Single Orbit Simulation in Python (#244)

* Updated lin pointer
* Build system and README updates
* Update GNC fixed step size integrators for future use
* Fixed two bugs found in psim infrastructure
* Earth ephemeris model
* Orbit model implemented with GNC functions
* Vector transform models
* Environment models
* Single orbit simulation
* Python wrappers, single orbit simulation, and basic config files
* Update CI build targets

.bazelrc

@@ -1,2 +1,2 @@
-build --cxxopt=-std=c++14
+build --cxxopt=-std=c++14 --cxxopt=-O3 --cxxopt=-Werror --cxxopt=-Wall
 build --python_top=//:venv --incompatible_use_python_toolchains=false

.github/workflows/psim.yml

@@ -28,5 +28,5 @@ jobs:
     - name: Build and Test
       run: |
         bazel build //:gnc
-        bazel build //:psim
+        bazel build //python:psim
         bazel test //test/psim:ci 

BUILD → BUILD.bazel

@@ -1,24 +1,7 @@
-load("@rules_python//python:defs.bzl", "py_runtime", "py_binary")
 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_python//python:defs.bzl", "py_runtime", "py_binary")
 
-load("//:tools/psim.bzl", "psim_autocode")
-
-# Build flight software's gnc code as a library.
-cc_library(
-    name = "gnc",
-    srcs = glob([
-        "src/gnc/**/*.hpp", "src/gnc/*.cpp", "src/gnc/**/*.inl",
-        "include/gnc/**/*.inl"
-    ]),
-    hdrs = glob([
-        "include/gnc/**/*.hpp", "include/orb/*.h", "include/orb/*.hpp"
-    ]),
-    includes = ['include'],
-    copts = ['-Isrc'],
-    linkstatic = True,
-    visibility = ["//visibility:public"],
-    deps = ["@lin//:lin"],
-)
+load("//bazel:psim_build.bzl", "psim_autocoded_cc_library", "psim_cc_library", "psim_py_extension")
 
 # Let bazel know about our virtual environment.
 #
@@ -34,42 +17,50 @@ py_runtime(
     visibility = ["//visibility:private"],
 )
 
-# Register the autocoder as an executable.
-#
-# This is later consumed by the autocoder command. See psim.bzl for more
-# information.
+# Register the autocoder as an executable. This is later consumed by the autocoder
+# command. See psim.bzl for more information.
 py_binary(
     name = "autocoder",
-    srcs = ["tools/autocoder.py"],
+    srcs = ["//:tools/autocoder.py"],
     srcs_version = "PY3",
     visibility = ["//visibility:private"],
 )
 
-# Autocode the model interfaces
-psim_autocode(
-    name = "autocode",
-    srcs = glob(["include/psim/**/*.yml"]),
-    includes = ["include"],
-    tool = "//:autocoder",
-    visibility = ["//visibility:private"],
-)
-
-# Build all PSim models as a library
-#
-# This will be linked with executables later on.
+# Builds the GNC flight software implementations to be linked in as a dependancy
+# of PSim.
 cc_library(
-    name = "psim",
+    name = "gnc",
     srcs = glob([
-        "src/psim/**/*.hpp", "src/psim/**/*.inl", "src/psim/**/*.cpp",
-        "include/psim/**/*.inl", "include/psim/**/*.yml.hpp",
+        "src/gnc/**/*.hpp", "src/gnc/*.cpp", "src/gnc/**/*.inl",
+        "include/gnc/**/*.inl"
+    ]),
+    hdrs = glob([
+        "include/gnc/**/*.hpp", "include/orb/*.h", "include/orb/*.hpp"
     ]),
-    hdrs = glob(
-        ["include/psim/**/*.hpp"],
-        exclude = ["include/psim/**/*.yml.hpp"],
-    ),
     includes = ["include"],
-    copts = ["-Isrc"],
+    copts = ["-Isrc", "-fvisibility=hidden"],
     linkstatic = True,
     visibility = ["//visibility:public"],
-    deps = ["@lin//:lin", "//:gnc", "//:autocode"],
+    deps = ["@lin//:lin"],
+)
+
+# Builds the core PSim infrastructure.
+psim_cc_library(
+    name = "core",
+    deps = ["@lin//:lin"],
+    visibility = ["//visibility:public"],
+)
+
+# Builds the PSim truth models
+psim_autocoded_cc_library(
+    name = "truth",
+    deps = ["@lin//:lin", "//:gnc", "//:psim_core"],
+    visibility = ["//visibility:public"],
+)
+
+# Builds all PSim models deemed "simulation" worthy.
+psim_cc_library(
+    name = "simulations",
+    deps = ["//:psim_core", "//:psim_truth"],
+    visibility = ["//visibility:public"],
 )

README.md

@@ -11,7 +11,7 @@ two main modules:
 MATLAB code listed in `MATLAB/**` is deprecated and will be phased out by the
 new C++ implementation of PSim.
 
-## Getting Setup
+## Getting Started
 
 For GNC development, it's only necessary to setup the PlatformIO development
 environment. This requires setting up a local virtual environment as shown
@@ -36,8 +36,21 @@ for the GNC code with:
 development!_**
 
 For PSim development, we need to have the virtual environment setup as shown
-above _and_ setup Bazel. You should be able to install Bazel through your
-system's package manager.
+above, a couple extra Python bells and whistles you most likely already have,
+and then Bazel.
+
+Besides your system install of Python and the virtual environment that will be
+used to work with the PSim repository, you need to install the Python
+development headers and `distutils` for the version of Python you'll be using.
+The Bazel build system will require both of these to compile PSim into a Python
+module.
+
+Generally the Python development headers and `distutils` can be installed via a
+package manager. Note that Bazel will explicitly let you know if it can't find
+either of these.
+
+As far as Bazel is concerned, you should be able to install it through your
+package manager of choice as well.
 
 It's also recommended to install the Bazel build tools along with the VSCode
 extensions 'Bazel' by the 'Bazel Build Team'. With this extension plus
@@ -46,7 +59,8 @@ configuring C/C++ intellisense according to
 fairly well  with VSCode.
 
 To ensure everything is working as expected, you should be able to run the
-following successfully:
+following successfully (make sure you're in your virtual environment when
+working with Bazel as well):
 
     bazel test //test/psim:all
 

WORKSPACE

@@ -1,27 +1,65 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+workspace(name = "psim")
+
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
+load("//bazel:psim_workspace.bzl", "psim_configure")
+
+# Standard cc rules
 git_repository(
+    name = "rules_cc",
+    remote = "https://github.com/bazelbuild/rules_cc",
+    commit = "bea600c25d246a79398a1c1a73e9261aee35a6b1",
+)
+
+# Standard Python rules
+http_archive(
     name = "rules_python",
-    remote = "https://github.com/bazelbuild/rules_python.git",
-    commit = "3baa2660569a76898d0f520c73b299ea39b6374d",  # (9-8-2020)
+    url = "https://github.com/bazelbuild/rules_python/releases/download/0.0.2/rules_python-0.0.2.tar.gz",
+    strip_prefix = "rules_python-0.0.2",
+    sha256 = "b5668cde8bb6e3515057ef465a35ad712214962f0b3a314e551204266c7be90c",
 )
 
+# Pybind11
+http_archive(
+  name = "pybind11",
+  build_file = "//bazel:pybind11.BUILD",
+  strip_prefix = "pybind11-2.5.0",
+  urls = ["https://github.com/pybind/pybind11/archive/v2.5.0.tar.gz"],
+)
+
+# Googletest
 http_archive(
     name = "gtest",
     url = "https://github.com/google/googletest/archive/release-1.10.0.zip",
     sha256 = "94c634d499558a76fa649edb13721dce6e98fb1e7018dfaeba3cd7a083945e91",
     strip_prefix = "googletest-release-1.10.0",
 )
 
-# http_archive(
-#     name = "sofa",
-#     url = "https://github.com/pathfinder-for-autonomous-navigation/sofa/archive/v1.0.zip",
-#     sha256 = "a5660ff94270934c33b3fdaaf891620c9a454181dad7fb12378e66a5b73c205f",
-#     strip_prefix = "sofa-1.0",
-# )
+# Sofa/IAU Coordinate Transformations
+http_archive(
+    name = "sofa",
+    url = "https://github.com/pathfinder-for-autonomous-navigation/sofa/archive/v1.0.zip",
+    sha256 = "a5660ff94270934c33b3fdaaf891620c9a454181dad7fb12378e66a5b73c205f",
+    strip_prefix = "sofa-1.0",
+)
+
+# std::variant alternative for use in C++ 14
+http_archive(
+    name = "variant",
+    build_file = "//bazel:variant.BUILD",
+    url = "https://github.com/mapbox/variant/archive/v1.2.0.zip",
+    sha256 = "48df02096b954ea35c447edc3e662e7f163a92e1de2ab5f226445d6001a4537d",
+    strip_prefix = "variant-1.2.0",
+)
 
+# lin
 local_repository(
     name = "lin",
     path = "lib/lin",
 )
+
+# Grabs the systems Python headers in preparation for building with Pybind11
+psim_configure(
+    name = "psim_configuration"
+)

bazel/psim.bzl

@@ -0,0 +1,30 @@
+#
+# MIT License
+#
+# Copyright (c) 2020 Pathfinder for Autonomous Navigation (PAN)
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+# the Software, and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+
+"""Collection of tools shared across PSim's Bazel rules.
+"""
+
+def psim_fail(message):
+    """Outputs an error message and fails the build. Used throughout PSim's rules.
+    """
+    fail("\033[0;31mPSim Error:\033[0m %s" % message)