ISD to Kernel support

CHANGELOG.md

@@ -43,6 +43,7 @@ release.
 
 - Added getTargetStatesRanged so a request can be made with start, end, and range of ETs instead of a list [#115](https://github.com/DOI-USGS/SpiceQL/pull/115)
 - Added option to json2DIntArrayTo2DVector to retain empty subarrays rather than remove them [#117](https://github.com/DOI-USGS/SpiceQL/pull/117)
+- Added support for ISD to kernel generation [#116](https://github.com/DOI-USGS/SpiceQL/pull/116)
 
 ### 1.2.7
 

SpiceQL/db/near.json

@@ -23,6 +23,7 @@
         },
         "iak" : { 
             "kernels" : ["msiAddendum[0-9]{3}.ti$"]
-        }
+        },
+        "deps": ["/near"]
     }
 }

SpiceQL/include/io.h

@@ -6,6 +6,7 @@
  *
  **/
 
+#include <cstddef>
 #include <optional>
 #include <string>
 #include <vector>

SpiceQL/include/spice_types.h

@@ -71,6 +71,45 @@ namespace SpiceQL {
        **/
       static Type translateType(std::string type);
 
+      /**
+       * @brief Get Kernel extension
+       * 
+       * @param type Kernel type string
+       * @return Kernel extension as string
+       */
+      static std::string getExt(std::string type);
+
+      /**
+       * @brief Check if kernel type is binary
+       * 
+       * @param type Kernel type string
+       * @return Whether kernel type is binary
+       */
+      static bool isBinary(std::string type);
+
+      /**
+       * @brief Check if kernel type is text-based
+       * 
+       * @param type Kernel type string
+       * @return Whether kernel type is text-based
+       */
+      static bool isText(std::string type);
+
+      /**
+       * @brief Check if kernel type is CK
+       * 
+       * @param type Kernel type string
+       * @return Whether kernel type is CK
+       */
+      static bool isCk(std::string type);
+
+      /**
+       * @brief Check if kernel type is SPK
+       * 
+       * @param type Kernel type string
+       * @return Whether kernel type is SPK
+       */
+      static bool isSpk(std::string type);
 
      /**
        * @brief Switch between Quality enum to string

SpiceQL/include/utils.h

@@ -61,6 +61,16 @@ namespace SpiceQL {
   std::string replaceAll(std::string str, const std::string &from, const std::string &to);
 
 
+  /**
+   * @brief turn a string into a vector with a deliminator
+   * 
+   * @param s input string
+   * @param delim char deliminator
+   * @return std::vector<std::string>
+   */
+  std::vector<std::string> split(const std::string& s, char delim);
+
+
   /**
     * @brief glob, but with json
     *

SpiceQL/src/api.cpp

@@ -33,11 +33,16 @@ namespace SpiceQL {
     vector<string> default_KernelQualities = {"smithed", "reconstructed"};
 
     json aliasMap = {
+      {"A15_METRIC", "apollo15_metric"},
+      {"APOLLO15_APOLLO PANORAMIC CAMERA", "apollo15_panoramic"},
       {"AMICA", "amica"},
       {"CHANDRAYAAN-1_M3", "m3"},
       {"CHANDRAYAAN-1_MRFFR", "mrffr"},
       {"CASSINI_ISS_NAC", "cassini"},
       {"CASSINI_ISS_WAC", "cassini"},
+      {"CASSINI_VIMS_V", "cassini"},
+      {"Cassini-Huygens", "cassini"},
+      {"CONTEXT CAMERA", "ctx"},
       {"DAWN_FC2_FILTER_1", "fc2"},
       {"DAWN_FC2_FILTER_2", "fc2"},
       {"DAWN_FC2_FILTER_3", "fc2"},
@@ -46,6 +51,7 @@ namespace SpiceQL {
       {"DAWN_FC2_FILTER_6", "fc2"},
       {"DAWN_FC2_FILTER_7", "fc2"},
       {"DAWN_FC2_FILTER_8", "fc2"},
+      {"DAWN_VIR_IR", "vir"},
       {"GLL_SSI_PLATFORM", "galileo"},
       {"HAYABUSA_AMICA", "amica"},
       {"HAYABUSA_NIRS", "nirs"},
@@ -59,24 +65,35 @@ namespace SpiceQL {
       {"LRO_MINIRF", "minirf"},
       {"M10_VIDICON_A", "m10_vidicon_a"},
       {"M10_VIDICON_B", "m10_vidicon_b"},
+      {"VIDICON_A", "m10_vidicon_a"},
       {"MARS", "mro"},
       {"MSGR_MDIS_WAC", "mdis"},
       {"MSGR_MDIS_NAC", "mdis"},
+      {"MERCURY DUAL IMAGING SYSTEM NARROW ANGLE CAMERA", "mdis"},
+      {"MEX_HRSC_HEAD", "hrsc"},
       {"MEX_HRSC_SRC", "src"},
       {"MEX_HRSC_IR", "hrsc"},
       {"MGS_MOC_NA", "mgs"},
       {"MGS_MOC_WA_RED", "mgs"},
       {"MGS_MOC_WA_BLUE", "mgs"},
       {"MRO_MARCI_VIS", "marci"},
       {"MRO_MARCI_UV", "marci"},
+      {"MRO_MARCI_BASE", "marci"},
       {"MRO_CTX", "ctx"},
       {"MRO_HIRISE", "hirise"},
+      {"MRO_HIRISE_LOOK_DIRECTION", "hirise"},
       {"MRO_CRISM_VNIR", "crism"},
-      {"NEAR EARTH ASTEROID RENDEZVOUS", ""},
+      {"NEAR EARTH ASTEROID RENDEZVOUS", "near"},
+      {"NEAR_MSI", "msi"},
       {"NH_LORRI", "lorri"},
+      {"NH_LORRI_1X1", "lorri"},
       {"NH_RALPH_LEISA", "leisa"},
       {"NH_MVIC", "mvic_tdi"},
+      {"ISIS_NH_RALPH_LEISA", "leisa"},
       {"ISIS_NH_RALPH_MVIC_METHANE", "mvic_framing"},
+      {"ISIS_NH_RALPH_MVIC_FT", "mvic_framing"},
+      {"M01_THEMIS_IR", "odyssey"},
+      {"M01_THEMIS_VIS", "odyssey"},
       {"THEMIS_IR", "odyssey"},
       {"THEMIS_VIS", "odyssey"},
       {"LISM_MI-VIS1", "kaguya"},
@@ -101,16 +118,27 @@ namespace SpiceQL {
       {"LISM_TC1_SDH", "kaguya"},
       {"LISM_TC1_STH", "kaguya"},
       {"LISM_TC1_SSH", "kaguya"},
+      {"SELENE", "kaguya"},
+      {"KAGUYA", "kaguya"},
+      {"SELENE MAIN ORBITER", "kaguya"},
       {"LO1_HIGH_RESOLUTION_CAMERA", "lo"},
       {"LO2_HIGH_RESOLUTION_CAMERA", "lo"},
       {"LO3_HIGH_RESOLUTION_CAMERA", "lo"},
       {"LO4_HIGH_RESOLUTION_CAMERA", "lo"},
       {"LO5_HIGH_RESOLUTION_CAMERA", "lo"},
+      {"LO3_MED_RESOLUTION_CAMERA", "lo"},
       {"NEPTUNE", "voyager1"}, 
       {"SATURN", "voyager1"},
       {"TGO_CASSIS", "cassis"},
+      {"TGO_CASSIS_CRU", "cassis"},
       {"VIKING ORBITER 1", "viking1"},
+      {"VIKING_ORBITER_1", "viking1"},
       {"VIKING ORBITER 2", "viking2"},
+      {"VIKING_ORBITER_2", "viking2"},
+      {"VO2_VISB", "viking2"},
+      {"VO2_VISA", "viking2"},
+      {"VO1_VISA", "viking1"},
+      {"VO1_VISB", "viking1"},
       {"VG1_ISSNA", "voyager1"},
       {"VG1_ISSWA", "voyager1"},
       {"VG2_ISSNA", "voyager2"},
@@ -120,8 +148,16 @@ namespace SpiceQL {
       {"High Resolution Camera", "clementine1"},
       {"Long Wave Infrared Camera", "clementine1"},
       {"Visual and Infrared Spectrometer", "vir"},
+      {"CLEM_HIRES", "clementine1"},
+      {"CLEM_UVVIS_A", "uvvis"},
+      {"CLEM_LWIR", "clementine1"},
+      {"CLEM_NIR", "nir"},
       {"CH2", "chandrayaan2"},
-      {"CH-2", "chandrayaan2"}
+      {"CH-2", "chandrayaan2"},
+      {"CH2_TMC_NADIR", "tmc2"},
+      {"CH2_OHRC", "ohrc"},
+      {"ROS_VIRTIS-M_IR", "virtis"},
+      {"MSL_MASTCAM_LEFT", "msl"}
     };
 
     /**
@@ -814,7 +850,7 @@ namespace SpiceQL {
         json kernelsToLoad = {};
 
         if (mission != "" && searchKernels){
-            kernelsToLoad = Inventory::search_for_kernelset(mission, {"fk"}, default_StartTime, default_StopTime, default_KernelQualities, default_KernelQualities, fullKernelPath, limitCk, limitSpk);
+            kernelsToLoad = Inventory::search_for_kernelset(mission, {"fk", "ik", "iak"}, default_StartTime, default_StopTime, default_KernelQualities, default_KernelQualities, fullKernelPath, limitCk, limitSpk);
         }
         if (!kernelList.empty()) {
             json regexk = Inventory::search_for_kernelset_from_regex(kernelList, fullKernelPath);

SpiceQL/src/io.cpp

@@ -1,5 +1,7 @@
 #include <iostream>
 #include <fstream>
+#include <memory>
+#include <sstream>
 
 #include <fmt/format.h>
 #include <ghc/fs_std.hpp>
@@ -10,6 +12,8 @@
 #include "io.h"
 #include "utils.h"
 
+#include <spdlog/spdlog.h>
+
 
 using namespace std;
 
@@ -74,7 +78,7 @@ namespace SpiceQL {
     this->angularVelocities  = angularVelocities;
     this->comment            = comment;
   }
-
+  
 
   void writeCk(string path,
                vector<vector<double>> quats,
@@ -90,9 +94,15 @@ namespace SpiceQL {
     SpiceInt handle;
 
     // convert times, but first, we need SCLK+LSK kernels
-    Kernel sclkKernel(sclk);
-    Kernel lskKernel(lsk);
 
+    // allow and furnish multiple sclks
+    std::vector<std::unique_ptr<Kernel>> sclkKernels;
+    if (!sclk.empty()) {
+      for (const std::string& sclkPath : split(sclk, ','))
+        sclkKernels.push_back(std::make_unique<Kernel>(sclkPath));
+    }
+    Kernel lskKernel(lsk);
+
     for(auto &et : times) {
       double sclkdp;
       checkNaifErrors();
@@ -109,6 +119,33 @@ namespace SpiceQL {
     ckopn_c(path.c_str(), "CK", comment.size(), &handle);
     checkNaifErrors();
 
+    // Flatten the nested quaternions into a single contiguous array.
+    // CSPICE functions (like ckw03_c) are C-based and expect a pointer to a 
+    // contiguous block of memory (SpiceDouble quats[][4]). 
+    // A std::vector<std::vector<double>> stores inner vectors in fragmented 
+    // locations on the heap; we must "flatten" them into a single ribbon 
+    // of doubles so that pointer arithmetic works correctly inside SPICE.
+    vector<double> flatQuats;
+    flatQuats.reserve(quats.size() * 4);
+    for (const auto& q : quats) {
+        for (double d : q) {
+            flatQuats.push_back(d);
+        }
+    }
+
+    // Flatten angular velocities if they exist.
+    // Similar to quaternions, AV data must be contiguous (SpiceDouble av[][3]).
+    // We check if the input nested vector is non-empty before proceeding.
+    vector<double> flatAv;
+    if (!angularVelocities.empty()) {
+        flatAv.reserve(angularVelocities.size() * 3);
+        for (const auto& a : angularVelocities) {
+            for (double d : a) {
+                flatAv.push_back(d);
+            }
+        }
+    }
+
     ckw03_c (handle,
              times.at(0),
              times.at(times.size()-1),
@@ -118,8 +155,8 @@ namespace SpiceQL {
              segmentId.c_str(),
              times.size(),
              times.data(),
-             quats.data(),
-             (!angularVelocities.empty()) ? angularVelocities.data() : nullptr,
+             flatQuats.data(),
+            (!angularVelocities.empty()) ? flatAv.data() : nullptr,
              times.size(),
              times.data());
     checkNaifErrors();
@@ -141,6 +178,22 @@ namespace SpiceQL {
                  vector<vector<double>> stateVelocities,
                  string segmentComment) {
 
+    if (stateTimes.empty() || statePositions.empty()) {
+      throw runtime_error("writeSpk: stateTimes and statePositions must be non-empty.");
+    }
+
+    // NAIF spkw13_c requires segment start time < end time. Single-epoch (e.g. from ISD) has start == end.
+    if (stateTimes.size() == 1) {
+      stateTimes.push_back(stateTimes.front() + 1E-6);
+      statePositions.push_back(statePositions.front());
+      if (!stateVelocities.empty()) {
+        stateVelocities.push_back(stateVelocities.front());
+      }
+    } else if (stateTimes.front() >= stateTimes.back()) {
+      throw runtime_error(
+          "writeSpk: segment start time must be less than end time (got start == end or reversed order).");
+    }
+
     vector<vector<double>> states;
 
     if (stateVelocities.empty()) {

SpiceQL/src/spice_types.cpp

@@ -54,21 +54,53 @@ namespace SpiceQL {
                                                        "reconstructed",
                                                        "smithed"};
 
+  const std::unordered_map<Kernel::Type, std::string> KERNEL_EXTS = { {Kernel::Type::CK,   ".bc"},
+                                                                      {Kernel::Type::SPK,  ".bsp"},
+                                                                      {Kernel::Type::FK,   ".tf"},
+                                                                      {Kernel::Type::IK,   ".ti"},
+                                                                      {Kernel::Type::LSK,  ".tls"},
+                                                                      {Kernel::Type::MK,   ".tm"},
+                                                                      {Kernel::Type::PCK,  ".tpc"},
+                                                                      {Kernel::Type::SCLK, ".tsc"}};
 
   string Kernel::translateType(Kernel::Type type) {
     return KERNEL_TYPES[static_cast<int>(type)];
   }
 
 
   Kernel::Type Kernel::translateType(string type) {
-    auto res = findInVector<string>(KERNEL_TYPES, type);
+    auto res = findInVector<string>(KERNEL_TYPES, toLower(type));
     if (res.first) {
       return static_cast<Kernel::Type>(res.second);
     }
 
     throw invalid_argument(fmt::format("{} is not a valid kernel type", type));
-  };
+  }
+
+  std::string Kernel::getExt(std::string type) {
+    Kernel::Type ktype = translateType(type);
+    auto it = KERNEL_EXTS.find(ktype);
+    if (it != KERNEL_EXTS.end()) {
+      return it->second;
+    }
+    throw invalid_argument(fmt::format("{} is not a valid kernel type", type));
+  }
+
+  bool Kernel::isBinary(std::string type) {
+    return (isCk(type) || isSpk(type)); 
+  }
+
+  bool Kernel::isText(std::string type) {
+    return !isBinary(type);
+  }
 
+  bool Kernel::isCk(std::string type) {
+    return translateType(type) == Kernel::Type::CK; 
+  }
+
+  bool Kernel::isSpk(std::string type) {
+    return translateType(type) == Kernel::Type::SPK; 
+  }
 
   string Kernel::translateQuality(Kernel::Quality qa) {
     return KERNEL_QUALITIES[static_cast<int>(qa)];

SpiceQL/src/utils.cpp

@@ -111,6 +111,20 @@ namespace SpiceQL {
   }
 
 
+  vector<string> split(const string& s, char delim) {
+    vector<string> out;
+    istringstream ss(s);
+    string part;
+    while (std::getline(ss, part, delim)) {
+      auto start = part.find_first_not_of(" \t");
+      if (start == string::npos) continue;
+      auto end = part.find_last_not_of(" \t");
+      out.push_back(part.substr(start, end == string::npos ? part.size() : end - start + 1));
+    }
+    return out;
+  }
+
+
   vector<vector<string>> getPathsFromRegex(string root, vector<string> regexes) {
     vector<string> files_to_search = Memo::ls(root, true);