Module: dataFileToViz
Executive Summary
This module reads in simulation data of one or more spacecraft, likely created outside of Basilisk, and creates associated Basilisk messages such that Module: vizInterface can stream of save a Vizard compatible data file. This makes it possible to use Vizard to illustrate a simulation. The use of this module is demonstrates in scenarioDataToViz.
Module Assumptions and Limitations
The module currently reads in the spacecraft position, velocity and orientation states.
Message Connection Descriptions
The following messages are set directly within vizInterface. Additional messages are set within the
VizSpacecraftData data structures for each spacecraft.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
scStateOutMsgs |
Vector of spacecraft output messages |
|
thrScOutMsgs |
(optional) vector of vectors of thruster output messages per spacecraft |
|
rwScOutMsgs |
(optional) vector of vectors of RW output messages per spacecraft |
User Guide
The module assumes the data file is in plain text form and the following format:
time
inertial position states (m)
inertial velocity states (m/s)
inertial attitude state in terms of either MRPs, quaternions or 3-2-1 Euler angles (rad)
inertial angular velocity vector in radians per second (rad/s)
(optional) thruster force values (N)
(optional) RW Speed \(\Omega\) (rad/s) and RW motor torque \(u_s\) (N)
repeat on the same line for additional spacecraft
The required module configuration is:
testModule = dataFileToViz.DataFileToViz()
testModule.ModelTag = "testModule"
testModule.setNumOfSatellites(2)
testModule.dataFileName = "dataFile.dat"
unitTestSim.AddModelToTask(unitTaskName, testModule)
Note that setNumOfSatellites() must be called with at least 1 spacecraft.
The module is configurable with the following optional parameters:
Parameter |
Default |
Description |
|---|---|---|
|
“ “ |
delimiter string that separates data on a line |
|
1000.0 |
conversion factor to convert position and velocity measures to meters and meters per second. |
|
True |
Boolean flag if the data file contains a header line that should be dismissed |
|
0 |
Specify the attitude coordinate set used in the data file. 0 - MRP, 1 - quaternions as \((q_0, q_1, q_2, q_3)\), and 2 - (3-2-1) Euler angles in radians |
To add Thrusters to the setup, for each of the spacecraft included do the following steps. The spacecraft
can contain a number of thruster clusters defined through ThrClusterMap. In the examle below, the
spacecraft contains 2 clusters (ADCS and DV) which contain one thruster each.
# setup thruster cluster for the current spacecraft
thSetAdcs1 = dataFileToViz.ThrClusterMap()
# set the number of thruster in this cluster
thSetAdcs1.thrCount = 1
# set the thruster cluster tag label string
thSetAdcs1.thrTag = "adcs_sc_0"
# (Optional) set the color for the thruster visualization in this cluster.
thSetAdcs1.color = vizSupport.toRGBA255("red")
thSetDV1 = dataFileToViz.ThrClusterMap()
thSetDV1.thrCount = 1
thSetDV1.thrTag = "dv_sc_0"
thSetDV1.color = vizSupport.toRGBA255("blue")
# assign this thruster cluster to module
thList1 = [thSetAdcs1, thSetDV1]
testModule.appendThrClusterMap(dataFileToViz.VizThrConfig(thList1))
# add the position and orientation information for each thruster in this cluster
# ADCS1
testModule.appendThrPos([0, 0, 3.]) # thr location in B frame, meters
testModule.appendThrDir([0, 0, -1]) # thr force direction in B frame
testModule.appendThrForceMax(1.0)
# DV1
testModule.appendThrPos([0, 0, -3.]) # thr location in B frame, meters
testModule.appendThrDir([0, 0, 1]) # thr force direction in B frame
testModule.appendThrForceMax(1.0)
These steps must be done for each spacecraft in the data file. If a spacecraft does not have thrusters, then an empty thruster cluster vector must be added for that spacecraft. See test_dataFileToViz for an example on how to configure for thruster information.
testModule.appendThrClusterMap([])
To add RW devices to the list, for each spacecraft you must specify the number of RW that it contains through:
testModule.appendNumOfRWs(2)
Next, the RW position, spin axis direction, the wheel speed and the maximum motor torque value is setup using:
testModule.appendRwPos([0, 0, 0])
testModule.appendRwDir([1, 0, 0])
testModule.appendOmegaMax(3000.*macros.RPM)
testModule.appendUMax(0.5)
Repeat the above steps for each wheel.
-
class DataFileToViz : public SysModel
- #include <dataFileToViz.h>
Defines a data structure for the spacecraft state messages and ID’s.
Public Functions
-
DataFileToViz()
DataFileToViz Constructor
-
~DataFileToViz()
DataFileToViz Destructor
-
void Reset(uint64_t CurrentSimNanos)
A Reset method to put the module back into a clean state
- Parameters:
CurrentSimNanos – The current sim time in nanoseconds
-
void UpdateState(uint64_t CurrentSimNanos)
Update this module at the task rate
- Parameters:
CurrentSimNanos – The current sim time
-
void appendThrPos(double pos_B[3])
Add a thruster 3d position vector to the list of thruster locations
-
void appendThrDir(double dir_B[3])
Add a thruster 3d unit direction vector to the list. The input vectors gets normalized before being added to the list.
-
void appendThrForceMax(double)
Add a thruster maximum force value to the list of thrusters.
-
void appendThrClusterMap(std::vector<ThrClusterMap> thrMsgData, std::vector<int> numThrPerCluster)
Add a thruster cluster map for each spacecraft
-
void appendRwPos(double pos_B[3])
Add a thruster 3d position vector to the list of thruster locations
-
void appendRwDir(double dir_B[3])
Add a RW spin axis unit direction vector to the list. The input vectors gets normalized before being added to the list.
-
void appendOmegaMax(double)
Add a RW wheel rate value to the list
-
void appendUMax(double)
Add a RW maximum motor torque value to the list
-
void setNumOfSatellites(int numSat)
set the number of satellites being read in
-
void appendNumOfRWs(int numRW)
Add a RW output msg list for each spacecraft
Public Members
-
std::string dataFileName
Name of the simulation data file.
-
std::vector<Message<SCStatesMsgPayload>*> scStateOutMsgs
vector of spacecraft state messages
-
std::string delimiter
delimiter string that separates data on a line
-
double convertPosToMeters
conversion factor to meters
-
bool headerLine
[bool] flag to mark first line as a header
-
int attitudeType
0 - MRP, 1 - EP or quaternions (q0, q1, q2, q3), 2 - (3-2-1) Euler angles
-
std::vector<std::vector<ThrClusterMap>> thrMsgDataSC
(Optional) vector of sets of thruster cluster mapping info
-
std::vector<std::vector<Message<THROutputMsgPayload>*>> thrScOutMsgs
(Optional) vector of spacecraft thruster output message vectors
-
std::vector<std::vector<Message<RWConfigLogMsgPayload>*>> rwScOutMsgs
(Optional) vector of sets of RW msg names, each entry is per SC
-
BSKLogger bskLogger
[-] BSK Logging object
Private Functions
-
void pullVector(std::istringstream *iss, double*)
pull a 3-d set of double values from the input stream
-
void pullVector4(std::istringstream *iss, double*)
pull a 4-d set of double values from the input stream
-
double pullScalar(std::istringstream *iss)
pull a double from the input stream
Private Members
-
std::vector<std::vector<int>> numThrPerCluster
vector containing list of numbers of thruster per cluster per spacecraft
-
std::ifstream fileHandle
file handle to the simulation data input file
-
std::vector<Eigen::Vector3d> thrPosList
[m] vector of thrust positions
-
std::vector<Eigen::Vector3d> thrDirList
[-] vector of thrust unit direction vectors in B-frame components
-
std::vector<double> thrForceMaxList
[-] vector of thrust maximum force values
-
std::vector<Eigen::Vector3d> rwPosList
[m] vector of RW positions
-
std::vector<Eigen::Vector3d> rwDirList
[-] vector of RW sprin axis unit direction vectors in B-frame components
-
std::vector<double> rwOmegaMaxList
[r/s] vector of RW maximum spin rate values
-
std::vector<double> rwUMaxList
[N] vector of RW maximum motor torque values values
-
int numRW = 0
— number of RWs across all spacecraft
-
int numThr = 0
— number of Thrusters across all spacecraft
-
DataFileToViz()