Module: vizInterface¶
Executive Summary¶
This module provides an interface to package up Basilisk messages and pass them onto the Vizard application. This allows for the Basilisk simulation data to be recorded to a file for play-back, or for live streaming of the simulation data. It is possible to record the simulation data of a single spacecraft or a multitude of spacecraft.
Module Assumptions and Limitations¶
The module is only able to read Basilisk simulation state messages that are accessable from the task group that
is calling vizInterface
.
Message Connection Descriptions¶
The following messages are set directly within vizInterface
. Additional messages are set within the
VizSpacecraftData
data structures for each spacecraft.
Parameter |
Default |
Description |
---|---|---|
opnavImageOutMsgs |
(optional) vector of Image output messages, the corresponding camera configuration input message is setup
through |
|
epochInMsg |
(optional) simulation epoch date/time input msg |
|
spiceInMsgs |
(optional) vector of input messages of planet Spice data |
The VizSpacecraftData
structure, defined in Module: vizStructures, contains a range of input messages for each spacecraft added.
Parameter |
Default |
Description |
---|---|---|
scStateInMsg |
msg of incoming spacecraft state data |
|
rwInMsgs |
(optional) Vector of incoming RW state messages |
|
thrInMsgs |
(optional) vector of thruster input messages |
|
cssInMsgs |
(optional) Vector of CSS config log messages |
User Guide¶
The vizInterface
module can be directly configured, or setup using the helper methods in vizSupport.
More information can be found in BSK Scripting Settings page. The scenarioFormationBasic illustrates and
discusses how to configure vizInterface
for use with multiple satellites.
Defines
-
VIZ_MAX_SIZE¶
-
class VizInterface : public SysModel¶
- #include <vizInterface.h>
Defines a data structure for the spacecraft state messages and ID’s.
Public Functions
-
VizInterface()¶
VizInterface Constructor
-
~VizInterface()¶
VizInterface 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 ReadBSKMessages()¶
A method in which the module reads the content of all available bsk messages
-
void WriteProtobuffer(uint64_t CurrentSimNanos)¶
The method in which the vizInterface writes a protobuffer with the information from the simulation.
- Parameters
CurrentSimNanos – The current sim time in nanoseconds
-
void addCamMsgToModule(Message<CameraConfigMsgPayload> *tmpMsg)¶
Method to add a Vizard instrument camera module to vizInterface
- Parameters
tmpMsg – Camera configuration msg
Public Members
-
std::vector<VizSpacecraftData> scData¶
[-] vector of spacecraft data containers
-
std::vector<ReadFunctor<SpicePlanetStateMsgPayload>> spiceInMsgs¶
[-] vector of input messages of planet Spice data
-
std::vector<LocationPbMsg*> locations¶
[] vector of ground or spacecraft locations
-
std::vector<GravBodyInfo> gravBodyInformation¶
[-] vector of gravitational body info
vector of vizard instrument camera output messages
[int] Set non-zero positive value if Unity/Viz couple in direct communication. (1 - regular opNav, 2 - performance opNav)
-
bool saveFile¶
[Bool] Set True if Vizard should save a file of the data.
-
bool liveStream¶
[Bool] Set True if Vizard should receive a live stream of BSK data.
-
std::vector<void*> bskImagePtrs¶
[RUN] vector of permanent pointers for the images to be used in BSK without relying on ZMQ because ZMQ will free it (whenever, who knows)
-
std::vector<ReadFunctor<CameraConfigMsgPayload>> cameraConfInMsgs¶
[-] vector of incoming camera data messages
-
std::vector<MsgCurrStatus> cameraConfMsgStatus¶
[-] vector of msg status of incoming camera data
-
std::vector<CameraConfigMsgPayload> cameraConfigBuffers¶
[-] vector of Camera config buffers
-
int64_t FrameNumber¶
Number of frames that have been updated for TimeStamp message.
-
std::string protoFilename¶
Filename for where to save the protobuff message.
-
VizSettings settings¶
[-] container for the Viz settings that can be specified from BSK
-
LiveVizSettings liveSettings¶
[-] container for Viz settings that are updated on each time step
-
std::string comProtocol¶
Communication protocol to use when connecting to Vizard.
-
std::string comAddress¶
Communication address to use when connecting to Vizard.
-
std::string comPortNumber¶
Communication port number to use when connecting to Vizard.
-
ReadFunctor<EpochMsgPayload> epochInMsg¶
[-] simulation epoch date/time input msg
-
MsgCurrStatus epochMsgStatus¶
[-] ID of the epoch msg
-
EpochMsgPayload epochMsgBuffer¶
[-] epoch msg data
-
BSKLogger bskLogger¶
[-] BSK Logging object
Private Functions
-
void requestImage(size_t camCounter, uint64_t CurrentSimNanos)¶
request image from Vizard and store it in output img msg
Requests an image from Vizard and stores it in the image output message
Private Members
-
void *context¶
-
void *requester_socket¶
-
int firstPass¶
Flag to intialize the viz at first timestep.
-
std::vector<MsgCurrStatus> spiceInMsgStatus¶
[-] status of the incoming planets’ spice data messages
-
std::vector<SpicePlanetStateMsgPayload> spiceMessage¶
[-] Spice message copies
-
std::ofstream *outputStream¶
[-] Output file stream opened in reset
-
VizInterface()¶