vizInterface

This module provides an interface to package up Basilisk messages and pass them onto the Vizard application.

struct MsgCurrStatus

Public Members

int64_t msgID

[-] message ID associated with source

uint64_t lastTimeTag

[ns] The previous read time-tag for msg

bool dataFresh

[-] Flag indicating that new data has been read

struct ThrClusterMap

Public Members

std::string thrTag

[-] ModelTag associated with the thruster model

uint32_t thrCount

[-] Number of thrusters used in this thruster model

struct PointLine

Public Members

std::string fromBodyName

[-] name of the body to start the line

std::string toBodyName

[-] name of the body to point the line towards

int lineColor[4]

[-] desired RGBA as values between 0 and 255

struct KeepOutInCone

Public Members

bool isKeepIn

True -> keep in cone created, False -> keep out cone created.

double position_B[3]

[m] cone start relative to from body coordinate frame

double normalVector_B[3]

[-] cone normal direction vector

double incidenceAngle

[deg] cone incidence angle

double coneHeight

[m] sets height of visible cone (asthetic only, does not impact function)

std::string fromBodyName

name of body to attach cone onto

std::string toBodyName

[-] detect changes if this body has impingement on cone

int coneColor[4]

[-] desired RGBA as values between 0 and 255

std::string coneName

[-] cone name, if unspecified, viz will autogenerate name

struct StdCameraSettings

Public Members

std::string spacecraftName

name of spacecraft onto which to place a camera

int setMode

0 -> body targeting, 1 -> pointing vector (default)

double fieldOfView

rad, field of view setting, -1 -> use default, values between 0.0001 and 179.9999 deg valid

std::string bodyTarget

Name of body camera should point to (default to first celestial body in messages). This is a setting for body targeting mode.

int setView

0 -> Nadir, 1 -> Orbit Normal, 2 -> Along Track (default to nadir). This is a setting for body targeting mode.

double pointingVector_B[3]

(default to 1, 0, 0). This is a setting for pointing vector mode.

struct ActuatorGuiSettings

Public Members

std::string spacecraftName

Which spacecraft’s camera 1.

int viewThrusterPanel

int viewThrusterHUD

int viewRWPanel

int viewRWHUD

struct CustomModel

Public Members

std::string modelPath

Path to model obj -OR- “CUBE”, “CYLINDER”, or “SPHERE” to use a primitive shape.

std::vector<std::string> simBodiesToModify

Which bodies in scene to replace with this model, use “ALL_SPACECRAFT” to apply custom model to all spacecraft in simulation.

double offset[3]

[m] offset to use to draw the model

double rotation[3]

[rad] 3-2-1 Euler angles to rotate CAD about z, y, x axes

double scale[3]

[] desired model scale in x, y, z in spacecraft CS

std::string customTexturePath

(Optional) Path to texture to apply to model (note that a custom model’s .mtl will be automatically imported with its textures during custom model import)

std::string normalMapPath

(Optional) Path to the normal map for the customTexture

int shader

(Optional) Value of -1 to use viz default, 0 for Unity Specular Standard Shader, 1 for Unity Standard Shader

struct VizSettings

Public Members

double ambient

[-] Ambient background lighting. Should be a value between 0 and 8. A value of -1 means it is not set.

int32_t orbitLinesOn

int32_t spacecraftCSon

toogle for showing orbit lines (-1, 0, 1)

int32_t planetCSon

toogle for showing spacecraft CS (-1, 0, 1)

std::vector<PointLine> pointLineList

toogle for showing planet CS (-1, 0, 1)

std::vector<KeepOutInCone> coneList

vector of powerLine structures

std::vector<StdCameraSettings> stdCameraList

vector of keep in/out cones

std::vector<CustomModel> customModelList

vector of spacecraft cameras

std::vector<ActuatorGuiSettings> actuatorGuiSettingsList

vector of custom object models

std::string skyBox

msg containing the flags on displaying the actuator GUI elements

bool dataFresh

string containing the star field options, ‘’ provides default NASA SVS Starmap, “ESO” use ESO Milky Way skybox, “black” provides a black background, or provide a filepath to custom background

[-] flag indicating if the settings have been transmitted,

class VizInterface : public SysModel

Public Functions

VizInterface()

VizInterface Constructor

~VizInterface()

VizInterface Destructor

void SelfInit()

Initialization method for subscription to messages. This module does not output messages, but files containing the protobuffers for Vizard

void CrossInit()

Cross initialization. Module subscribes to other messages. In viz interface, many messages are subscribed to in order to extract information from the viz and give it to the visualization tool.

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 viz_interface writes a protobuffer with the infomration from the simulation.

Parameters

• CurrentSimNanos: The current sim time in nanoseconds

Public Members

std::string cssDataInMsgName

std::string cssConfInMsgName

[-] Name of the incoming css data

std::string cameraConfInMsgName

[-] Name of the incoming css constellation data

std::string scPlusInMsgName

[-] Name of the incoming camera data

std::vector<std::string> spiceInMsgName

[-] Name of the incoming SCPlus data

std::vector<std::string> rwInMsgName

[-] Name of the incoming Spice data

std::vector<ThrClusterMap> thrMsgData

[-] Name of the incoming rw data

std::string starTrackerInMsgName

[-] Name of the incoming thruster data

std::string spacecraftName

[-] Name of the incoming Star Tracker data

std::string opnavImageOutMsgName

[-] Name of the spacecraft being simulated

uint64_t numSensors

The name of the Image output message*/.

int opNavMode

bool saveFile

[int] Set non-zero positive value if Unity/Viz couple in direct communication. (1 - regular opNav, 2 - performance opNav)

bool liveStream

[Bool] Set True if Vizard should save a file of the data.

void *bskImagePtr

[Bool] Set True if Vizard should receive a live stream of BSK data.

std::string vizOutMsgName

[RUN] Permanent pointer for the image to be used in BSK without relying on ZMQ because ZMQ will free it (whenever, who knows)

std::vector<std::string> planetNames

Names of planets we want to track, read in from python

uint64_t numOutputBuffers

int64_t FrameNumber

[-] Number of buffers to request for the output messages

std::string protoFilename

Number of frames that have been updated for TimeStamp message.

int numRW

Filename for where to save the protobuff message.

int numThr

[-] Number of RW set in python

VizSettings settings

[-] Number of Thrusters set in python

CameraConfigMsg cameraConfigMessage

[-] container for the Viz settings that can be specified from BSK

BSKLogger bskLogger

[-] camera config message copy

BSK Logging

Private Members

void *context

void *requester_socket

std::vector<MsgCurrStatus> rwInMsgID

std::vector<MsgCurrStatus> thrMsgID

[-] ID of the incoming rw data

MsgCurrStatus starTrackerInMsgID

[-] ID of the incoming thruster data

MsgCurrStatus scPlusInMsgID

[-] ID of the incoming Star Tracker data

std::vector<MsgCurrStatus> spiceInMsgID

[-] ID of the incoming SCPlus data

MsgCurrStatus cssDataInMsgId

[-] IDs of the incoming planets’ spice data

MsgCurrStatus cssConfInMsgId

[-] ID of the incoming css data

MsgCurrStatus cameraConfMsgId

[-] ID of the incoming css constellation data

int32_t imageOutMsgID

[-] ID of the incoming camera data

int firstPass

ID for the outgoing Image message */.

std::vector<RWConfigLogSimMsg> rwInMessage

Flag to intialize the viz at first timestep */.

STSensorIntMsg STMessage

[-] RW data message

std::vector<THROutputSimMsg> thrOutputMessage

[-] ST data message

std::vector<SpicePlanetStateSimMsg> spiceMessage

[-] Thr data message

SCPlusStatesSimMsg scPlusMessage

[-] Spice messages

CSSConfigFswMsg cssConfigMessage

[-] s/c plus message

std::ofstream *outputStream

[-] CSS config

std::map<uint32_t, SpicePlanetStateSimMsg> planetData

[-] Output file stream opened in reset

Internal vector of planets