PropagatorsParallelizer.java
/* Copyright 2002-2018 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.propagation;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.concurrent.ExecutionException;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.Future;
import java.util.concurrent.SynchronousQueue;
import java.util.concurrent.TimeUnit;
import org.hipparchus.exception.LocalizedCoreFormats;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitInternalError;
import org.orekit.propagation.sampling.MultiSatStepHandler;
import org.orekit.propagation.sampling.OrekitStepHandler;
import org.orekit.propagation.sampling.OrekitStepInterpolator;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeStamped;
/** This class provides a way to propagate simultaneously several orbits.
*
* <p>
* Multi-satellites propagation is based on multi-threading. Therefore,
* care must be taken so that all propagtors can be run in a multi-thread
* context. This implies that all propagators are built independently and
* that they rely on force models that are also built independently. An
* obvious mistake would be to reuse a maneuver force model, as these models
* need to cache the firing/not-firing status. Objects used by force models
* like atmosphere models for drag force or others may also cache intermediate
* variables, so separate instances for each propagator must be set up.
* </p>
* <p>
* This class <em>will</em> create new threads for running the propagators
* and it <em>will</em> override the underlying propagators step handlers.
* The intent is anyway to manage the steps all at once using the global
* {@link MultiSatStepHandler handler} set up at construction.
* </p>
* <p>
* All propagators remain independent of each other (they don't even know
* they are managed by the parallelizer) and advance their simulation
* time following their own algorithm. The parallelizer will block them
* at the end of each step and allow them to continue in order to maintain
* synchronization. The {@link MultiSatStepHandler global handler} will
* experience perfectly synchronized steps, but some propagators may already
* be slightly ahead of time as depicted in the following rendering; were
* simulation times flows from left to right:
* </p>
* <pre>
* propagator 1 : -------------[++++current step++++]>
* |
* propagator 2 : ----[++++current step++++]--------->
* | |
* ... | |
* propagator n : ---------[++++current step++++]---->
* | |
* V V
* global handler : -------------[global step]--------->
* </pre>
* <p>
* The previous sketch shows that propagator 1 has already computed states
* up to the end of the propagation, but propagators 2 up to n are still late.
* The global step seen by the handler will be the common part between all
* propagators steps. Once this global step has been handled, the parallelizer
* will let the more late propagator (here propagator 2) to go one step further
* and a new global step will be computed and handled, until all propagators
* reach the end.
* </p>
* <p>
* This class does <em>not</em> provide multi-satellite events. As events
* may truncate steps and even reset state, all events (including multi-satellite
* events) are handled at a very low level within each propagators and cannot be
* managed from outside by the parallelizer. For accurate handling of multi-satellite
* events, the event detector should be registered <em>within</em> the propagator
* of one satellite and have access to an independent propagator (typically an
* analytical propagator or an ephemeris) of the other satellite. As the embedded
* propagator will be called by the detector which itself is called by the first
* propagator, it should really be a dedicated propagator and should not also
* appear as one of the parallelized propagators, otherwise conflicts will appear here.
* </p>
* @author Luc Maisonobe
* @since 9.0
*/
public class PropagatorsParallelizer {
/** Waiting time to avoid getting stuck waiting for interrupted threads (ms). */
private static long MAX_WAIT = 10;
/** Underlying propagators. */
private final List<Propagator> propagators;
/** Global step handler. */
private final MultiSatStepHandler globalHandler;
/** Simple constructor.
* @param propagators list of propagators to use
* @param globalHandler global handler for managing all spacecrafts
* simultaneously
*/
public PropagatorsParallelizer(final List<Propagator> propagators,
final MultiSatStepHandler globalHandler) {
this.propagators = propagators;
this.globalHandler = globalHandler;
}
/** Get an unmodifiable list of the underlying mono-satellite propagators.
* @return unmodifiable list of the underlying mono-satellite propagators
*/
public List<Propagator> getPropagators() {
return Collections.unmodifiableList(propagators);
}
/** Propagate from a start date towards a target date.
* @param start start date from which orbit state should be propagated
* @param target target date to which orbit state should be propagated
* @return propagated states
* @exception OrekitException if state cannot be propagated
*/
public List<SpacecraftState> propagate(final AbsoluteDate start, final AbsoluteDate target)
throws OrekitException {
if (propagators.size() == 1) {
// special handling when only one propagator is used
propagators.get(0).setMasterMode(new SinglePropagatorHandler(globalHandler));
return Collections.singletonList(propagators.get(0).propagate(start, target));
}
final double sign = FastMath.copySign(1.0, target.durationFrom(start));
final int n = propagators.size();
// set up queues for propagators synchronization
// the main thread will let underlying propagators go forward
// by consuming the step handling parameters they will put at each step
final List<SynchronousQueue<SpacecraftState>> initQueues = new ArrayList<>(n);
final List<SynchronousQueue<StepHandlingParameters>> shpQueues = new ArrayList<>(n);
for (final Propagator propagator : propagators) {
final SynchronousQueue<SpacecraftState> initQueue = new SynchronousQueue<>();
initQueues.add(initQueue);
final SynchronousQueue<StepHandlingParameters> shpQueue = new SynchronousQueue<>();
shpQueues.add(shpQueue);
propagator.setMasterMode(new MultiplePropagatorsHandler(initQueue, shpQueue));
}
// concurrently run all propagators
final ExecutorService executorService = Executors.newFixedThreadPool(n);
final List<Future<SpacecraftState>> futures = new ArrayList<>(n);
final List<SpacecraftState> initialStates = new ArrayList<>(n);
final List<StepHandlingParameters> stepHandlingParameters = new ArrayList<>(n);
final List<OrekitStepInterpolator> restricted = new ArrayList<>(n);
final List<SpacecraftState> finalStates = new ArrayList<>(n);
for (int i = 0; i < n; ++i) {
final Propagator propagator = propagators.get(i);
final Future<SpacecraftState> future = executorService.submit(() -> propagator.propagate(start, target));
futures.add(future);
initialStates.add(getParameters(i, future, initQueues.get(i)));
stepHandlingParameters.add(getParameters(i, future, shpQueues.get(i)));
restricted.add(null);
finalStates.add(null);
}
// main loop
AbsoluteDate previousDate = start;
globalHandler.init(initialStates, target);
for (boolean isLast = false; !isLast;) {
// select the earliest ending propagator, according to propagation direction
int selected = -1;
AbsoluteDate selectedStepEnd = null;
for (int i = 0; i < n; ++i) {
final AbsoluteDate stepEnd = stepHandlingParameters.get(i).getDate();
if (selected < 0 || sign * selectedStepEnd.durationFrom(stepEnd) > 0) {
selected = i;
selectedStepEnd = stepEnd;
}
}
// restrict steps to a common time range
for (int i = 0; i < n; ++i) {
final OrekitStepInterpolator interpolator = stepHandlingParameters.get(i).interpolator;
final SpacecraftState previousState = interpolator.getInterpolatedState(previousDate);
final SpacecraftState currentState = interpolator.getInterpolatedState(selectedStepEnd);
restricted.set(i, interpolator.restrictStep(previousState, currentState));
}
// will this be the last step?
isLast = stepHandlingParameters.get(selected).isLast;
// handle all states at once
globalHandler.handleStep(restricted, isLast);
if (!isLast) {
// advance one step
stepHandlingParameters.set(selected,
getParameters(selected, futures.get(selected), shpQueues.get(selected)));
}
previousDate = selectedStepEnd;
}
// stop all remaining propagators
executorService.shutdownNow();
// extract the final states
for (int i = 0; i < n; ++i) {
try {
finalStates.set(i, futures.get(i).get());
} catch (InterruptedException | ExecutionException e) {
// sort out if exception was intentional or not
manageException(e);
// this propagator was intentionally stopped,
// we retrieve the final state from the last available interpolator
finalStates.set(i, stepHandlingParameters.get(i).interpolator.getInterpolatedState(previousDate));
}
}
return finalStates;
}
/** Retrieve parameters.
* @param index index of the propagator
* @param future propagation task
* @param queue queue for transferring parameters
* @param <T> type of the parameters
* @return retrieved parameters
* @exception OrekitException if tasks stops before parameters are available
*/
private <T> T getParameters(final int index,
final Future<SpacecraftState> future,
final SynchronousQueue<T> queue)
throws OrekitException {
try {
T params = null;
while (params == null && !future.isDone()) {
params = queue.poll(MAX_WAIT, TimeUnit.MILLISECONDS);
}
if (params == null) {
// call Future.get just for the side effect of retrieving the exception
// in case the propagator ended due to an exception
future.get();
}
return params;
} catch (InterruptedException | ExecutionException e) {
manageException(e);
return null;
}
}
/** Convert exceptions.
* @param exception exception caught
* @exception OrekitException if the exception caught was unexpected
*/
private void manageException(final Exception exception)
throws OrekitException {
if (exception.getCause() instanceof PropagatorStoppingException) {
// this was an expected exception, we deliberately shut down the propagators
// we therefore explicitly ignore this exception
return;
} else if (exception.getCause() instanceof OrekitException) {
// unwrap the original exception
throw (OrekitException) exception.getCause();
} else {
throw new OrekitException(exception.getCause(),
LocalizedCoreFormats.SIMPLE_MESSAGE, exception.getLocalizedMessage());
}
}
/** Local exception to stop propagators. */
private static class PropagatorStoppingException extends OrekitException {
/** Serializable UID.*/
private static final long serialVersionUID = 20170629L;
/** Simple constructor.
* @param ie interruption exception
*/
PropagatorStoppingException(final InterruptedException ie) {
super(ie, LocalizedCoreFormats.SIMPLE_MESSAGE, ie.getLocalizedMessage());
}
}
/** Local class for handling single propagator steps. */
private static class SinglePropagatorHandler implements OrekitStepHandler {
/** Global handler. */
private final MultiSatStepHandler globalHandler;
/** Simple constructor.
* @param globalHandler global handler to call
*/
SinglePropagatorHandler(final MultiSatStepHandler globalHandler) {
this.globalHandler = globalHandler;
}
/** {@inheritDoc} */
@Override
public void init(final SpacecraftState s0, final AbsoluteDate t) throws OrekitException {
globalHandler.init(Collections.singletonList(s0), t);
}
/** {@inheritDoc} */
@Override
public void handleStep(final OrekitStepInterpolator interpolator, final boolean isLast)
throws OrekitException {
globalHandler.handleStep(Collections.singletonList(interpolator), isLast);
}
}
/** Local class for handling multiple propagator steps. */
private static class MultiplePropagatorsHandler implements OrekitStepHandler {
/** Queue for passing initial state. */
private final SynchronousQueue<SpacecraftState> initQueue;
/** Queue for passing step handling parameters. */
private final SynchronousQueue<StepHandlingParameters> shpQueue;
/** Simple constructor.
* @param initQueue queuefor passing initial state
* @param shpQueue queue for passing step handling parameters.
*/
MultiplePropagatorsHandler(final SynchronousQueue<SpacecraftState> initQueue,
final SynchronousQueue<StepHandlingParameters> shpQueue) {
this.initQueue = initQueue;
this.shpQueue = shpQueue;
}
/** {@inheritDoc} */
@Override
public void init(final SpacecraftState s0, final AbsoluteDate t) throws OrekitException {
try {
initQueue.put(s0);
} catch (InterruptedException ie) {
// use a dedicated exception to stop thread almost gracefully
throw new PropagatorStoppingException(ie);
}
}
/** {@inheritDoc} */
@Override
public void handleStep(final OrekitStepInterpolator interpolator, final boolean isLast)
throws OrekitException {
try {
shpQueue.put(new StepHandlingParameters(interpolator, isLast));
} catch (InterruptedException ie) {
// use a dedicated exception to stop thread almost gracefully
throw new PropagatorStoppingException(ie);
}
}
}
/** Local class holding parameters for one step handling. */
private static class StepHandlingParameters implements TimeStamped {
/** Interpolator set up for the current step. */
private final OrekitStepInterpolator interpolator;
/** Indicator for last step. */
private final boolean isLast;
/** Simple constructor.
* @param interpolator interpolator set up for the current step
* @param isLast if true, this is the last integration step
*/
StepHandlingParameters(final OrekitStepInterpolator interpolator, final boolean isLast) {
this.interpolator = interpolator;
this.isLast = isLast;
}
/** {@inheritDoc} */
@Override
public AbsoluteDate getDate() {
try {
return interpolator.getCurrentState().getDate();
} catch (OrekitException oe) {
// this should never happen
throw new OrekitInternalError(oe);
}
}
}
}