Module: cModuleTemplate

Executive Summary

Provide a brief introduction to purpose and intent of this module. This should be a short description. If this requires lots explanation, images, equations, etc., then use the Detailed Module Description section below.

Message Connection Descriptions

The following table lists all the module input and output messages. The module msg variable name is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.


Figure 1: cModuleTemplate() Module I/O Illustration

Module I/O Messages

Msg Variable Name

Msg Type




(optional) Input message description. Note here if this message is optional, and what the default behavior is if this message is not provided.



Output message description.

Detailed Module Description

Provide a brief introduction to the material being discussed in this report. For example, include what the motivation is, maybe provide a supportive figure such as shown below, reference earlier work if needed in a literature review web links. Describe the module including mathematics, implementation, etc.


Equations can be provided with LaTeX as well. For example, the code:

:math:`a = b^{2}`

produces this equation inline \(a = b^{2}\) equation. In contrast, this code:

.. math::
    a = b^2

or this compact version for 1 liners:

.. math:: a = b^2

creates this block of math.

\[a = b^2\]

To create a numbered equation you need to add a label:

.. math::
    :label: eq-fswModule-firstLaw

    a = b^2

which creates this

(1)\[a = b^2\]

This label can be referenced using :eq:`eq-fswModule-firstLaw` to cite Eq. (1). Note that these label names must be unique across all of the Basilisk RST documentation. It is encouraged to use a module-unique naming scheme.

To do bold math, we can’t use the popular \bm command. Instead, we can use {\bf u} (regular letters) or \pmb \omega (greek letters). The following math is an example of this showing both bold and un-bold letters next to each other:

(2)\[{\bf u} u = 3 \hat{\bf e}_3\]
(3)\[\pmb \omega \omega = 2 \hat{\imath}_{\theta}\]

More details on how to typeset TeX math in Sphinx can be found here.

If the module description requires extensive math discussion, this can be TeX’d up using the technical note template inside the _Documentation folder. A link should be included in the HTML documentation to the Detailed PDF Documentation using the code:

:download:`Detailed PDF Documentation </../../src/moduleTemplates/cModuleTemplate/_Documentation/Basilisk-MODULENAME.pdf>`

The PDF technical should only be used as a last resort effort if the math is simply too complex and long to include in the spinx documentation. Another option is to link to a web site, conference paper, journal paper, book or thesis document that discussed the mathematical developments used.


If you want to cite other papers or text, provide a web link to a paper. For example:

`The link text <>`__

creates The link text.

Images and Figures

To include static, non-pytest generated images and figures, you must copy the web compatible image (svg, jpg, png) to a local sub-folder cModuleTemplate/_Documentation/Images/. This keeps the modules images grouped within this sub-folder and contained within the main module folder. The SVG image format is preferred as it is a vectorized format that renders in a higher quality. Further, when viewed in dark mode the svg will automatically convert to a dark image (preserving colors). Pixelated formats such as jpg and png remain the same in light and dark mode of the documentation web page.

For example, to include an image (has no caption) you can use code such as:

.. image:: /../../src/moduleTemplates/cModuleTemplate/_Documentation/Images/fig1.svg
    :align: center

to generate the following image.


Note that with pixelated images such as jpg and png format save the file at twice the resolution that you need, then provide :scale: 50 % to shrink it to the normal size. This way the image has enough resolution to look good on high-resolution displays.

To include a figure (has a caption and you can add label), use the following code:

.. _figLabel:
.. figure:: /../../src/moduleTemplates/cModuleTemplate/_Documentation/Images/fig1.svg
    :align: center

    Figure 2: Concept Illustration of the Math used in this Module

This yields


Figure 2: Concept Illustration of the Math used in this Module

You can cite the figure using :ref:`figLabel`. For example, as seen in Figure 2: Concept Illustration of the Math used in this Module, the figure can now be referenced.

More information on how to include images or figures using sphinx can be found here. In particular, it is also possible to include an image as a figure which has a caption.


The standard sphinx table formatting can be used to generate tables. More information on spinx table formatting can be found here. For example, the code:

.. table:: Module I/O Messages

    | Header row, column 1   | Header 2   | Header 3 | Header 4 |
    | (header rows optional) |            |          |          |
    | body row 1, column 1   | column 2   | column 3 | column 4 |
    | body row 2             | Cells may span columns.          |
    | body row 3             | Cells may  | - Table cells       |
    +------------------------+ span rows. | - contain           |
    | body row 4             |            | - body elements.    |

will generate the following table:

Module I/O Messages

Header row, column 1 (header rows optional)

Header 2

Header 3

Header 4

body row 1, column 1

column 2

column 3

column 4

body row 2

Cells may span columns.

body row 3

Cells may span rows.

  • Table cells

  • contain

  • body elements.

body row 4


Doing tables with spinx is not simple. The table outline must abide by tedious spacing rules.

The list-table command is nice in that it allows for a simple table to be created where the table structure does not have to be drawn with ASCII vertical and horizontal lines. However, the formatting options are more limited than with the above method. See documentation for more info. For example, the code:

.. list-table:: List Based Table Title
    :widths: auto
    :header-rows: 1

    * - Header 1
      - Header 2
      - Header 3
    * - Label 1
      - text
      - more text
    * - Label 2
      - text
    * - Label 3
      - text
      - some more text

will produce this table:

List Based Table Title

Header 1

Header 2

Header 3

Label 1


more text

Label 2


Label 3


some more text

HTML Highlight Options

With Sphinx you can easily create HTML highlight blocks called admonitions such as attention, caution, danger, error, hint, important, note, tip, warning. Here are samples of what these blocks look like.


text goes here


text goes here


text goes here


text goes here


text goes here


text goes here


text goes here


text goes here


text goes here

Module Assumptions and Limitations

This section should describe the assumptions used in formulating the mathematical model and how those assumptions limit the usefulness of the module.

User Guide

This section contains information directed specifically to users. It contains clear descriptions of what inputs are needed and what effect they have. It should also help the user be able to use the model for the first time.

Add sample code as needed. For example, to specify that the module variables dummy and dumVector must be setup first, you can include python formatted code block using:

.. code-block:: python

    moduleConfig.dummy = 1
    moduleConfig.dumVector = [1., 2., 3.]

to show:

1moduleConfig.dummy = 1
2moduleConfig.dumVector = [1., 2., 3.]

More information of including code blocks can be found here.

In the user guide, provide sub-sections as need to help explain how to use this module, list what variables must be set, discuss variables that might have default values if not specified by the user, etc.


void SelfInit_cModuleTemplate(cModuleTemplateConfig *configData, int64_t moduleID)

This method initializes the output messages for this module.

  • configData – The configuration data associated with this module

  • moduleID – The module identifier



void Update_cModuleTemplate(cModuleTemplateConfig *configData, uint64_t callTime, int64_t moduleID)

Add a description of what this main Update() routine does for this module

  • configData – The configuration data associated with the module

  • callTime – The clock time at which the function was called (nanoseconds)

  • moduleID – The module identifier



void Reset_cModuleTemplate(cModuleTemplateConfig *configData, uint64_t callTime, int64_t moduleID)

This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.

  • configData – The configuration data associated with the module

  • callTime – [ns] time the method is called

  • moduleID – The module identifier



struct cModuleTemplateConfig
#include <cModuleTemplate.h>

Top level structure for the sub-module routines.

Public Members

double dummy

[units] sample module variable declaration

double dumVector[3]

[units] sample vector variable

CModuleTemplateMsg_C dataOutMsg

sample output message

CModuleTemplateMsg_C dataInMsg

sample input message

double inputVector[3]

[units] vector description

BSKLogger *bskLogger

BSK Logging.