files from mars
DESCRIPTION
Challenges and trade-offs in the development of software for a ground system supporting the Mars Exploration Rovers (JavaOne 2005)TRANSCRIPT
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2005 JavaOneSM Conference | Session TS-1416
TS-1416
Files from Mars:Java™ Technology in the MER Data InfrastructureDavid NoblePrincipal ConsultantOak Grove Consultinghttp://marsrovers.jpl.nasa.gov/
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2005 JavaOneSM Conference | Session TS-1416 | 2
Goal
Examine challenges and tradeoffs in the development of software for a ground system supporting the Mars Exploration Rovers
This work was performed at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration
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2005 JavaOneSM Conference | Session TS-1416 | 3
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 4
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 5
Mission Overview
Two robotic geologists exploring Mars
Credit: NASA/JPL/Cornell
Detail of 'Cahokia' panoramahttp://photojournal.jpl.nasa.gov/feature/cahokia
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2005 JavaOneSM Conference | Session TS-1416 | 6
Credit: NASA/JPL/MSSS/NMMNH
MER-A (Spirit) Traverse to Sol 450http://photojournal.jpl.nasa.gov/catalog/PIA07849
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2005 JavaOneSM Conference | Session TS-1416 | 7
MER-A (Spirit) and Mars Pathfinder flight sparehttp://marsrovers.jpl.nasa.gov/gallery/spacecraft/mer2002_1106_b231.html
Height: 1.5mWidth: 2.3mLength: 1.6mMass: 174kg
Credit: NASA/JPL
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2005 JavaOneSM Conference | Session TS-1416 | 8
http://athena.cornell.edu/
Credit: NASA/JPL/Cornell/ASU
Credit: NASA/JPL/Cornell/ASU
Credit: NASA/JPL/Cornell/USGS/University of MainzCredit: Maas Digital LLC, NASA/JPL
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2005 JavaOneSM Conference | Session TS-1416 | 9
NASA’s Science Objectives
● Long-term science goals for Mars Exploration:● Determine whether Life ever arose on Mars● Characterize the Climate of Mars● Characterize the Geology of Mars● Prepare for Human Exploration
http://marsrovers.jpl.nasa.gov/science/
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2005 JavaOneSM Conference | Session TS-1416 | 10
”
“MER’s Science Objectives
The scientific objectives of the Mars Exploration Rover mission are to:
1. Search for and characterize a variety of rocks and soils that hold clues to past water activity. In
particular, samples sought will include those that have minerals deposited by water-related processes such as precipitation, evaporation, sedimentary cementation, or hydrothermal activity.
2. Determine the distribution and composition of minerals, rocks, and soils surrounding the landing sites. 3. Determine what geologic processes have shaped the local terrain and influenced the chemistry. Such
processes could include water or wind erosion, sedimentation, hydrothermal mechanisms, volcanism, and cratering.
4. Perform "ground truth"—calibration and validation—of surface observations made by Mars orbiter instruments. This will help determine the accuracy and effectiveness of various instruments that survey Martian geology from orbit.
5. Search for iron-containing minerals, identify and quantify relative amounts of specific mineral types that
contain water or were formed in water, such as iron-bearing carbonates. 6. Characterize the mineralogy and textures of rocks and soils and determine the processes that created
them.
7. Search for geological clues to the environmental conditions that existed when liquid water was present. Assess whether those environments were conducive to life.
http://marsrovers.jpl.nasa.gov/science/objectives.html
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2005 JavaOneSM Conference | Session TS-1416 | 11
Actors
● Scientists● Evaluate images and other data● Plan rover activities
● Engineers● Evaluate rover health, state, performance● Build rover activity commands● Keep everything working
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2005 JavaOneSM Conference | Session TS-1416 | 12
Downlink Data Flow
TIS DP MIPL
EVR
EHA
TDS OSS
TIS TDSEngineer
PDSScientist
Not to scale.Significantly simplified.
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2005 JavaOneSM Conference | Session TS-1416 | 13
Downlink Data Composition
ChannelsEventsEngineering ProductsEngineering CamerasScience
MER-A (Spirit) Sols 1-400Percentage of data volume
53%33%
8%
2% 3%
95% Products
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2005 JavaOneSM Conference | Session TS-1416 | 14
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 15
Deadline
● MER-A Launch Window● June 8, 2003–June 24, 2003
● MER-B Launch Window● June 25, 2003–July 15, 2003
● Two opportunities per day● 10 days required between launches
MER Landing Press Kit, 12-1-03http://marsrovers.jpl.nasa.gov/newsroom/merlandings.pdf
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2005 JavaOneSM Conference | Session TS-1416 | 16
Planetary Alignment
MER Landing Press Kit, 12-1-03http://marsrovers.jpl.nasa.gov/newsroom/merlandings.pdf
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2005 JavaOneSM Conference | Session TS-1416 | 17
Tactical Timeline
● 15 hours to create next sol’s commands● Evaluate health, etc● Evaluate science● Determine science goals● Plan activities● Build and validate commands
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2005 JavaOneSM Conference | Session TS-1416 | 18
Attempts SuccessesOrbiters 11 4 Landers 13 4Rovers 1 1
RiskMars Missions, from 1/1/1970 to 1/1/2004
MER Landing Press Kit, 12-1-03http://marsrovers.jpl.nasa.gov/newsroom/merlandings.pdf
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2005 JavaOneSM Conference | Session TS-1416 | 19
Budget
Spacecraft Dev and Science InstrumentsLaunchMission Ops and Science Proc-essing
$645M
$100M
$75M
MER Landing Press Kit, 12-1-03http://marsrovers.jpl.nasa.gov/newsroom/merlandings.pdf
Primary Mission: $820 Million USD
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2005 JavaOneSM Conference | Session TS-1416 | 20
Visibility
● First three days after landing:● One billion web hits● 15 Terabytes downloaded by web browsers
http://marsrovers.jpl.nasa.gov/newsroom/pressreleases/20040106a.html
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2005 JavaOneSM Conference | Session TS-1416 | 21
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 22
Loose Coupling
● Benefits● Component reuse● Component pluggability● Parallel development
● Drivers: cost, risk
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2005 JavaOneSM Conference | Session TS-1416 | 23
Criteria
● Usability● Correctness● Testability● Reliability
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2005 JavaOneSM Conference | Session TS-1416 | 24
Options
● Service Lookup● Inversion of Control● JavaBeans and InfoBus● Message Pub/Sub
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2005 JavaOneSM Conference | Session TS-1416 | 25
Options
● Service Lookup● Inversion of Control● JavaBeans and InfoBus● Message Pub/Sub
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2005 JavaOneSM Conference | Session TS-1416 | 26
Message Classes
<<interface>>
MessageSubscriberhandleMessage(Message)
MessageContextpublish(Message)subscribe(type:String, Subscriber)
MessagegetType() : String
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2005 JavaOneSM Conference | Session TS-1416 | 27
Message Classes
<<interface>>
MessageSubscriberhandleMessage(Message)
MessageContextpublish(Message)subscribe(type:String, Subscriber)
MessagegetType() : String
BaseMessageHandlerhandleMessage(Message)
MessageContextFactorycreateMessageContext() : MessageContext
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2005 JavaOneSM Conference | Session TS-1416 | 28
Message Publisherpublic class MyPublisher {
private MessageContext messageContext;
public MyPublisher(MessageContext context) { this.messageContext = context; }
public void demonstratePublish() { SampleMessage message = new SampleMessage(); messageContext.publish(message); }
}
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Message Subscriberpublic class MySubscriber implements MessageSubscriber { public MySubscriber(MessageContext messageContext) { messageContext.subscribe(SampleMessage.TYPE, this); } public void handleMessage(Message genericMessage) { SampleMessage message; message = (SampleMessage) genericMessage; // ... do something with the message }}
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2005 JavaOneSM Conference | Session TS-1416 | 30
Subscriber to Multiple MessagesmessageContext.subscribe(FooMessage.TYPE, new BaseMessageHandler() { public void handleMessage(Message genericMessage){ handleFooMessage((FooMessage) genericMessage); } });messageContext.subscribe(BarMessage.TYPE, new BaseMessageHandler() { public void handleMessage(Message genericMessage){ handleBarMessage((BarMessage) genericMessage); } });
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2005 JavaOneSM Conference | Session TS-1416 | 31
Assembling ComponentsMessageContext context = new MessageContext();context.setVerbose(verbose);ProductInput input = addProductInput(context);if (dump) { addProductDumpOutput(context);}ProductBuilder builder = addProductBuilder(context);ProductStorage storage = addProductStorage(context);addProductSummaryOutput(context);addExternalSubscribers(context);input.read();
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2005 JavaOneSM Conference | Session TS-1416 | 32
Lines PercentBrackets 59 8.70% Whitespace 70 10.32%Comments 345 50.88%“Significant” 204 30.09%Total 678
Lines of Code for Message PackageIncluding Test Classes
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2005 JavaOneSM Conference | Session TS-1416 | 33
Would I Do It Again?
● Yes● Reused for other missions● Watching for creeping complexity
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2005 JavaOneSM Conference | Session TS-1416 | 34
Data Product Storage
● Product files● Product metadata● Product part metadata
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2005 JavaOneSM Conference | Session TS-1416 | 35
Schema Design
ProductIDFilenameCommandSeriesCreationTimeTotalPartsetc
ProductPart
IDProductPartNumberDataFilenameDataOffsetDataLengthetc
1
1..*
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2005 JavaOneSM Conference | Session TS-1416 | 36
Database
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2005 JavaOneSM Conference | Session TS-1416 | 37
Why Not?
● Procedures● Installation, configuration, maintenance
● Validation tests● Performance, scalability, reliability
● Third party software evaluations, DBA, …● Time
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2005 JavaOneSM Conference | Session TS-1416 | 38
Product Metadata
● XML● Regular line breaks
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2005 JavaOneSM Conference | Session TS-1416 | 39
LocationsComplete Productsproducts/<type>/<subtype>/<command>_<series>_<time>.datproducts/<type>/<subtype>/<command>_<series>_<time>.emdPartial Products<command>_<series>_<time>_Partial-<counter>.pdat<command>_<series>_<time>_Partial-<counter>.pemdParts Cacheproducts/parts/<filename>/*.datproducts/parts/<filename>/*.emdAlternate Viewssol/<NNN>/ssw/products/created/<typename>/<filename>sol/<NNN>/ssw/products/received/<typename>/<filename>
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2005 JavaOneSM Conference | Session TS-1416 | 40
Would I Do It Again?
● Not exactly● Add database
● Develop procedures off critical path● Keep files
● Accessible to scripts, people
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2005 JavaOneSM Conference | Session TS-1416 | 41
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 42
Product Action Triggers
● Requirement:● Trigger actions on product arrival
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2005 JavaOneSM Conference | Session TS-1416 | 43
Product Action Triggers
● Initial requirement:“Users can register to be notified by emailwhen a product arrives”
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2005 JavaOneSM Conference | Session TS-1416 | 44
Product Action Triggers
● Filter criteria● Script execution
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2005 JavaOneSM Conference | Session TS-1416 | 45
Configuration
<subscriptions> <script> <trigger complete="yes" partial="no"/> <filter> <allow apid="50" subtype="78"/> </filter> <path>subscriptions/scripts/uncompress</path> </script></subscriptions>
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2005 JavaOneSM Conference | Session TS-1416 | 46
Multiple Uses
● Science processing● Generic uncompression● Text representations● Multiple directory hierarchies
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However…
● Never did email product notification
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2005 JavaOneSM Conference | Session TS-1416 | 48
However…
● Never did email product notification● Email reports had high-level summaries
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2005 JavaOneSM Conference | Session TS-1416 | 49
Would I Do It Again?
● Yes, but…● With JMS message publishing
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2005 JavaOneSM Conference | Session TS-1416 | 50
Product Display
● XML Data Dictionary● Values● Units● Lookup tables● Arrays of values● Arrays of arrays● “Opaque” blocks handled by external viewers
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2005 JavaOneSM Conference | Session TS-1416 | 51
External Viewers
● Images● Complex data structures● Special formatting● Reports
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2005 JavaOneSM Conference | Session TS-1416 | 52
Hazcam Image% mer_dp_view img_image_loco_fhl/*.dat | more
Filename: img_image_loco_fhl/f0006-000-0000_003_0161168693-127.datType: img_image_loco_fhl - LOCO Compressed Image, Left Front HazcamSpacecraft: MER A (SCID=254)DVT: 2005-039T20:59:11.217 - 0161168693.127Packetized: 2005-045T04:00:14.932 - 0161625954.245ERT: 2005-045T06:10:23.782APID=25 Subtype=9 Version=2 Image ID: 1000012323 Camera ID: Front Left Hazcam Filter ID: No filter/unknown Array PMA Coordinate length 3 [0] PMA Coordinate: 0.000000 [1] PMA Coordinate: 0.000000 [2] PMA Coordinate: 0.000000 PMA Pointing Argument: 0 Image Acquire Request: Acquire Image Shutter Subtraction Request: None
Credit: NASA/JPL/Caltech
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2005 JavaOneSM Conference | Session TS-1416 | 53
UHF Link ReportFilename: products/047/010/e0105-001-0005_001_0134188770-155.datType: uhf_link_rep - UHF Link ReportSpacecraft: MER A (SCID=254)DVT: 2004-093T14:38:43.195 - 0134188770.155Packetized: 2004-093T16:28:59.022 - 0134195386.103ERT: 2004-093T16:55:10.744APID=47 Subtype=10 Version=0product_viewer: viewUhfDps products/047/010/e0105-001-0005_001_0134188770-155.dat
Report for "UHF Link Report" data product (47/10) Product Version: 0 File Name: products/047/010/e0105-001-0005_001_0134188770-155.dat Accounting---------------------------------------------------------------------------File size: 12028 bytesTime span: 1000 secondsNumber of samples: 999Sample period: 1 second
Start End---------------------------------------------------------SCLK: 134188770.61377 134189770.50879Osc. Temp (DN) 12633 12911Osc. Temp Status Good GoodPA Temp (DN) 0 0PA Temp Status Good Good
--Samp---------SCLK---Rx_Pwr(DN)---Word 4---Tx_State---RC_Tone---TC_Tone---Link_Qual---Bit_Sync---Car_Lock-----TAC-----RAC 1 134188771 8197 0x0094 Off No_Tone No_Tone Good No_Lock No_Lock 0 0 2 134188772 8404 0x0094 Off No_Tone No_Tone Good No_Lock No_Lock 0 0 3 134188773 8409 0xf008 Off No_Tone No_Tone Bad No_Lock No_Lock 0 0 4 134188774 8400 0xf008 Off No_Tone No_Tone Bad No_Lock No_Lock 0 0
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2005 JavaOneSM Conference | Session TS-1416 | 54
Would I Do It Again?
● Yes, but…● Add type/length/value data types● Add formatting plugin (XSL, Velocity, etc.)
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2005 JavaOneSM Conference | Session TS-1416 | 55
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 56
Reuse Across Missions
● Cassini● Deep Impact● Dawn● MRO● MSL
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2005 JavaOneSM Conference | Session TS-1416 | 57
Package Dependencies
app
utillog
message
ecp
product
evr
sfdu
report
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2005 JavaOneSM Conference | Session TS-1416 | 58
General Libraries
app
utillog
message
ecp
product
evr
sfdu
report
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2005 JavaOneSM Conference | Session TS-1416 | 59
Domain Specific Libraries
app
utillog
message
ecp
product
evr
sfdu
report
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2005 JavaOneSM Conference | Session TS-1416 | 60
Application Specific Code
app
utillog
message
ecp
product
evr
sfdu
report
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2005 JavaOneSM Conference | Session TS-1416 | 61
Agenda
BackgroundChallengesSimplicityExtensibilityReuseSummaryQ&A
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2005 JavaOneSM Conference | Session TS-1416 | 62
Summary
● Simplicity to handle risk, cost, schedule● Extensibility to handle uncertainty● Reuse to handle risk, cost, schedule● Know your users
● One size does not fit all● Requirements documents are not enough● Use assumptions that fit reality
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2005 JavaOneSM Conference | Session TS-1416 | 63
For More Information
● Science Instruments Home Page● http://athena.cornell.edu/
● MER Analyst’s Notebook● http://anserver1.eprsl.wustl.edu/
● Basics of Space Flight● http://www.jpl.nasa.gov/basics/
● Introduction to the AMMOS Ground System● http://eis.jpl.nasa.gov/~betsy/mm/intro.htm
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2005 JavaOneSM Conference | Session TS-1416 | 64
Q&A
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2005 JavaOneSM Conference | Session TS-1416 | 65
Submit Session Evaluations for Prizes!
● You can win a $75.00 gift certificate to the on-site Retail Store by telling Sun what you think!
● Turn in completed forms to enter the daily drawing● Each evaluation must be turned in the same day as the
session presentation● Five winners will be chosen each day (Sun will send the
winners email)● Drop-off locations: give to the room monitors or use any
of the three drop-off stations in the North and South Halls
Note: Winners on Thursday, 6/30, will receive and can redeem certificates via email
Your opinions are important to Sun
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2005 JavaOneSM Conference | Session TS-1416
Files from Mars:Java™ Technology in the MER Data InfrastructureDavid NoblePrincipal ConsultantOak Grove Consultinghttp://marsrovers.jpl.nasa.gov/TS-1416