Merge pull request #379 from nyx-space/feat/gh-333-od-msr-jit-filtering

Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements

.github/workflows/rust.yaml

@@ -73,7 +73,11 @@ jobs:
           restore-keys: ${{ runner.os }}-cargo-
 
       - name: Unit Test (debug)
-        run: cargo test --lib
+        run: |
+         cat /home/runner/work/nyx/nyx/data/tests/config/many_ground_stations.yaml
+         cat /home/runner/work/nyx/nyx/data/tests/config/one_ground_station.yaml
+         ls -lh /home/runner/work/nyx/nyx/data/tests/config/
+         cargo test --lib
 
       - name: All integration tests (release)
         run: cargo test --release --test "*"
@@ -89,6 +93,41 @@ jobs:
           cargo build --example 03_geo_raise --release
           cargo build --example 03_geo_sk --release
 
+  coverage:
+    name: Unit test and integration test coverage analysis
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Install stable toolchain
+        uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: stable
+          components: rustfmt, clippy
+
+      - name: Download data
+        run: |
+          wget -O data/de440s.bsp http://public-data.nyxspace.com/anise/de440s.bsp
+          wget -O data/de440s.bsp http://public-data.nyxspace.com/anise/de438.bsp # GMAT validation cases
+          wget -O data/pck08.pca http://public-data.nyxspace.com/anise/v0.4/pck08.pca
+          wget -O data/earth_latest_high_prec.bpc http://public-data.nyxspace.com/anise/ci/earth_latest_high_prec-2023-09-08.bpc
+
+      - name: Install cargo-llvm-cov
+        uses: taiki-e/install-action@cargo-llvm-cov
+      - name: Generate full code coverage
+        run: |
+          cargo llvm-cov test --release --lib --no-report
+          cargo llvm-cov test --release cov_test --no-report
+          cargo llvm-cov report --release --lcov --output-path lcov.info
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v3
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }} # not required for public repos
+          files: lcov.info
+          fail_ci_if_error: false
+
   lints:
     name: Lints
     runs-on: ubuntu-latest

Cargo.toml

@@ -38,8 +38,7 @@ gitlab = { repository = "nyx-space/nyx", branch = "master" }
 nalgebra = "0.33"
 log = "0.4"
 hifitime = "4.0.0"
-# anise = "0.5.0" # UNRELEASED
-anise = { git = "https://github.com/nyx-space/anise.git", branch = "master" }
+anise = "0.5.0"
 flate2 = { version = "1.0", features = [
     "rust_backend",
 ], default-features = false }
@@ -50,7 +49,6 @@ hyperdual = "1.3.0"
 bytes = "1.0"
 rand = "0.8"
 rand_distr = "0.4"
-rust-embed = "8"
 regex = "1.5"
 rayon = "1.6"
 lazy_static = "1.4.0"
@@ -64,7 +62,7 @@ parquet = { version = "53.0.0", default-features = false, features = [
 ] }
 arrow = "53.0.0"
 shadow-rs = { version = "0.36.0", default-features = false }
-serde_yaml = "0.9.21"
+serde_yml = "0.0.12"
 whoami = "1.3.0"
 either = { version = "1.8.1", features = ["serde"] }
 num = "0.4.0"
@@ -73,6 +71,7 @@ getrandom = { version = "0.2", features = ["js"] }
 typed-builder = "0.20.0"
 snafu = { version = "0.8.3", features = ["backtrace"] }
 serde_dhall = "0.12"
+indexmap = {version = "2.6.0", features = ["serde"]}
 
 
 [dev-dependencies]

data/tests/config/many_ground_stations.yaml

@@ -5,18 +5,22 @@
     mu_km3_s2: 398600.435436096
     shape: null
   elevation_mask_deg: 5.0
-  range_noise_km:
-    bias:
-      tau: 24 h
-      process_noise: 5.0e-3 # 5 m
-  doppler_noise_km_s:
-    bias:
-      tau: 24 h
-      process_noise: 50.0e-6 # 5 cm/s
+  stochastic_noises:
+    range_km:
+      bias:
+        tau: 24 h
+        process_noise: 5.0e-3 # 5 m
+    doppler_km_s:
+      bias:
+        tau: 24 h
+        process_noise: 50.0e-6 # 5 cm/s
   light_time_correction: false
   latitude_deg: 2.3522
   longitude_deg: 48.8566
   height_km: 0.4
+  measurement_types:
+    - range_km
+    - doppler_km_s
 
 - name: Canberra
   frame:
@@ -28,12 +32,16 @@
   longitude_deg: 148.981944
   height_km: 0.691750
   elevation_mask_deg: 5.0
-  range_noise_km:
-    bias:
-      tau: 24 h
-      process_noise: 5.0e-3 # 5 m
-  doppler_noise_km_s:
-    bias:
-      tau: 24 h
-      process_noise: 50.0e-6 # 5 cm/s
+  stochastic_noises:
+    range_km:
+      bias:
+        tau: 24 h
+        process_noise: 5.0e-3 # 5 m
+    doppler_km_s:
+      bias:
+        tau: 24 h
+        process_noise: 50.0e-6 # 5 cm/s
   light_time_correction: false
+  measurement_types:
+    - range_km
+    - doppler_km_s

data/tests/config/one_ground_station.yaml

@@ -8,12 +8,17 @@ elevation_mask_deg: 5.0
 latitude_deg: 2.3522
 longitude_deg: 48.8566
 height_km: 0.4
-range_noise_km:
-  bias:
-    tau: 24 h
-    process_noise: 5.0e-3 # 5 m
-doppler_noise_km_s:
-  bias:
-    tau: 24 h
-    process_noise: 50.0e-6 # 5 cm/s
+stochastic_noises:
+  range_km:
+    bias:
+      tau: 24 h
+      process_noise: 5.0e-3 # 5 m
+  doppler_km_s:
+    bias:
+      tau: 24 h
+      process_noise: 50.0e-6 # 5 cm/s
 light_time_correction: false
+measurement_types:
+    - range_km
+    - doppler_km_s
+integration_time: 1 min

examples/02_jwst_covar_monte_carlo/main.rs

@@ -16,12 +16,12 @@ use nyx::{
     dynamics::{guidance::LocalFrame, OrbitalDynamics, SolarPressure, SpacecraftDynamics},
     io::ExportCfg,
     mc::MonteCarlo,
-    od::{prelude::KF, process::SpacecraftUncertainty, SpacecraftODProcess},
+    od::{msr::TrackingDataArc, prelude::KF, process::SpacecraftUncertainty, SpacecraftODProcess},
     propagators::Propagator,
     Spacecraft, State,
 };
 
-use std::{error::Error, sync::Arc};
+use std::{collections::BTreeMap, error::Error, sync::Arc};
 
 fn main() -> Result<(), Box<dyn Error>> {
     pel::init();
@@ -116,13 +116,17 @@ fn main() -> Result<(), Box<dyn Error>> {
 
     // Build the propagation instance for the OD process.
     let prop = setup.with(jwst.with_stm(), almanac.clone());
-    let mut odp = SpacecraftODProcess::ckf(prop, ckf, None, almanac.clone());
+    let mut odp = SpacecraftODProcess::ckf(prop, ckf, BTreeMap::new(), None, almanac.clone());
 
     // Define the prediction step, i.e. how often we want to know the covariance.
     let step = 1_i64.minutes();
     // Finally, predict, and export the trajectory with covariance to a parquet file.
     odp.predict_for(step, prediction_duration)?;
-    odp.to_parquet("./02_jwst_covar_map.parquet", ExportCfg::default())?;
+    odp.to_parquet(
+        &TrackingDataArc::default(),
+        "./02_jwst_covar_map.parquet",
+        ExportCfg::default(),
+    )?;
 
     // === Monte Carlo framework ===
     // Nyx comes with a complete multi-threaded Monte Carlo frame. It's blazing fast.

examples/03_geo_analysis/stationkeeping.rs

@@ -18,7 +18,7 @@ use nyx::{
         Harmonics, OrbitalDynamics, SolarPressure, SpacecraftDynamics,
     },
     io::{gravity::HarmonicsMem, ExportCfg},
-    mc::{MonteCarlo, MultivariateNormal, StateDispersion},
+    mc::{MonteCarlo, MvnSpacecraft, StateDispersion},
     md::{prelude::Objective, StateParameter},
     propagators::{ErrorControl, IntegratorOptions, Propagator},
     Spacecraft, State,
@@ -88,7 +88,7 @@ fn main() -> Result<(), Box<dyn Error>> {
     // Let's start by defining the dispersion.
     // The MultivariateNormal structure allows us to define the dispersions in any of the orbital parameters, but these are applied directly in the Cartesian state space.
     // Note that additional validation on the MVN is in progress -- https://github.com/nyx-space/nyx/issues/339.
-    let mc_rv = MultivariateNormal::new(
+    let mc_rv = MvnSpacecraft::new(
         sc,
         vec![StateDispersion::zero_mean(StateParameter::SMA, 3.0)],
     )?;

examples/04_lro_od/dsn-network.yaml

@@ -1,24 +1,30 @@
-- name: DSS-65 Madrid
+DSS-65 Madrid:
+  name: DSS-65 Madrid
   frame:
     ephemeris_id: 399
     orientation_id: 399
     mu_km3_s2: 398600.435436096
     shape: null
   elevation_mask_deg: 5.0
-  range_noise_km:
-    white_noise:
-      mean: 0.0
-      sigma: 5.0e-3 # 5 m
-  doppler_noise_km_s:
-    white_noise:
-      mean: 0.0
-      sigma: 50.0e-6 # 5 cm/s
-  light_time_correction: false
+  stochastic_noises:
+    range_km:
+      white_noise:
+        mean: 0.0
+        sigma: 5.0e-3 # 5 m
+    doppler_km_s:
+      white_noise:
+        mean: 0.0
+        sigma: 50.0e-6 # 5 cm/s
+  light_time_correction: true
   latitude_deg: 40.427222
   longitude_deg: 4.250556
   height_km: 0.834939
+  measurement_types:
+    - range_km
+    - doppler_km_s
 
-- name: DSS-34 Canberra
+DSS-34 Canberra:
+  name: DSS-34 Canberra
   frame:
     ephemeris_id: 399
     orientation_id: 399
@@ -28,17 +34,22 @@
   longitude_deg: 148.981944
   height_km: 0.691750
   elevation_mask_deg: 5.0
-  range_noise_km:
-    white_noise:
-      mean: 0.0
-      sigma: 5.0e-3 # 5 m
-  doppler_noise_km_s:
-    white_noise:
-      mean: 0.0
-      sigma: 50.0e-6 # 5 cm/s
-  light_time_correction: false
+  stochastic_noises:
+    range_km:
+      white_noise:
+        mean: 0.0
+        sigma: 5.0e-3 # 5 m
+    doppler_km_s:
+      white_noise:
+        mean: 0.0
+        sigma: 50.0e-6 # 5 cm/s
+  light_time_correction: true
+  measurement_types:
+    - range_km
+    - doppler_km_s
 
-- name: DSS-13 Goldstone
+DSS-13 Goldstone:
+  name: DSS-13 Goldstone
   frame:
     ephemeris_id: 399
     orientation_id: 399
@@ -48,12 +59,16 @@
   longitude_deg: 243.205
   height_km: 1.071149
   elevation_mask_deg: 5.0
-  range_noise_km:
-    white_noise:
-      mean: 0.0
-      sigma: 5.0e-3 # 5 m
-  doppler_noise_km_s:
-    white_noise:
-      mean: 0.0
-      sigma: 50.0e-6 # 5 cm/s
-  light_time_correction: false
+  stochastic_noises:
+    range_km:
+      white_noise:
+        mean: 0.0
+        sigma: 5.0e-3 # 5 m
+    doppler_km_s:
+      white_noise:
+        mean: 0.0
+        sigma: 50.0e-6 # 5 cm/s
+  light_time_correction: true
+  measurement_types:
+    - range_km
+    - doppler_km_s