Replace cspice calls with spiceql and add api accessor function (#5545)

* Added findspiceql to build system

* Added spiceql

* Initial isis/spiceql wrapped functions

* added todo

* merge dev

* Replaced apollopaninit cspice calls with spiceql

* Updated local spice calls with searchkernels=true

* Replaced voyager2isis cspice calls with spiceql calls

* Replaced vikcal calparameters cspice calls with spiceql calls

* Updated rosvirtis2isis cspice calls with spiceql calls

* Replaced newhorizons cspice calls with spiceql calls

* Replaced lronaccal cspice calls with spiceql calls

* Replaced chan1m32isis cspice calls with spiceql calls

* Replaced gllssical cspice calls with spiceql calls

* Replaced lrowaccal cspice calls with spiceql calls

* Replaced amicacal cspice calls with spiceql calls

* Replaced hicalconf cspice calls with spiceql calls

* Add spiceql to environment

* Replaced mical cspice calls with spiceql calls

* Replaced moccal cspice calls with spiceql calls

* Replaced moclabels cspice calls with spiceql calls

* Replaced ctxcal cspice calls with spiceql calls

* Replaced hijitcube cspice calls with spiceql calls

* Replaced sumfinder cspice calls with spiceql calls

* Removed unused variables and added TODO

* Replaced hicrop cspice calls with spiceql calls

* Added mission map

* Updated getTargetStates vector to include velocities

* Replaced mdiscal cspice calls with spiceql calls

* Removed unused variables

* Removed test couts

* Added uri encoding function

* Converted shadow cspice calls to spiceql calls

* Converted spiceql ettosclk call to upstream version

* Removed useweb argument in favor of isis preference

* Changed functions with large param lists to POST

* Added useweb argument

* trigger build

* Capitalize SpiceQL

* Update spiceql path_suffix

* Update spiceql library name

* Change SpiceQL.h to spiceql.h

* Remove KernelPool

* Remove KernelPool

* Remove KernelPool in shadow

* Remove false bools in apollopaninit

* Movie Isis import to top

* Replace furnsh_c with load

* Replace base in sumspice

* Replace post with get calls

* Lowercase mars

* Turn off web spice for tests

* Pin spiceql to 1.0.1

* Remove defaults channel

* Update apollopaninit call

* Add back spiceql dep

* Update load kernels for apollopaninit

* Remove gmock-global

* Remove protobuf config

* trigger build

* Set webspice to false

* Remove non-existent test cube file for lrowaccal-mono

* updated preferences

* Update two lronaccal tests

* fixed some calibratation tests

* api updates

* updated spiceql version

* trigger build

* Add back channel

* Add useWeb to SpiceQL calls

* Update spiceql to 1.1.3

* Update tests

* fix shadow test

---------

Co-authored-by: Christine Kim <[email protected]>
Co-authored-by: Christine Kim <[email protected]>
Co-authored-by: kelvinrr <[email protected]>

Author: 3 people

environment.yml

@@ -1,7 +1,7 @@
 channels:
   - conda-forge
   - usgs-astrogeology
-  
+
 dependencies:
   - ale =0.11.0,<1
   - aom
@@ -63,6 +63,7 @@ dependencies:
   - qhull
   - qt-main>=5.15, <5.16
   - qwt <6.3.0
+  - spiceql >=1.1.3
   - sqlite >=3.46.0,<3.47
   - suitesparse <7.7.0
   - superlu

isis/CMakeLists.txt

@@ -305,6 +305,7 @@ find_package(PCL               REQUIRED)
 find_package(Protobuf          REQUIRED)
 find_package(Qwt       6       REQUIRED)
 find_package(SuperLU   4.3     REQUIRED)
+find_package(SpiceQL           REQUIRED)
 find_package(TIFF      4.0.0   REQUIRED)
 find_package(TNT       126     REQUIRED)
 find_package(XercesC   3.1.2   REQUIRED)

isis/IsisPreferences

@@ -186,6 +186,17 @@ Group = Plugins
                   "$HOME/.Isis/csm3.0.3/")
 EndGroup
 
+########################################################
+#
+# Set whether spice calls use the SpiceQL web API or
+# local kernels.
+#
+########################################################
+
+Group = WebSpice
+  UseWebSpice = "false"
+EndGroup
+
 ########################################################
 # Customize the location of mission specific data
 # files (calibration and spice kernels).  Usually this

isis/TestPreferences

@@ -184,6 +184,18 @@ Group = Plugins
                   "$HOME/.Isis/csm3.0.3/")
 EndGroup
 
+########################################################
+#
+# Set whether spice calls use the SpiceQL web API or
+# local kernels.
+#
+########################################################
+
+Group = WebSpice
+  UseWebSpice = "false"
+EndGroup
+
+
 ########################################################
 # Customize the location of mission specific data
 # files (calibration and spice kernels).  Usually this

isis/cmake/FindSpiceQL.cmake

@@ -0,0 +1,23 @@
+# CMake module for find_package(SpiceQL)
+# Finds include directory and all applicable libraries
+#
+# Sets the following:
+#   SpiceQL_INCLUDE_DIR
+#   SpiceQL_LIBRARY
+
+find_path(SPICEQL_INCLUDE_DIR
+  NAME spiceql.h
+  PATH_SUFFIXES "SpiceQL"
+)
+
+find_library(SPICEQL_LIBRARY
+  NAMES SpiceQL
+)
+
+get_filename_component(SUPERLU_ROOT_INCLUDE_DIR "${SUPERLU_INCLUDE_DIR}" DIRECTORY)
+
+
+message(STATUS "SPICEQL INCLUDE DIR: "  ${SPICEQL_INCLUDE_DIR} )
+message(STATUS "SPICEQL LIB: "  ${SPICEQL_LIBRARY} )
+
+get_filename_component(SPICEQL_ROOT_INCLUDE_DIR "${SPICEQL_INCLUDE_DIR}" DIRECTORY)

isis/src/apollo/apps/apollopaninit/main.cpp

@@ -32,17 +32,20 @@ find files of those names at the top level of this repository. **/
 #include "IString.h"
 #include "iTime.h"
 #include "JP2Decoder.h"
+#include "Preference.h"
 #include "ProcessImport.h"
 #include "Pvl.h"
 #include "PvlGroup.h"
 #include "PvlKeyword.h"
 #include "PvlObject.h"
 #include "PvlTranslationTable.h"
+#include "spiceql.h"
 #include "Spice.h"
 #include "SpicePosition.h"
 #include "SpiceRotation.h"
 #include "Table.h"
 #include "UserInterface.h"
+#include "spiceql.h"
 
 
 #define FIDL  26.72093    //spacing between fiducial marks in mm
@@ -228,25 +231,34 @@ void IsisMain() {
 
   panCube.putGroup(kernels_pvlG);
 
-  //Load all the kernels
+  // Load kernels
   Load_Kernel(kernels_pvlG["TargetPosition"]);
   Load_Kernel(kernels_pvlG["TargetAttitudeShape"]);
+  // Load_Kernel(kernels_pvlG["InstrumentPointing"]);
+  // Load_Kernel(kernels_pvlG["InstrumentPosition"]);
   Load_Kernel(kernels_pvlG["LeapSecond"]);
+  // Load_Kernel(kernels_pvlG["InstrumentAddendum"]);
+
 
   //////////////////////////////////////////attach a target rotation table
-  char frameName[32];
-  SpiceInt frameCode;
-  SpiceBoolean found;
-  //get the framecode from the body code (301=MOON)
-  cidfrm_c(301, sizeof(frameName), &frameCode, frameName, &found);
-  if(!found) {
-    QString naifTarget = QString("IAU_MOOM");
-    namfrm_c(naifTarget.toLatin1().data(), &frameCode);
-    if(frameCode == 0) {
-      QString msg = "Can not find NAIF code for [" + naifTarget + "]";
-      throw IException(IException::Io, msg, _FILEINFO_);
-    }
-  }
+  bool useWeb = QString(Preference::Preferences().findGroup("WebSpice")["UseWebSpice"]).toUpper() == "TRUE";
+  std::string frameName;
+   SpiceInt frameCode = 0;
+   try {
+     auto [output, kernels] = SpiceQL::getTargetFrameInfo(301, mission.toLower().toStdString(), useWeb);
+     cout << output << endl;
+     frameCode = output["frameCode"].get<SpiceInt>();
+     frameName = output["frameName"].get<std::string>();
+   } catch(std::invalid_argument) {
+     std::string naifTarget = "IAU_MOON";
+     auto [frameCode, kernels] = SpiceQL::translateNameToCode(naifTarget, mission.toLower().toStdString(), useWeb);
+     if(frameCode == 0) {
+       QString msg = "Can not find NAIF code for [" + QString::fromStdString(naifTarget) + "]";
+       throw IException(IException::Io, msg, _FILEINFO_);
+     }
+   }
+
+
   spRot = new SpiceRotation(frameCode);
   //create a table from starttime to endtime (streched by 3%) with NODES entries
   spRot->LoadCache(time0-0.015*(time1-time0), time1+0.015*(time1-time0), NODES);
@@ -808,7 +820,7 @@ void Load_Kernel(Isis::PvlKeyword &key) {
        throw IException(IException::Io, msg, _FILEINFO_);
      }
      QString fileName(file.expanded());
-     furnsh_c(fileName.toLatin1().data());
+     SpiceQL::load(fileName.toLatin1().data());
   }
 
   NaifStatus::CheckErrors();

isis/src/base/apps/appjit/LineScanCameraRotation.cpp

@@ -14,9 +14,11 @@
 #include "LeastSquares.h"
 #include "BasisFunction.h"
 #include "PolynomialUnivariate.h"
+#include "Preference.h"
 #include "IString.h"
 #include "iTime.h"
 #include "IException.h"
+#include "spiceql.h"
 #include "Table.h"
 #include "NaifStatus.h"
 
@@ -54,8 +56,6 @@ namespace Isis {
     p_ckKeyword = kernels["InstrumentPointing"];
 
     p_cacheTime = timeCache;
-//    std::cout<<std::setprecision(24);
-//    std::cout<<timeCache.at(0)<<"-"<<timeCache.at(50000)<<std::endl;
 
     InitConstantRotation(p_cacheTime[0]);
 
@@ -110,8 +110,6 @@ namespace Isis {
     // *** May need to do a frame trace and load the frames (at least the constant ones) ***
 
     // Loop and load the cache
-    double state[6];
-    double lt;
     NaifStatus::CheckErrors();
 
     double R[3];  // Direction of radial axis of line scan camera
@@ -124,15 +122,27 @@ namespace Isis {
     SpiceRotation *crot = p_spi->instrumentRotation();
 
     std::vector<ale::Rotation> rotationCache;
+
+    bool useWeb = QString(Preference::Preferences().findGroup("WebSpice")["UseWebSpice"]).toUpper() == "TRUE";
+    auto [sunLt, kernels] = SpiceQL::getTargetStates(p_cacheTime, "MRO", "mars", "IAU_MARS", "NONE", "mro", {"reconstructed"}, {"reconstructed"}, useWeb);
+
+    double state[6];
     for(std::vector<double>::iterator i = p_cacheTime.begin(); i < p_cacheTime.end(); i++) {
+      // Clear state array before copying new values
+      std::fill_n(state, 6, 0);
+
       double et = *i;
 
+      // Get the index from the iterator
+      size_t idx = i - p_cacheTime.begin();
+
       prot->SetEphemerisTime(et);
       crot->SetEphemerisTime(et);
 
       // The following code will be put into method LoadIBcache()
-      spkezr_c("MRO", et, "IAU_MARS", "NONE", "MARS", state, &lt);
-      NaifStatus::CheckErrors();
+      
+      std::copy(sunLt[idx].begin(), sunLt[idx].begin()+6, state);
+
 
       // Compute the direction of the radial axis (3) of the line scan camera
       vscl_c(1. / vnorm_c(state), state, R); // vscl and vnorm only operate on first 3 members of state

isis/src/base/apps/shadow/shadow.cpp

@@ -8,8 +8,10 @@
 #include "KernelDb.h"
 #include "NaifStatus.h"
 #include "ProcessByBrick.h"
+#include "spiceql.h"
 #include "ShadowFunctor.h"
 #include "SpicePosition.h"
+#include "spiceql.h"
 
 namespace Isis {
   QStringList kernels(QString kernelType,
@@ -46,11 +48,12 @@ namespace Isis {
       allKernelFiles.append(kernels("PCK", &KernelDb::targetAttitudeShape, *demCube->label(), ui));
       allKernelFiles.append(kernels("SPK", &KernelDb::targetPosition, *demCube->label(), ui));
 
+
       NaifStatus::CheckErrors();
 
       foreach (QString kernelFile, allKernelFiles) {
         kernelsUsed += kernelFile;
-        furnsh_c(FileName(kernelFile).expanded().toLatin1().data());
+        SpiceQL::load(FileName(kernelFile).expanded().toLatin1().data());
       }
 
       // Find the NAIF target code for the DEM's target
@@ -63,28 +66,49 @@ namespace Isis {
 
       // Get actual sun position, relative to target
       QString bodyFixedFrame = QString("IAU_%1").arg(name.toUpper());
-      spkpos_c("SUN", time.Et(), bodyFixedFrame.toLatin1().data(), "NONE",
-               name.toUpper().toLatin1().data(), sunPosition, &lightTime);
+      std::vector<double> etStart = {time.Et()};
+      std::string observer = name.toUpper().toLatin1().data();
+      std::string bff = bodyFixedFrame.toLatin1().data();
+      std::vector<std::vector<double>> sunLt;
+      // If kernels are specified
+      bool userKernels = false;
+
+      if (ui.WasEntered("PCK") || ui.WasEntered("SPK")){
+        userKernels = true;
+      }
+      
+      bool useWeb = QString(Preference::Preferences().findGroup("WebSpice")["UseWebSpice"]).toUpper() == "TRUE";
+
+      if (userKernels) {
+        auto [output, kernels] = SpiceQL::getTargetStates(etStart, "sun", observer, bff, "NONE", "base", {"reconstructed"}, {"reconstructed"}, useWeb, true);
+        sunLt = output;
+      } else {
+        auto [output, kernels] = SpiceQL::getTargetStates(etStart, "sun", observer, bff, "NONE", SpiceQL::spiceql_mission_map[observer], {"reconstructed"}, {"reconstructed"}, useWeb);
+        sunLt = output; 
+      }
 
       NaifStatus::CheckErrors();
 
-      // Adjusted for light time
-      spkpos_c("SUN", time.Et() - lightTime, bodyFixedFrame.toLatin1().data(), "NONE",
-               name.toUpper().toLatin1().data(), sunPosition, &lightTime);
+      // Adjust for light time
+      lightTime = sunLt[0][6];
+      etStart = {time.Et() - lightTime};
 
+      if (userKernels){
+        auto [output, kernels]  = SpiceQL::getTargetStates(etStart, "sun", observer, bff, "NONE", "base", {"reconstructed"}, {"reconstructed"}, useWeb, true);
+        sunLt = output;
+      }else{
+        auto [output, kernels]  =SpiceQL::getTargetStates(etStart, "sun", observer, bff, "NONE", SpiceQL::spiceql_mission_map[observer], {"reconstructed"}, {"reconstructed"}, useWeb);
+        sunLt = output;   
+      }
+      
+      std::copy(sunLt[0].begin(), sunLt[0].begin()+3, sunPosition);
       NaifStatus::CheckErrors();
-
-
+      
       // Convert sun position units: KM -> M
       sunPosition[0] *= 1000;
       sunPosition[1] *= 1000;
       sunPosition[2] *= 1000;
 
-      foreach (QString kernelFile, allKernelFiles) {
-        unload_c(FileName(kernelFile).expanded().toLatin1().data());
-      }
-
-      NaifStatus::CheckErrors();
       functor.setSunPosition(sunPosition);
     }
 

isis/src/base/objs/Kernels/Kernels.cpp

@@ -23,6 +23,7 @@ find files of those names at the top level of this repository. **/
 #include "NaifStatus.h"
 #include "PvlKeyword.h"
 #include "Pvl.h"
+#include "spiceql.h"
 
 using namespace std;
 
@@ -776,7 +777,7 @@ namespace Isis {
       if (!kfile.loaded) {
         NaifStatus::CheckErrors();
         try {
-          furnsh_c(kfile.fullpath.toLatin1().data());
+          SpiceQL::load(kfile.fullpath.toLatin1().data());
           NaifStatus::CheckErrors();
           kfile.loaded = true;
           kfile.managed = true;

isis/src/base/objs/RestfulSpice/Makefile

@@ -0,0 +1,7 @@
+ifeq ($(ISISROOT), $(BLANK))
+.SILENT:
+error:
+	echo "Please set ISISROOT";
+else
+	include $(ISISROOT)/make/isismake.apps
+endif