_obc / $norm
);

# Get quat from MANEUVER summary file. This is correct to high precision
# Compare to quaternion used in $m (which provides {ra} {dec} {roll}) which was built
# directly from the 4 components in Backstop
my $q_man = Quat->new($m->{ra}, $m->{dec}, $m->{roll});
my $q_obc = Quat->new(@c_quat_norm);
my @q_man = @{ $q_man->{q} };
Expand All @@ -400,11 +398,12 @@ sub set_maneuver {
$q_man[0], $q_man[1], $q_man[2], $q_man[3]
);
}

}

}
push @{ $self->{yellow_warn} },
sprintf("Did not find match in MAN summary for MP_TARGQUAT at $c->{date}\n")
sprintf("Did not find match in maneuvers for MP_TARGQUAT at $c->{date}\n")
unless ($found);

}
Expand Down Expand Up @@ -1869,14 +1868,14 @@ sub check_monitor_commanding {
}

# Now check in backstop commands for :
# Dither is disabled (AODSDITH) 1 min prior to the end of the maneuver (EOM)
# Dither is disabled (AODSDITH) 1 min - 10s prior to the end of the maneuver (EOM)
# to the target attitude.
# The OFP Aspect Camera Process is restarted (AOACRSET) 3 minutes after EOM.
# Dither is enabled (AOENDITH) 5 min after EOM
# The OFP Aspect Camera Process is restarted (AOACRSET) 3 minutes - 10s after EOM.
# Dither is enabled (AOENDITH) 5 min - 10s after EOM
# ACA-040

my $t_manv = $manv->{tstop};
my %dt = (AODSDITH => -60, AOACRSET => 180, AOENDITH => 300);
my %dt = (AODSDITH => -70, AOACRSET => 170, AOENDITH => 290);
my %cnt = map { $_ => 0 } keys %dt;
foreach $bs (grep { $_->{cmd} eq 'COMMAND_SW' } @{$backstop}) {
my %param = Ska::Parse_CM_File::parse_params($bs->{params});
Expand Down
39 changes: 18 additions & 21 deletions starcheck/src/starcheck.pl
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Original file line number Diff line number Diff line change
Expand Up @@ -254,11 +254,23 @@
print "Reading TLR file $tlr_file\n";
my @load_segments = Ska::Parse_CM_File::TLR_load_segments($tlr_file);

print "Reading MM file $mm_file\n";
my $att_report = "${STARCHECK}/pcad_att_check.txt";
my $att_check = call_python(
"pcad_att_check.run",
[],
{
backstop_file => $backstop,
or_list_file => $or_file,
simtrans_file => $simtrans_file,
simfocus_file => $simfocus_file,
attitude_file => $attitude_file,
ofls_characteristics_file => $char_file,
dynamic_offsets_file => $aimpoint_file,
out => $att_report,
}
);

# Read momentum management (maneuvers + SIM move) summary file
my %mm = Ska::Parse_CM_File::MM({ file => $mm_file, ret_type => 'hash' })
if ($mm_file);
my $mm = $att_check->{mm};

# Read maneuver management summary for handy obsid time checks
print "Reading process summary $ps_file\n";
Expand Down Expand Up @@ -416,7 +428,7 @@
$obs{$obsid}->set_obsid(\%guidesumm); # Commanded obsid
$obs{$obsid}->set_target();
$obs{$obsid}->set_star_catalog();
$obs{$obsid}->set_maneuver(%mm) if ($mm_file);
$obs{$obsid}->set_maneuver($mm);
$obs{$obsid}->set_manerr(@manerr) if (@manerr);
$obs{$obsid}->set_files(
$STARCHECK,
Expand Down Expand Up @@ -744,21 +756,7 @@ sub json_obsids {
}
else {
my $att_report = "${STARCHECK}/pcad_att_check.txt";
my $att_ok = call_python(
"utils._make_pcad_attitude_check_report",
[],
{
backstop_file => $backstop,
or_list_file => $or_file,
simtrans_file => $simtrans_file,
simfocus_file => $simfocus_file,
attitude_file => $attitude_file,
ofls_characteristics_file => $char_file,
out => $att_report,
dynamic_offsets_file => $aimpoint_file
}
);
if ($att_ok) {
if ($att_check->{att_check_ok} == 1) {
$out .= "<A HREF=\"${att_report}\">[OK] Coordinates as expected.</A>\n";
}
else {
Expand Down Expand Up @@ -1051,7 +1049,6 @@ sub make_annotated_file {
# $backstop = get_file("$par{dir}/*.backstop",'backstop', 'required');
# $guide_summ = get_file("$par{dir}/mg*.sum", 'guide summary');
# $or_file = get_file("$par{dir}/*.or", 'OR');
# $mm_file = get_file("$par{dir}/*/mm*.sum", 'maneuver');
# $dot_file = get_file("$par{dir}/*.dot", 'DOT', 'required');

my ($start_rexp, $id_pre, $id_post, $file_in, $lines) = @_;
Expand Down
5 changes: 0 additions & 5 deletions starcheck/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@
from starcheck import __version__ as version
from starcheck.calc_ccd_temps import get_ccd_temps
from starcheck.check_ir_zone import ir_zone_ok
from starcheck.pcad_att_check import make_pcad_attitude_check_report
from starcheck.plot import make_plots_for_obsid

ACQS = mica.stats.acq_stats.get_stats()
Expand Down Expand Up @@ -104,10 +103,6 @@ def get_data_dir():
return sc_data if os.path.exists(sc_data) else ""


def _make_pcad_attitude_check_report(**kwargs):
return make_pcad_attitude_check_report(**kwargs)


def make_ir_check_report(**kwargs):
return ir_zone_ok(**kwargs)

Expand Down