''' '''
'''
ISC License
Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
'''
#
# Unit Test Support Script
#
import sys, os
from matplotlib import colors
from matplotlib.colors import is_color_like
import numpy as np
from Basilisk.utilities import unitTestSupport
from Basilisk import __path__
bskPath = __path__[0]
from Basilisk.simulation import spice_interface
# set the string type that works with Python 2 and 3
try:
basestring
except NameError:
basestring = str
try:
from Basilisk.simulation import vizInterface
vizFound = True
except ImportError:
vizFound = False
firstSpacecraftName = ''
def toRGBA255(color):
if isinstance(color, basestring):
# convert color name to 4D array of values with 0-255
if is_color_like(color):
answer = np.array(colors.to_rgba(color)) * 255
else:
print("toRGBA255() was provided unknown color name " + color)
exit(1)
else:
if not isinstance(color, list):
print('ERROR: color must be a 4D array of integers')
exit(1)
if max(color) > 255 or min(color)<0:
print('ERROR: color values must be between [0,255]')
exit(1)
answer = color
return answer
[docs]def setSprite(shape, **kwargs):
"""
Helper function to set the sprite shape and optional sprite color.
:param shape: Sprite shape, must be either "CIRCLE", "SQUARE", "TRIANGLE", "STAR", or "bskSat"
:param kwargs: RGBA color, can be either color name string or a 4D list of [0,255] values
:return: string of the protobuffer sprite setting
"""
unitTestSupport.checkMethodKeyword(
['color'],
kwargs)
shapeList = ["CIRCLE", "SQUARE", "TRIANGLE", "STAR", "bskSat"]
if not isinstance(shape, basestring):
print("In setSprite() the shape argument must be a string using " + str(shapeList))
exit(1)
if (shape not in shapeList):
print("The setSprite() method was provided this unknown sprite shape primitive: " + shape)
exit(1)
answer = shape
if 'color' in kwargs:
colorInfo = kwargs['color']
if shape == "bskSat":
print("cannot set a color for the bskSat sprite option")
exit(1)
colorValues = toRGBA255(colorInfo)
answer += " " + " ".join(map(str, colorValues))
return answer
pointLineList = []
def createPointLine(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
global firstSpacecraftName
vizElement = vizInterface.PointLine()
unitTestSupport.checkMethodKeyword(
['fromBodyName', 'toBodyName', 'lineColor'],
kwargs)
if 'fromBodyName' in kwargs:
fromName = kwargs['fromBodyName']
if not isinstance(fromName, basestring):
print('ERROR: fromBodyName must be a string')
exit(1)
vizElement.fromBodyName = fromName
else:
vizElement.fromBodyName = firstSpacecraftName
if 'toBodyName' in kwargs:
toName = kwargs['toBodyName']
if not isinstance(toName, basestring):
print('ERROR: toBodyName must be a string')
exit(1)
vizElement.toBodyName = toName
else:
print('ERROR: toBodyName must be a specified')
exit(1)
if 'lineColor' in kwargs:
vizElement.lineColor = toRGBA255(kwargs['lineColor'])
else:
print('ERROR: lineColor must be a specified')
exit(1)
pointLineList.append(vizElement)
del viz.settings.pointLineList[:] # clear settings list to replace it with updated list
viz.settings.pointLineList = vizInterface.PointLineConfig(pointLineList)
return
customModelList = []
def createCustomModel(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
global firstSpacecraftName
vizElement = vizInterface.CustomModel()
unitTestSupport.checkMethodKeyword(
['modelPath', 'simBodiesToModify', 'offset', 'rotation', 'scale', 'customTexturePath',
'normalMapPath', 'shader'],
kwargs)
if 'modelPath' in kwargs:
modelPathName = kwargs['modelPath']
if not isinstance(modelPathName, basestring):
print('ERROR: modelPath must be a string')
exit(1)
if len(modelPathName) == 0:
print('ERROR: modelPath is required and must be specified.')
exit(1)
vizElement.modelPath = modelPathName
else:
print('ERROR: modelPath is required and must be specified.')
exit(1)
if 'simBodiesToModify' in kwargs:
simBodiesList = kwargs['simBodiesToModify']
if not isinstance(simBodiesList, list):
print('ERROR: simBodiesToModify must be a list of strings')
exit(1)
if len(simBodiesList) == 0:
print('ERROR: simBodiesToModify must be a non-empty list of strings')
exit(1)
for item in simBodiesList:
if not isinstance(item, basestring):
print('ERROR: the simBody name must be a string, not ' + str(item))
exit(1)
vizElement.simBodiesToModify = vizInterface.StringVector(simBodiesList)
else:
vizElement.simBodiesToModify = vizInterface.StringVector([firstSpacecraftName])
if 'offset' in kwargs:
offsetVariable = kwargs['offset']
if not isinstance(offsetVariable, list):
print('ERROR: offset must be a list of three floats')
exit(1)
if len(offsetVariable) != 3:
print('ERROR: offset must be list of three floats')
exit(1)
vizElement.offset = offsetVariable
else:
vizElement.offset = [0.0, 0.0, 0.0]
if 'rotation' in kwargs:
rotationVariable = kwargs['rotation']
if not isinstance(rotationVariable, list):
print('ERROR: rotation must be a list of three floats')
exit(1)
if len(rotationVariable) != 3:
print('ERROR: rotation must be list of three floats')
exit(1)
vizElement.rotation = rotationVariable
else:
vizElement.rotation = [0.0, 0.0, 0.0]
if 'scale' in kwargs:
scaleVariable = kwargs['scale']
if not isinstance(scaleVariable, list):
print('ERROR: scale must be a list of three floats')
exit(1)
if len(scaleVariable) != 3:
print('ERROR: scale must be list of three floats')
exit(1)
vizElement.scale = scaleVariable
else:
vizElement.scale = [1.0, 1.0, 1.0]
if 'customTexturePath' in kwargs:
customTexturePathName = kwargs['customTexturePath']
if not isinstance(customTexturePathName, basestring):
print('ERROR: customTexturePath must be a string')
exit(1)
vizElement.customTexturePath = customTexturePathName
else:
vizElement.customTexturePath = ""
if 'normalMapPath' in kwargs:
normalMapPathName = kwargs['normalMapPath']
if not isinstance(normalMapPathName, basestring):
print('ERROR: normalMapPath must be a string')
exit(1)
vizElement.normalMapPath = normalMapPathName
else:
vizElement.normalMapPath = ""
if 'shader' in kwargs:
shaderVariable = kwargs['shader']
if not isinstance(shaderVariable, int):
print('ERROR: shader must be a an integer.')
exit(1)
if abs(shaderVariable) > 1:
print('ERROR: shader must have a value of -1, 0 or +1.')
exit(1)
vizElement.shader = shaderVariable
customModelList.append(vizElement)
del viz.settings.customModelList[:] # clear settings list to replace it with updated list
viz.settings.customModelList = vizInterface.CustomModelConfig(customModelList)
return
actuatorGuiSettingList = []
[docs]def setActuatorGuiSetting(viz, **kwargs):
"""
This method sets the actuator GUI properties for a particular spacecraft. If no ``spacecraftName`` is
provided, then the name of the first spacecraft in the simulation is assumed.
:param viz: copy of the vizInterface module
:param kwargs: list of keyword arguments that this method supports
:return: void
Keyword Args
------------
spacecraftName: str
The name of the spacecraft for which the actuator GUI options are set.
Default: If not provided, then the name of the first spacecraft in the simulation is used.
viewThrusterPanel: bool
flag if the GUI panel should be shown illustrating the thruster states
Default: if not provided, then the Vizard default settings are used
viewRWPanel: bool
flag if the GUI panel should be shown illustrating the reaction wheel states
Default: if not provided, then the Vizard default settings are used
viewThrusterHUD: bool
flag if the HUD visualization of the thruster states should be shown
Default: if not provided, then the Vizard default settings are used
viewRWHUD: bool
flag if the HUD visualization of the reaction wheel states should be shown
Default: if not provided, then the Vizard default settings are used
showThrusterLabels: bool
flag if the thruster labels should be shown
Default: if not provided, then the Vizard default settings are used
showRWLabels: bool
flag if the reaction wheel labels should be shown
Default: if not provided, then the Vizard default settings are used
"""
if not vizFound:
print('vizFound is false. Skipping this method.')
return
global firstSpacecraftName
vizElement = vizInterface.ActuatorGuiSettings()
unitTestSupport.checkMethodKeyword(
['spacecraftName', 'viewThrusterPanel', 'viewThrusterHUD', 'viewRWPanel', 'viewRWHUD',
'showThrusterLabels', 'showRWLabels'],
kwargs)
if 'spacecraftName' in kwargs:
scName = kwargs['spacecraftName']
if not isinstance(scName, basestring):
print('ERROR: spacecraftName must be a string')
exit(1)
vizElement.spacecraftName = scName
else:
vizElement.spacecraftName = firstSpacecraftName
if 'viewThrusterPanel' in kwargs:
setting = kwargs['viewThrusterPanel']
if not isinstance(setting, bool):
print('ERROR: viewThrusterPanel must be True or False')
exit(1)
vizElement.viewThrusterPanel = setting
if 'viewThrusterHUD' in kwargs:
setting = kwargs['viewThrusterHUD']
if not isinstance(setting, bool):
print('ERROR: viewThrusterHUD must be True or False')
exit(1)
vizElement.viewThrusterHUD = setting
if 'viewRWPanel' in kwargs:
setting = kwargs['viewRWPanel']
if not isinstance(setting, bool):
print('ERROR: viewRWPanel must be True or False')
exit(1)
vizElement.viewRWPanel = setting
if 'viewRWHUD' in kwargs:
setting = kwargs['viewRWHUD']
if not isinstance(setting, bool):
print('ERROR: viewRWHUD must be an integer value')
exit(1)
vizElement.viewRWHUD = setting
if 'showThrusterLabels' in kwargs:
setting = kwargs['showThrusterLabels']
if not isinstance(setting, bool):
print('ERROR: showThrusterLabels must be an integer value')
exit(1)
vizElement.showThrusterLabels = setting
if 'showRWLabels' in kwargs:
setting = kwargs['showRWLabels']
if not isinstance(setting, bool):
print('ERROR: showRWLabels must be an integer value')
exit(1)
vizElement.showRWLabels = setting
actuatorGuiSettingList.append(vizElement)
del viz.settings.actuatorGuiSettingsList[:] # clear settings list to replace it with updated list
viz.settings.actuatorGuiSettingsList = vizInterface.ActuatorGuiSettingsConfig(actuatorGuiSettingList)
return
coneInOutList = []
def createConeInOut(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
global firstSpacecraftName
vizElement = vizInterface.KeepOutInCone()
unitTestSupport.checkMethodKeyword(
['fromBodyName', 'toBodyName', 'coneColor', 'isKeepIn', 'position_B', 'normalVector_B',
'incidenceAngle', 'coneHeight', 'coneName'],
kwargs)
if 'fromBodyName' in kwargs:
fromName = kwargs['fromBodyName']
if not isinstance(fromName, basestring):
print('ERROR: fromBodyName must be a string')
exit(1)
vizElement.fromBodyName = fromName
else:
vizElement.fromBodyName = firstSpacecraftName
if 'toBodyName' in kwargs:
toName = kwargs['toBodyName']
if not isinstance(toName, basestring):
print('ERROR: toBodyName must be a string')
exit(1)
vizElement.toBodyName = toName
else:
print('ERROR: toBodyName must be a specified')
exit(1)
if 'coneColor' in kwargs:
vizElement.coneColor = toRGBA255(kwargs['coneColor'])
else:
print('ERROR: coneColor must be a specified')
exit(1)
if 'isKeepIn' in kwargs:
keepInFlag = kwargs['isKeepIn']
if not isinstance(keepInFlag, bool):
print('ERROR: isKeepIn must be a BOOL')
exit(1)
vizElement.isKeepIn = keepInFlag
else:
print('ERROR: isKeepIn must be a specified')
exit(1)
if 'position_B' in kwargs:
pos_B = kwargs['position_B']
if not isinstance(pos_B, list):
print('ERROR: position_B must be a 3D array of doubles')
exit(1)
vizElement.position_B = pos_B
else:
vizElement.position_B = [0.0, 0.0, 0.0]
if 'normalVector_B' in kwargs:
n_B = kwargs['normalVector_B']
if not isinstance(n_B, list):
print('ERROR: normalVector_B must be a 3D array of doubles')
exit(1)
vizElement.normalVector_B = n_B
else:
print('ERROR: normalVector_B must be a specified')
exit(1)
if 'incidenceAngle' in kwargs:
angle = kwargs['incidenceAngle']
if not isinstance(angle, float):
print('ERROR: incidenceAngle must be a float value in radians')
exit(1)
vizElement.incidenceAngle = angle
else:
print('ERROR: incidenceAngle must be a specified')
exit(1)
if 'coneHeight' in kwargs:
height = kwargs['coneHeight']
if not isinstance(height, float):
print('ERROR: coneHeight must be a float value')
exit(1)
vizElement.coneHeight = height
else:
print('ERROR: coneHeight must be a specified')
exit(1)
if 'coneName' in kwargs:
coneName = kwargs['coneName']
if not isinstance(coneName, basestring):
print('ERROR: coneName must be a string')
exit(1)
vizElement.coneName = coneName
else:
vizElement.coneName = ""
coneInOutList.append(vizElement)
del viz.settings.coneList[:] # clear settings list to replace it with updated list
viz.settings.coneList = vizInterface.KeepOutInConeConfig(coneInOutList)
return
stdCameraList = []
def createStandardCamera(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
cam = vizInterface.StdCameraSettings()
unitTestSupport.checkMethodKeyword(
['spacecraftName', 'setMode', 'setView', 'fieldOfView',
'bodyTarget', 'pointingVector_B', 'position_B'],
kwargs)
if 'spacecraftName' in kwargs:
scName = kwargs['spacecraftName']
if not isinstance(scName, basestring):
print('ERROR: spacecraftName must be a string, you provided ' + str(scName))
exit(1)
cam.spacecraftName = scName
else:
cam.spacecraftName = firstSpacecraftName
if 'setMode' in kwargs:
setMode = kwargs['setMode']
if not isinstance(setMode, int):
print('ERROR: setMode must be an integer')
exit(1)
if setMode < 0 or setMode > 2:
print('ERROR: setMode must be a 0 (body targeting) or 1 (pointing vector)')
exit(1)
cam.setMode = setMode
if 'setView' in kwargs:
setView = kwargs['setView']
if cam.setMode == 1:
print('ERROR: setView does not apply to pointing vector mode.')
exit(1)
if not isinstance(setView, int):
print('ERROR: setView must be an integer')
exit(1)
if setView < 0 or setView > 5:
print('ERROR: setView must be a number of [0,2]')
print('0 -> Nadir, 1 -> Orbit Normal, 2 -> Along Track (default to nadir). '
'This is a setting for body targeting mode.')
exit(1)
cam.setView = setView
if 'fieldOfView' in kwargs:
fieldOfView = kwargs['fieldOfView']
if not isinstance(fieldOfView, float):
print('ERROR: spacecraftVisible must be a float in radians')
exit(1)
cam.fieldOfView = fieldOfView
if 'bodyTarget' in kwargs:
if cam.setMode == 1:
print('ERROR: bodyTarget does not apply in pointing vector mode')
exit(1)
bodyTargetName = kwargs['bodyTarget']
if not isinstance(bodyTargetName, basestring):
print('ERROR: targetBodyName must be a string')
exit(1)
cam.bodyTarget = bodyTargetName
else:
cam.bodyTarget = ""
if 'pointingVector_B' in kwargs:
if cam.setMode == 0:
print('ERROR: pointingVector_B does not apply in body pointing mode')
exit(1)
pointingVector_B = kwargs['pointingVector_B']
if not isinstance(pointingVector_B, list):
print('ERROR: pointingVector_B must be a 3D array of doubles')
exit(1)
if len(pointingVector_B) != 3:
print('ERROR: pointingVector_B must be 3D list')
exit(1)
cam.pointingVector_B = pointingVector_B
else:
cam.pointingVector_B = [1.0, 0.0, 0.0]
if 'position_B' in kwargs:
position_B = kwargs['position_B']
if len(position_B) != 3:
print('ERROR: position_B must be 3D list of float values')
exit(1)
cam.position_B = position_B
else:
cam.position_B = [0, 0, 0]
stdCameraList.append(cam)
del viz.settings.stdCameraList[:] # clear settings list to replace it with updated list
viz.settings.stdCameraList = vizInterface.StdCameraConfig(stdCameraList)
return
def createCameraConfigMsg(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
global firstSpacecraftName
unitTestSupport.checkMethodKeyword(
['cameraID', 'parentName', 'fieldOfView', 'resolution', 'renderRate', 'cameraPos_B', 'sigma_CB', 'skyBox'],
kwargs)
if 'cameraID' in kwargs:
val = kwargs['cameraID']
if not isinstance(val, int) or val < 0:
print('ERROR: cameraID must be non-negative integer value.')
exit(1)
viz.cameraConfigMessage.cameraID = val
else:
print('ERROR: cameraID must be defined in createCameraConfigMsg()')
exit(1)
if 'parentName' in kwargs:
val = kwargs['parentName']
if not isinstance(val, basestring):
print('ERROR: parentName must be a string')
exit(1)
viz.cameraConfigMessage.parentName = val
else:
viz.cameraConfigMessage.parentName = firstSpacecraftName
if 'fieldOfView' in kwargs:
val = kwargs['fieldOfView']
if not isinstance(val, float):
print('ERROR: fieldOfView must be a float in radians')
exit(1)
viz.cameraConfigMessage.fieldOfView = val
else:
print('ERROR: fieldOfView must be defined in createCameraConfigMsg()')
exit(1)
if 'resolution' in kwargs:
val = kwargs['resolution']
if not isinstance(val, list):
print('ERROR: resolution must be a list')
exit(1)
if len(val) != 2:
print('ERROR: resolution list ' + str(val) + 'must be of length 2')
exit(1)
if not isinstance(val[0], int) or not isinstance(val[1], int):
print('ERROR: resolution list ' + str(val) + ' must contain integers')
exit(1)
viz.cameraConfigMessage.resolution = val
else:
print('ERROR: resolution must be defined in createCameraConfigMsg()')
exit(1)
if 'renderRate' in kwargs:
val = kwargs['renderRate']
if not isinstance(val, float) or val < 0:
print('ERROR: renderRate ' + str(val) + ' must be positive float value in units of seconds.')
exit(1)
viz.cameraConfigMessage.renderRate = int(val * 1e9) # convert to nano-seconds
if 'cameraPos_B' in kwargs:
val = kwargs['cameraPos_B']
if not isinstance(val, list):
print('ERROR: cameraPos_B must be a list')
exit(1)
if len(val) != 3:
print('ERROR: cameraPos_B list ' + str(val) + 'must be of length 3')
exit(1)
if not isinstance(val[0], float) or not isinstance(val[1], float) or not isinstance(val[2], float):
print('ERROR: cameraPos_B list ' + str(val) + ' must contain floats')
exit(1)
viz.cameraConfigMessage.cameraPos_B = val
else:
print('ERROR: cameraPos_B must be defined in createCameraConfigMsg()')
exit(1)
if 'sigma_CB' in kwargs:
val = kwargs['sigma_CB']
if not isinstance(val, list):
print('ERROR: sigma_CB must be a list')
exit(1)
if len(val) != 3:
print('ERROR: camersigma_CBaPos_B list ' + str(val) + 'must be of length 3')
exit(1)
if not isinstance(val[0], float) or not isinstance(val[1], float) or not isinstance(val[2], float):
print('ERROR: sigma_CB list ' + str(val) + ' must contain floats')
exit(1)
viz.cameraConfigMessage.sigma_CB = val
else:
print('ERROR: sigma_CB must be defined in createCameraConfigMsg()')
exit(1)
if 'skyBox' in kwargs:
val = kwargs['skyBox']
if not isinstance(val, basestring):
print('ERROR: skyBox must be a string')
exit(1)
viz.cameraConfigMessage.skyBox = val
else:
viz.cameraConfigMessage.skyBox = ""
return
[docs]def enableUnityVisualization(scSim, simTaskName, processName, **kwargs):
"""
This methods creates an instance of the vizInterface() modules and setups up associated Vizard
configuration setting messages.
Parameters
----------
scSim:
variable with the simulationBaseClass copy
simTaskName:
task to which to add the vizInterface module
processName:
process to which to write a default zero planetary ephemeris message if this message does not exist
Keyword Args
------------
saveFile: str
can be a single file name, or a full path + file name. In both cases a local results are stored in a local sub-folder.
Default: empty string resulting in the data not being saved to a file
gravBodies:
gravity Factory object.
Default: no gravity bodies are included
scName: str or list(str)
can be a single spacecraft name string, or a list of strings.
Default: assumes a single craft with a default name.
numRW: int or list(int)
number of RWs on spacecraft. If scName is a list and numRW is an integer, then the same number RW is added
to each spacecraft. If numRW is a list then it must be of the same dimension as scName.
Default value is zero RWs for each spacecraft.
thrDevices:
list of thruster devices states for the first spacecraft
opNavMode: bool
flag if opNaveMode should be used
liveStream: bool
flag if live data streaming to Vizard should be used
Returns
-------
:ref:`vizInterface` object
copy of the vizInterface instance
"""
if not vizFound:
print('Could not find vizInterface when import attempted. Be sure to build BSK with vizInterface support.')
return
# clear the list of point line elements
del pointLineList[:]
del actuatorGuiSettingList[:]
del coneInOutList[:]
global firstSpacecraftName
unitTestSupport.checkMethodKeyword(
['saveFile', 'opNavMode', 'gravBodies', 'numRW', 'thrDevices', 'liveStream', 'scName'],
kwargs)
# setup the Vizard interface module
vizMessenger = vizInterface.VizInterface()
scSim.AddModelToTask(simTaskName, vizMessenger)
# create spacecraft information container
scData = vizInterface.VizSpacecraftData()
# set spacecraft name
if 'scName' in kwargs:
val = kwargs['scName']
if isinstance(val, str):
scNames = [val]
elif isinstance(val, list):
scNames = val
for name in scNames:
if not isinstance(name, str):
print('ERROR: scName list must only contain spacecraft name strings')
exit(1)
else:
print('ERROR: scName must be a string or list of strings')
exit(1)
else:
scNames = [scData.spacecraftName]
firstSpacecraftName = scNames[0]
# set number of RWs
if 'numRW' in kwargs:
val = kwargs['numRW']
if isinstance(val, int):
numRWList = [val] * len(scNames)
elif isinstance(val, list):
numRWList = val
if len(scNames) != len(numRWList):
print('ERROR: numRW and scName list lengths must be the same')
exit(1)
for val in numRWList:
if not isinstance(val, int):
print('ERROR: numRW must be an integer or a list of integers')
exit(1)
else:
numRWList = [0] * len(scNames)
# set thruster device info
if 'thrDevices' in kwargs:
thrDevices = kwargs['thrDevices']
thList = []
for thClusterInfo in thrDevices:
thSet = vizInterface.ThrClusterMap()
thSet.thrCount = thClusterInfo[0]
thSet.thrTag = thClusterInfo[1]
thList.append(thSet)
scData.thrMsgData = vizInterface.VizThrConfig(thList)
# create list of spacecraft data with incremented I/O msg names, unique numRW values but equal thrDevices info
vizMessenger.scData.clear()
i = 0
scPlusInMsgName = scData.scPlusInMsgName
for name in scNames:
scData.spacecraftName = name
scData.numRW = numRWList[i]
if i != 0:
scData.scPlusInMsgName = scPlusInMsgName + str(i+1)
vizMessenger.scData.push_back(scData)
i = i + 1
# note that the following logic can receive a single file name, or a full path + file name.
# In both cases a local results are stored in a local sub-folder.
vizMessenger.saveFile = False
if 'saveFile' in kwargs:
fileNamePath = kwargs['saveFile']
fileName = os.path.splitext(os.path.basename(fileNamePath))[0]
filePath = os.path.dirname(fileNamePath)
if filePath == "":
filePath = "."
if not os.path.isdir(filePath + '/_VizFiles'):
os.mkdir(filePath + '/_VizFiles')
vizFileNamePath = filePath + '/_VizFiles/' + fileName + '_UnityViz.bin'
vizMessenger.saveFile = True
vizMessenger.protoFilename = vizFileNamePath
print("Saving Viz file to " + vizFileNamePath)
if 'liveStream' in kwargs:
val = kwargs['liveStream']
if not isinstance(val, bool):
print('ERROR: liveStream must True or False')
exit(1)
vizMessenger.liveStream = True
if 'opNavMode' in kwargs:
if kwargs['opNavMode'] > 0:
print('ERROR: do not use liveStream and opNavMode flags at the same time.')
exit(1)
vizMessenger.opNavMode = 0
if 'opNavMode' in kwargs:
val = kwargs['opNavMode']
if not isinstance(val, int):
print('ERROR: opNavMode must be 0 (off), 1 (regular opNav) or 2 (high performance opNav)')
exit(1)
if val < 0 or val > 2:
print('ERROR: opNavMode must be 0 (off), 1 (regular opNav) or 2 (high performance opNav)')
exit(1)
vizMessenger.opNavMode = val
if val > 0:
vizMessenger.opnavImageOutMsgName = "opnav_circles"
vizMessenger.spiceInMsgName = vizInterface.StringVector(["earth_planet_data",
"mars_planet_data",
"mars barycenter_planet_data",
"sun_planet_data",
"jupiter barycenter_planet_data",
"moon_planet_data",
"venus_planet_data",
"mercury_planet_data",
"uranus barycenter_planet_data",
"neptune barycenter_planet_data",
"pluto barycenter_planet_data",
"saturn barycenter_planet_data"])
vizMessenger.planetNames = vizInterface.StringVector(["earth", "mars", "mars barycenter", "sun", "jupiter barycenter", "moon", "venus", "mercury", "uranus barycenter", "neptune barycenter", "pluto barycenter", "saturn barycenter"])
# see if celestial body planet ephemeris messages must be created
if 'gravBodies' in kwargs:
gravFactory = kwargs['gravBodies']
gravBodies = gravFactory.gravBodies
if (gravBodies):
for key in gravBodies:
msgName = key + '_planet_data'
if (not scSim.TotalSim.IsMsgCreated(msgName)):
ephemData = spice_interface.SpicePlanetStateSimMsg()
ephemData.J2000Current = 0.0
ephemData.PositionVector = [0.0, 0.0, 0.0]
ephemData.VelocityVector = [0.0, 0.0, 0.0]
ephemData.J20002Pfix = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
ephemData.J20002Pfix_dot = [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
ephemData.PlanetName = key
# setting the msg structure name is required below to all the planet msg to be logged
unitTestSupport.setMessage(scSim.TotalSim, processName, msgName,
ephemData, "SpicePlanetStateSimMsg")
return vizMessenger