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
Parameter	Default	Description
opnavImageOutMsgs	CameraImageMsgPayload	(optional) vector of Image output messages, the corresponding camera configuration input message is setup through `vizInterface.addCamMsgToModule(msg)`
epochInMsg	EpochMsgPayload	(optional) simulation epoch date/time input msg
spiceInMsgs	SpicePlanetStateMsgPayload	(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.

`VizSpacecraftData` input messages per spacecraft
Parameter	Default	Description
scStateInMsg	SCStatesMsgPayload	msg of incoming spacecraft state data
rwInMsgs	RWConfigLogMsgPayload	(optional) Vector of incoming RW state messages
thrInMsgs	THROutputMsgPayload	(optional) vector of thruster input messages
cssInMsgs	CSSConfigLogMsgPayload	(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

std::vector<Message<CameraImageMsgPayload>*> opnavImageOutMsgs: vector of vizard instrument camera output messages

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.

bool broadcastStream: [Bool] Set True if messages should be broadcast for listener Vizards to pick up.

bool noDisplay: [Bool] Set True if Vizard should run performance opNav (no Vizard display)

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::vector<VizEventDialog*> vizEventDialogs = {}: vector of dialog boxes to show

std::string reqComProtocol: Communication protocol to use when connecting to 2-way Vizard.

std::string reqComAddress: Communication address to use when connecting to 2-way Vizard.

std::string reqPortNumber: Communication port number to use when connecting to 2-way Vizard.

std::string pubComProtocol: Communication protocol to use when connecting to broadcast Vizard.

std::string pubComAddress: Communication address to use when connecting to broadcast Vizard.

std::string pubPortNumber: Communication port number to use when connecting to broadcast Vizard.

double broadcastSettingsSendDelay: Real-time delay between sending Viz settings to broadcast socket.

ReadFunctor<EpochMsgPayload> epochInMsg: simulation epoch date/time input msg

MsgCurrStatus epochMsgStatus: ID of the epoch msg.

EpochMsgPayload epochMsgBuffer: epoch msg data

Message<VizUserInputMsgPayload> userInputMsg: User input from Vizard.

BSKLogger bskLogger: BSK Logging object.

Private Functions

void receiveUserInput(uint64_t CurrentSimNanos)

request user input from Vizard, save as

During liveStream mode, ask Vizard for any user inputs recorded since the last timestep. Parse and package into VizUserInputMsgPayload for handling in Python.

Parameters:: CurrentSimNanos – The current sim time

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 *requester_context: 2-way context pointer (container for socket management)

void *requester_socket: 2-way socket pointer (ZMQ_REQ)

void *publisher_context: Broadcast context pointer (container for socket management)

void *publisher_socket: Broadcast socket pointer (ZMQ_PUB)

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.

int64_t now: Current system time stamp.

int64_t lastSettingsSendTime: System time stamp when settings message was last sent to broadcast socket.