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.

Module I/O Messages

Msg Variable Name	Msg Type	Description
opnavImageOutMsgName	cameraImageMsg	If Vizard is used as a camera sensor, this is the the name of the output message of the camera image.
cameraConfInMsgName	cameraConfigMsg	Name of the incoming camera data

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.

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Defines

VIZ_MAX_SIZE

struct MsgCurrStatus

#include <vizInterface.h>

Structure to store that status of a Basilisk message being read in by vizInterface.

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

#include <vizInterface.h>

Structure to store a thruster group information.

Public Members

std::string thrTag

[-] ModelTag associated with the thruster grouping

uint32_t thrCount

[-] Number of thrusters used in this thruster group

struct PointLine

#include <vizInterface.h>

Vizard setting structure to define a pointing line feature. This is used to draw a colored line from one space object to another space object.

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

#include <vizInterface.h>

Vizard setting structure to define a keep out/in cone visual feature. Here cone is drawn attached to one body with a body-fixed position and heading. If a second celestial object is within or outside this code, then the opacity of the cone changes.

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

[rad] 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

#include <vizInterface.h>

Vizard setting structure to define a standard Vizard camera. These can be assigned to any spacecraft and set to point at either another object, or to point in a body-fixed direction.

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.

double position_B[3]

(default to 0, 0, 0). If a non-zero vector, this determines the location of the camera. If a zero vector, then the camera is placed outside of the spacecraft along the pointing vector direction.

struct ActuatorGuiSettings

#include <vizInterface.h>

Vizard User Interface structure specifying what actuator visualizations to show.

Public Members

std::string spacecraftName

Specify which spacecraft should show actuator information. If not provided then the viz.spacecraftName is used.

int viewThrusterPanel

[bool] should thruster panel illustration be shown

int viewThrusterHUD

[bool] should thruster Heads-Up-Display be shown

int viewRWPanel

[bool] should reaction wheel panel illustration be shown

int viewRWHUD

[bool] should reaction wheel Heads-Up-Display be shown

struct CustomModel

#include <vizInterface.h>

Structure defining a custom CAD model to load to represent a simulation object.

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 scaling factor along the body x, y, z axes 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 VizSpacecraftData

#include <vizInterface.h>

Defines a data structure for the spacecraft state messages and ID’s.

Public Members

std::string spacecraftName = "bsk-Sat"

[-] Name of the spacecraft.

std::string cssDataInMsgName = "css_sensors_data"

[-] (Optional) Name of the incoming css data message

std::string cssConfInMsgName = "css_config_data"

[-] (Optional) Name of the incoming css constellation data message

std::string scPlusInMsgName = "inertial_state_output"

[-] Name of the incoming SCPlus data message

std::vector<std::string> rwInMsgName

[-] Vector of names of the incoming RW state messages. If this is not set directly, then it is auto-generated using the spacecraft name as the prefix. This is required if numRW is greater than 0.

std::vector<ThrClusterMap> thrMsgData

[-] (Optional) Name of the incoming thruster data. This is required if numThr is greater than 0.

std::string starTrackerInMsgName = "star_tracker_state"

[-] (Optional) Name of the incoming Star Tracker data

int numRW = 0

[-] (Optional) Number of RW

int numThr = 0

[-] (Optional) Number of Thrusters

std::vector<MsgCurrStatus> rwInMsgID

[-] (Private) ID of the incoming rw data

std::vector<MsgCurrStatus> thrMsgID

[-] (Private) ID of the incoming thruster data

MsgCurrStatus starTrackerInMsgID

[-] (Private) ID of the incoming Star Tracker data

MsgCurrStatus scPlusInMsgID

[-] (Private) ID of the incoming SCPlus data

MsgCurrStatus cssDataInMsgId

[-] (Private) ID of the incoming css data

MsgCurrStatus cssConfInMsgId

[-] (Private) ID of the incoming css constellation data

std::vector<RWConfigLogSimMsg> rwInMessage

[-] (Private) RW message data

STSensorIntMsg STMessage

[-] (Private) ST message data

std::vector<THROutputSimMsg> thrOutputMessage

[-] (Private) Thr message data

SCPlusStatesSimMsg scPlusMessage

[-] (Private) s/c plus message data

CSSConfigFswMsg cssConfigMessage

[-] (Private) CSS config message data

struct VizSettings

#include <vizInterface.h>

Structure defining various Vizard options

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

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

int32_t spacecraftCSon

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

int32_t planetCSon

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

std::vector<PointLine> pointLineList

vector of powerLine structures

std::vector<KeepOutInCone> coneList

vector of keep in/out cones

std::vector<StdCameraSettings> stdCameraList

vector of spacecraft cameras

std::vector<CustomModel> customModelList

vector of custom object models

std::vector<ActuatorGuiSettings> actuatorGuiSettingsList

msg containing the flags on displaying the actuator GUI elements

std::string skyBox

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

bool dataFresh

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

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 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 vizInterface writes a protobuffer with the information from the simulation.

Parameters

• CurrentSimNanos: The current sim time in nanoseconds

Public Members

std::vector<VizSpacecraftData> scData

[-] vector of spacecraft data containers

std::vector<std::string> spiceInMsgName

[-] Name of the incoming Spice data

std::string opnavImageOutMsgName

The name of the Image output message.

int opNavMode

[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.

void *bskImagePtr

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

std::string cameraConfInMsgName = "camera_config_data"

[-] Name of the incoming camera data

MsgCurrStatus cameraConfMsgId

[-] ID of the incoming camera data

CameraConfigMsg cameraConfigMessage

[-] Camera config

std::vector<std::string> planetNames

Vector of planet names we want to track, read in from python.

uint64_t numOutputBuffers

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

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

BSKLogger bskLogger

[-] BSK Logging object

Private Members

void *context

void *requester_socket

int firstPass

Flag to intialize the viz at first timestep.

int32_t imageOutMsgID

ID for the outgoing Image message.

std::vector<MsgCurrStatus> spiceInMsgID

[-] IDs of the incoming planets’ spice data

std::vector<SpicePlanetStateSimMsg> spiceMessage

[-] Spice messages

std::ofstream *outputStream

[-] Output file stream opened in reset

std::map<uint32_t, SpicePlanetStateSimMsg> planetData

Internal vector of planets