#
# 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.
#
import numpy as np
import os
from Basilisk import __path__
from Basilisk.architecture import messaging
from Basilisk.simulation import spacecraft
from Basilisk.utilities import unitTestSupport
from Basilisk.utilities import deprecated
from matplotlib import colors
from matplotlib.colors import is_color_like
try:
from Basilisk.simulation import vizInterface
vizFound = True
except ImportError:
vizFound = False
pauseFlag = False
endFlag = False
bskPath = __path__[0]
firstSpacecraftName = ''
def toRGBA255(color, alpha=None):
answer = [0, 0, 0, 0]
if isinstance(color, str):
# convert color name to 4D array of values with 0-255
if is_color_like(color):
answer = np.array(colors.to_rgba(color, alpha=alpha)) * 255
answer = [round(a) for a in answer]
else:
print("toRGBA255() was provided unknown color name " + color)
exit(1)
else:
if not isinstance(color, list):
print('ERROR: vizSupport: color must be a 4D array of integers')
exit(1)
if max(color) > 255 or min(color) < 0:
print('ERROR: vizSupport: 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, str):
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
locationList = []
def addLocation(viz, **kwargs):
if not vizFound:
print('vizFound is false. Skipping this method.')
return
vizElement = vizInterface.LocationPbMsg()
unitTestSupport.checkMethodKeyword(
['stationName', 'parentBodyName', 'r_GP_P', 'gHat_P', 'fieldOfView', 'color', 'range'],
kwargs)
if 'stationName' in kwargs:
stationName = kwargs['stationName']
if not isinstance(stationName, str):
print('ERROR: stationName must be a string')
exit(1)
vizElement.stationName = stationName
else:
print("ERROR: stationName argument must be provided to addLocation")
exit(0)
if 'parentBodyName' in kwargs:
parentBodyName = kwargs['parentBodyName']
if not isinstance(parentBodyName, str):
print('ERROR: parentBodyName must be a string')
exit(1)
vizElement.parentBodyName = parentBodyName
else:
print("ERROR: parentBodyName argument must be provided to addLocation")
exit(1)
r_GP_P = [0, 0, 0]
if 'r_GP_P' in kwargs:
r_GP_P = kwargs['r_GP_P']
if not isinstance(r_GP_P, list):
print('ERROR: r_GP_P must be a list of floats')
print(r_GP_P)
exit(1)
if len(r_GP_P) != 3:
print('ERROR: r_GP_P must be list of three floats')
exit(1)
try:
# check if vector is a list
vizElement.r_GP_P = r_GP_P
except:
try:
# convert Eigen array to list
vizElement.r_GP_P = unitTestSupport.EigenVector3d2np(r_GP_P).tolist()
except:
pass
else:
print("ERROR: r_GP_P argument must be provided to addLocation")
exit(0)
if 'gHat_P' in kwargs:
gHat_P = kwargs['gHat_P']
if not isinstance(gHat_P, list):
print('ERROR: gHat_P must be a list of three floats')
exit(1)
if len(gHat_P) != 3:
print('ERROR: gHat_P must be list of three floats')
exit(1)
vizElement.gHat_P = gHat_P
else:
vizElement.gHat_P = r_GP_P / np.linalg.norm(r_GP_P)
if 'fieldOfView' in kwargs:
fieldOfView = kwargs['fieldOfView']
if not isinstance(fieldOfView, float):
print('ERROR: fieldOfView must be a float value in radians')
exit(1)
if fieldOfView > np.pi or fieldOfView < 0.0:
print('ERROR: fieldOfView must be a value between 0 and Pi')
exit(1)
vizElement.fieldOfView = fieldOfView
if 'color' in kwargs:
color = kwargs['color']
vizElement.color = toRGBA255(color)
if 'range' in kwargs:
range = kwargs['range']
if not isinstance(range, float):
print('ERROR: range must be a float')
exit(1)
vizElement.range = range
locationList.append(vizElement)
del viz.locations[:] # clear settings list to replace it with updated list
viz.locations = vizInterface.LocationConfig(locationList)
return
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, str):
print('ERROR: vizSupport: 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, str):
print('ERROR: vizSupport: toBodyName must be a string')
exit(1)
vizElement.toBodyName = toName
else:
print('ERROR: vizSupport: toBodyName must be a specified')
exit(1)
if 'lineColor' in kwargs:
vizElement.lineColor = toRGBA255(kwargs['lineColor'])
else:
print('ERROR: vizSupport: 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
targetLineList = []
def createTargetLine(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, str):
print('ERROR: vizSupport: 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, str):
print('ERROR: vizSupport: toBodyName must be a string')
exit(1)
vizElement.toBodyName = toName
else:
print('ERROR: vizSupport: toBodyName must be a specified')
exit(1)
if 'lineColor' in kwargs:
vizElement.lineColor = toRGBA255(kwargs['lineColor'])
else:
print('ERROR: vizSupport: lineColor must be a specified')
exit(1)
targetLineList.append(vizElement)
updateTargetLineList(viz)
return
def updateTargetLineList(viz):
del viz.liveSettings.targetLineList[:] # clear settings list to replace it with updated list
viz.liveSettings.targetLineList = vizInterface.PointLineConfig(targetLineList)
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', 'color'],
kwargs)
if 'modelPath' in kwargs:
modelPathName = kwargs['modelPath']
if not isinstance(modelPathName, str):
print('ERROR: vizSupport: modelPath must be a string')
exit(1)
if len(modelPathName) == 0:
print('ERROR: vizSupport: modelPath is required and must be specified.')
exit(1)
vizElement.modelPath = modelPathName
else:
print('ERROR: vizSupport: modelPath is required and must be specified.')
exit(1)
if 'simBodiesToModify' in kwargs:
simBodiesList = kwargs['simBodiesToModify']
if not isinstance(simBodiesList, list):
print('ERROR: vizSupport: simBodiesToModify must be a list of strings')
exit(1)
if len(simBodiesList) == 0:
print('ERROR: vizSupport: simBodiesToModify must be a non-empty list of strings')
exit(1)
for item in simBodiesList:
if not isinstance(item, str):
print('ERROR: vizSupport: 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: vizSupport: offset must be a list of three floats')
exit(1)
if len(offsetVariable) != 3:
print('ERROR: vizSupport: 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: vizSupport: rotation must be a list of three floats')
exit(1)
if len(rotationVariable) != 3:
print('ERROR: vizSupport: 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: vizSupport: scale must be a list of three floats')
exit(1)
if len(scaleVariable) != 3:
print('ERROR: vizSupport: 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, str):
print('ERROR: vizSupport: customTexturePath must be a string')
exit(1)
vizElement.customTexturePath = customTexturePathName
else:
vizElement.customTexturePath = ""
if 'normalMapPath' in kwargs:
normalMapPathName = kwargs['normalMapPath']
if not isinstance(normalMapPathName, str):
print('ERROR: vizSupport: 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: vizSupport: shader must be a an integer.')
exit(1)
if abs(shaderVariable) > 1:
print('ERROR: vizSupport: shader must have a value of -1, 0 or +1.')
exit(1)
vizElement.shader = shaderVariable
if 'color' in kwargs:
colorVariable = kwargs['color']
if not isinstance(colorVariable, list):
print('ERROR: vizSupport: color must be a list of 4 integers')
exit(1)
if len(colorVariable) != 4:
print('ERROR: vizSupport: offset must be list of 4 integers')
exit(1)
vizElement.color = vizInterface.IntVector(colorVariable)
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, str):
print('ERROR: vizSupport: 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: vizSupport: 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: vizSupport: 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: vizSupport: 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: vizSupport: viewRWHUD must be True or False')
exit(1)
vizElement.viewRWHUD = setting
if 'showThrusterLabels' in kwargs:
setting = kwargs['showThrusterLabels']
if not isinstance(setting, bool):
print('ERROR: vizSupport: showThrusterLabels must be True or False')
exit(1)
vizElement.showThrusterLabels = setting
if 'showRWLabels' in kwargs:
setting = kwargs['showRWLabels']
if not isinstance(setting, bool):
print('ERROR: vizSupport: showRWLabels must be an True or False')
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
instrumentGuiSettingList = []
[docs]
def setInstrumentGuiSetting(viz, **kwargs):
"""
This method sets the instrument 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: 0 - If not provided, then the name of the first spacecraft in the simulation is used.
viewCSSPanel: int
flag if the GUI panel should be shown (1) or hidden (-1) illustrating the CSS states
Default: 0 - if not provided, then the Vizard default settings are used
viewCSSCoverage: int
flag if the HUD spherical coverage of the CSS states should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
viewCSSBoresight: int
flag if the HUD boresight axes of the CSS states should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showCSSLabels: int
flag if the CSS labels should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showGenericSensorLabels: int
flag if the generic sensor labels should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showTransceiverLabels: int
flag if the generic sensor labels should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showTransceiverFrustrum: int
flag if the generic sensor labels should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showGenericStoragePanel: int
flag if the generic sensor labels should be shown (1) or hidden (-1)
Default: 0 - if not provided, then the Vizard default settings are used
showMultiSphereLabels: int
flag if the generic sensor labels should be shown (1) or hidden (-1)
Default: 0 - 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.InstrumentGuiSettings()
unitTestSupport.checkMethodKeyword(
['spacecraftName', 'viewCSSPanel', 'viewCSSCoverage', 'viewCSSBoresight', 'showCSSLabels',
'showGenericSensorLabels', 'showTransceiverLabels', 'showTransceiverFrustrum',
'showGenericStoragePanel', 'showMultiSphereLabels'],
kwargs)
if 'spacecraftName' in kwargs:
scName = kwargs['spacecraftName']
if not isinstance(scName, str):
print('ERROR: vizSupport: spacecraftName must be a string')
exit(1)
vizElement.spacecraftName = scName
else:
vizElement.spacecraftName = firstSpacecraftName
if 'viewCSSPanel' in kwargs:
setting = kwargs['viewCSSPanel']
if not isinstance(setting, int):
print('ERROR: vizSupport: viewCSSPanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: viewCSSPanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.viewCSSPanel = setting
print(vizElement.viewCSSPanel)
if 'viewCSSCoverage' in kwargs:
setting = kwargs['viewCSSCoverage']
if not isinstance(setting, int):
print('ERROR: vizSupport: viewCSSCoverage must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: viewCSSPanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.viewCSSCoverage = setting
if 'viewCSSBoresight' in kwargs:
setting = kwargs['viewCSSBoresight']
if not isinstance(setting, int):
print('ERROR: vizSupport: viewCSSBoresight must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: viewCSSPanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.viewCSSBoresight = setting
if 'showCSSLabels' in kwargs:
setting = kwargs['showCSSLabels']
if not isinstance(setting, int):
print('ERROR: vizSupport: showCSSLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: viewCSSPanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showCSSLabels = setting
if 'showGenericSensorLabels' in kwargs:
setting = kwargs['showGenericSensorLabels']
if not isinstance(setting, int):
print('ERROR: vizSupport: showGenericSensorLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: showGenericSensorLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showGenericSensorLabels = setting
if 'showTransceiverLabels' in kwargs:
setting = kwargs['showTransceiverLabels']
if not isinstance(setting, int):
print('ERROR: vizSupport: showTransceiverLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: showTransceiverLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showTransceiverLabels = setting
if 'showTransceiverFrustrum' in kwargs:
setting = kwargs['showTransceiverFrustrum']
if not isinstance(setting, int):
print('ERROR: vizSupport: showTransceiverFrustrum must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: showTransceiverFrustrum must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showTransceiverFrustrum = setting
if 'showGenericStoragePanel' in kwargs:
setting = kwargs['showGenericStoragePanel']
if not isinstance(setting, int):
print('ERROR: vizSupport: showGenericStoragePanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: showGenericStoragePanel must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showGenericStoragePanel = setting
if 'showMultiSphereLabels' in kwargs:
setting = kwargs['showMultiSphereLabels']
if not isinstance(setting, int):
print('ERROR: vizSupport: showMultiSphereLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
if setting is False:
setting = -1
if setting*setting > 1:
print('ERROR: vizSupport: showMultiSphereLabels must be -1 (Off), 0 (default) or 1 (On)')
exit(1)
vizElement.showMultiSphereLabels = setting
instrumentGuiSettingList.append(vizElement)
del viz.settings.instrumentGuiSettingsList[:] # clear settings list to replace it with updated list
viz.settings.instrumentGuiSettingsList = vizInterface.InstrumentGuiSettingsConfig(instrumentGuiSettingList)
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, str):
print('ERROR: vizSupport: 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, str):
print('ERROR: vizSupport: toBodyName must be a string')
exit(1)
vizElement.toBodyName = toName
else:
print('ERROR: vizSupport: toBodyName must be a specified')
exit(1)
if 'coneColor' in kwargs:
vizElement.coneColor = toRGBA255(kwargs['coneColor'])
else:
print('ERROR: vizSupport: coneColor must be a specified')
exit(1)
if 'isKeepIn' in kwargs:
keepInFlag = kwargs['isKeepIn']
if not isinstance(keepInFlag, bool):
print('ERROR: vizSupport: isKeepIn must be a BOOL')
exit(1)
vizElement.isKeepIn = keepInFlag
else:
print('ERROR: vizSupport: 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: vizSupport: 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: vizSupport: normalVector_B must be a 3D array of doubles')
exit(1)
vizElement.normalVector_B = n_B
else:
print('ERROR: vizSupport: normalVector_B must be a specified')
exit(1)
if 'incidenceAngle' in kwargs:
angle = kwargs['incidenceAngle']
if not isinstance(angle, float):
print('ERROR: vizSupport: incidenceAngle must be a float value in radians')
exit(1)
vizElement.incidenceAngle = angle
else:
print('ERROR: vizSupport: incidenceAngle must be a specified')
exit(1)
if 'coneHeight' in kwargs:
height = kwargs['coneHeight']
if not isinstance(height, float):
print('ERROR: vizSupport: coneHeight must be a float value')
exit(1)
vizElement.coneHeight = height
else:
print('ERROR: vizSupport: coneHeight must be a specified')
exit(1)
if 'coneName' in kwargs:
coneName = kwargs['coneName']
if not isinstance(coneName, str):
print('ERROR: vizSupport: 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 = []
[docs]
def createStandardCamera(viz, **kwargs):
'''
add a standard camera window
'''
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', 'displayName'],
kwargs)
if 'spacecraftName' in kwargs:
scName = kwargs['spacecraftName']
if not isinstance(scName, str):
print('ERROR: vizSupport: 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: vizSupport: setMode must be an integer')
exit(1)
if setMode < 0 or setMode > 2:
print('ERROR: vizSupport: 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: vizSupport: setView does not apply to pointing vector mode.')
exit(1)
if not isinstance(setView, int):
print('ERROR: vizSupport: setView must be an integer')
exit(1)
if setView < 0 or setView > 2:
print('ERROR: vizSupport: 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: vizSupport: spacecraftVisible must be a float in radians')
exit(1)
cam.fieldOfView = fieldOfView
if 'bodyTarget' in kwargs:
if cam.setMode == 1:
print('ERROR: vizSupport: bodyTarget does not apply in pointing vector mode')
exit(1)
bodyTargetName = kwargs['bodyTarget']
if not isinstance(bodyTargetName, str):
print('ERROR: vizSupport: targetBodyName must be a string')
exit(1)
cam.bodyTarget = bodyTargetName
else:
cam.bodyTarget = ""
if 'pointingVector_B' in kwargs:
if cam.setMode == 0:
print('ERROR: vizSupport: pointingVector_B does not apply in body pointing mode')
exit(1)
pointingVector_B = kwargs['pointingVector_B']
if not isinstance(pointingVector_B, list):
print('ERROR: vizSupport: pointingVector_B must be a 3D array of doubles')
exit(1)
if len(pointingVector_B) != 3:
print('ERROR: vizSupport: 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: vizSupport: position_B must be 3D list of float values')
exit(1)
cam.position_B = position_B
else:
cam.position_B = [0, 0, 0]
if 'displayName' in kwargs:
displayName = kwargs['displayName']
if not isinstance(displayName, str):
print('ERROR: vizSupport: createStandardCamera: displayName must be a string')
exit(1)
cam.displayName = displayName
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', 'postProcessingOn', 'ppFocusDistance', 'ppAperture', 'ppFocalLength',
'ppMaxBlurSize', 'updateCameraParameters', 'renderMode', 'depthMapClippingPlanes'],
kwargs)
cameraConfigMsgPayload = messaging.CameraConfigMsgPayload()
if 'cameraID' in kwargs:
val = kwargs['cameraID']
if not isinstance(val, int) or val < 0:
print('ERROR: vizSupport: cameraID must be non-negative integer value.')
exit(1)
cameraConfigMsgPayload.cameraID = val
else:
print('ERROR: vizSupport: cameraID must be defined in createCameraConfigMsg()')
exit(1)
if 'parentName' in kwargs:
val = kwargs['parentName']
if not isinstance(val, str):
print('ERROR: vizSupport: parentName must be a string')
exit(1)
cameraConfigMsgPayload.parentName = val
else:
cameraConfigMsgPayload.parentName = firstSpacecraftName
if 'fieldOfView' in kwargs:
val = kwargs['fieldOfView']
if not isinstance(val, float):
print('ERROR: vizSupport: fieldOfView must be a float in radians')
exit(1)
cameraConfigMsgPayload.fieldOfView = val
else:
print('ERROR: vizSupport: fieldOfView must be defined in createCameraConfigMsg()')
exit(1)
if 'resolution' in kwargs:
val = kwargs['resolution']
if not isinstance(val, list):
print('ERROR: vizSupport: resolution must be a list')
exit(1)
if len(val) != 2:
print('ERROR: vizSupport: 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: vizSupport: resolution list ' + str(val) + ' must contain integers')
exit(1)
cameraConfigMsgPayload.resolution = val
else:
print('ERROR: vizSupport: 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: vizSupport: renderRate ' + str(val) + ' must be positive float value in units of seconds.')
exit(1)
cameraConfigMsgPayload.renderRate = int(val * 1e9) # convert to nano-seconds
if 'cameraPos_B' in kwargs:
val = kwargs['cameraPos_B']
if not isinstance(val, list):
print('ERROR: vizSupport: cameraPos_B must be a list')
exit(1)
if len(val) != 3:
print('ERROR: vizSupport: 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: vizSupport: cameraPos_B list ' + str(val) + ' must contain floats')
exit(1)
cameraConfigMsgPayload.cameraPos_B = val
else:
print('ERROR: vizSupport: 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: vizSupport: sigma_CB must be a list')
exit(1)
if len(val) != 3:
print('ERROR: vizSupport: sigma_CB 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: vizSupport: sigma_CB list ' + str(val) + ' must contain floats')
exit(1)
cameraConfigMsgPayload.sigma_CB = val
else:
print('ERROR: vizSupport: sigma_CB must be defined in createCameraConfigMsg()')
exit(1)
if 'skyBox' in kwargs:
val = kwargs['skyBox']
if not isinstance(val, str):
print('ERROR: vizSupport: skyBox must be a string')
exit(1)
cameraConfigMsgPayload.skyBox = val
else:
cameraConfigMsgPayload.skyBox = ""
if 'postProcessingOn' in kwargs:
val = kwargs['postProcessingOn']
if not isinstance(val, int) or val < 0:
print('ERROR: vizSupport: postProcessingOn must be non-negative integer value.')
exit(1)
cameraConfigMsgPayload.postProcessingOn = val
if 'ppFocusDistance' in kwargs:
val = kwargs['ppFocusDistance']
if not isinstance(val, float) or val < 0:
print('ERROR: vizSupport: ppFocusDistance ' + str(val) + ' must be 0 or greater than 0.1.')
exit(1)
cameraConfigMsgPayload.ppFocusDistance = int(val)
if 'ppAperture' in kwargs:
val = kwargs['ppAperture']
if not isinstance(val, float) or val < 0 or val > 32:
print('ERROR: vizSupport: ppAperture ' + str(val) + ' must be 0 or with [0.05, 32].')
exit(1)
cameraConfigMsgPayload.ppAperture = int(val)
if 'ppFocalLength' in kwargs:
val = kwargs['ppFocalLength']
if not isinstance(val, float) or val < 0 or val > 0.3:
print('ERROR: vizSupport: ppFocalLength ' + str(val) + ' must be 0 or with [0.001, 0.3] meters.')
exit(1)
cameraConfigMsgPayload.ppFocalLength = int(val)
if 'ppMaxBlurSize' in kwargs:
val = kwargs['ppMaxBlurSize']
if not isinstance(val, int) or val < 0 or val > 4:
print('ERROR: vizSupport: ppMaxBlurSize must be non-negative integer value between [0, 4].')
exit(1)
cameraConfigMsgPayload.ppMaxBlurSize = val
if 'updateCameraParameters' in kwargs:
val = kwargs['updateCameraParameters']
if not isinstance(val, int) or val < 0 or val > 1:
print('ERROR: vizSupport: updateCameraParameters must be 0 or 1.')
exit(1)
cameraConfigMsgPayload.cameraID = val
else:
cameraConfigMsgPayload.cameraID = 0
if 'renderMode' in kwargs:
val = kwargs['renderMode']
if not isinstance(val, int) or val < 0 or val > 1:
print('ERROR: vizSupport: renderMode must be 0 or 1.')
exit(1)
cameraConfigMsgPayload.renderMode = val
else:
cameraConfigMsgPayload.renderMode = 0
if 'depthMapClippingPlanes' in kwargs:
if cameraConfigMsgPayload.renderMode != 1:
print('WARNING: vizSupport: depthMapClippingPlanes only works with renderMode set to 1 (depthMap).')
exit(1)
val = kwargs['depthMapClippingPlanes']
if not isinstance(val, list):
print('ERROR: vizSupport: depthMapClippingPlanes must be a list of two doubles.')
exit(1)
if len(val) != 2:
print('ERROR: vizSupport: depthMapClippingPlanes list ' + str(val) + 'must be of length 2')
exit(1)
if not isinstance(val[0], float) or not isinstance(val[1], float):
print('ERROR: vizSupport: depthMapClippingPlanes list ' + str(val) + ' must contain floats')
exit(1)
print(val)
cameraConfigMsgPayload.depthMapClippingPlanes = val
else:
cameraConfigMsgPayload.depthMapClippingPlanes = [-1.0, -1.0]
cameraConfigMsg = messaging.CameraConfigMsg().write(cameraConfigMsgPayload)
cameraConfigMsg.this.disown()
viz.addCamMsgToModule(cameraConfigMsg)
return
[docs]
def enableUnityVisualization(scSim, simTaskName, scList, **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
scList:
:ref:`spacecraft` objects. Can be a single object or list of objects
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
rwEffectorList: single or list of ``ReactionWheelStateEffector``
The list must have the same length ``scList``. Each entry is the :ref:`ReactionWheelStateEffector` instance
for the spacecraft, or ``None`` if the spacecraft has no RW devices.
thrEffectorList: single or double-list of :ref:`ThrusterDynamicEffector`
The list must have the same length ``scList``. Each entry is a list of :ref:`ReactionWheelStateEffector`
instances
for the spacecraft denoting a thruster cluster, or ``None`` if the spacecraft has no thruster devices.
thrColors: single or vector of int(4)
array of RGBA color values for each thruster set. The list must have the same length as ``scList``.
Each list entry is a list of RGBA array values for each cluster set.
cssList:
list of lists of :ref:`CoarseSunSensor` objects. The outer list length must match ``scList``.
genericSensorList:
list of lists of ``GenericSensor`` structures. The outer list length must match ``scList``.
genericSensorCmdInMsgs:
list of lists of :ref:`DeviceCmdMsgPayload` sensor state messages. The outer list length must
match ``scList``. If the spacecraft has no sensor command msg, then use ``None``.
opNavMode: bool
flag if opNavMode should be used [DEPRECATED]
liveStream: bool
flag if live data streaming to Vizard should be used
broadcastStream: bool
flag if messages should be broadcast for listener Vizards to pick up.
noDisplay: bool
flag if Vizard should run performance opNav (no Vizard display)
genericStorageList:
list of lists of ``GenericStorage`` structures. The outer list length must match ``scList``.
lightList:
list of lists of ``Light`` structures. The outer list length must match ``scList``.
spriteList:
list of sprite information for each spacecraft
modelDictionaryKeyList:
list of the spacecraft model dictionary. Use ``None`` if default values are used
oscOrbitColorList:
list of spacecraft osculating orbit colors. Can be 4 RGBA integer value (0-255), a color string, or
``None`` if default values should be used. The array must be of the length of the spacecraft list
trueOrbitColorList:
list of spacecraft true or actual orbit colors. Can be 4 RGBA integer value (0-255), a color string, or
``None`` if default values should be used. The array must be of the length of the spacecraft list
trueOrbitColorInMsgList:
list of color messages to read and provide the true orbit color at each time step. This overwrites
the values set with trueOrbitColorList.
msmInfoList:
list of MSM configuration messages
ellipsoidList:
list of lists of ``Ellipsoid`` structures. The outer list length must match ``scList``.
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', 'rwEffectorList', 'thrEffectorList', 'thrColors', 'cssList', 'liveStream', 'broadcastStream',
'noDisplay', 'genericSensorList', 'transceiverList', 'genericStorageList', 'lightList', 'spriteList',
'modelDictionaryKeyList', 'oscOrbitColorList', 'trueOrbitColorList', 'logoTextureList',
'msmInfoList', 'ellipsoidList', 'trueOrbitColorInMsgList'],
kwargs)
# setup the Vizard interface module
vizMessenger = vizInterface.VizInterface()
vizMessenger.ModelTag = "vizMessenger"
scSim.AddModelToTask(simTaskName, vizMessenger)
# ensure the spacecraft object list is a list
if not isinstance(scList, list):
scList = [scList]
scListLength = len(scList)
firstSpacecraftName = scList[0].ModelTag
# process the RW effector argument
rwEffectorScList = False
if 'rwEffectorList' in kwargs:
rwEffectorScList = kwargs['rwEffectorList']
if not isinstance(rwEffectorScList, list):
rwEffectorScList = [rwEffectorScList]
if len(rwEffectorScList) != scListLength:
print('ERROR: vizSupport: rwEffectorList should have the same length as the number of spacecraft')
exit(1)
thrEffectorScList = False
if 'thrEffectorList' in kwargs:
thrEffectorScList = kwargs['thrEffectorList']
if not isinstance(thrEffectorScList, list):
thrEffectorScList = [[thrEffectorScList]]
if len(thrEffectorScList) != scListLength:
print('ERROR: vizSupport: thrEffectorList should have the same length as the number of spacecraft')
exit(1)
thrColorsScList = False
if 'thrColors' in kwargs:
thrColorsScList = kwargs['thrColors']
if len(thrColorsScList) == 4:
colorCheck = True
for c in thrColorsScList:
if not isinstance(c, int):
colorCheck = False
if colorCheck:
thrColorsScList = [[thrColorsScList]]
if len(thrColorsScList) != scListLength:
print('ERROR: vizSupport: thrColors should have the same length as the number of spacecraft')
exit(1)
cssScList = False
if 'cssList' in kwargs:
cssScList = kwargs['cssList']
if not isinstance(cssScList, list):
cssScList = [[cssScList]]
if len(cssScList) != scListLength:
print('ERROR: vizSupport: cssList should have the same length as the number '
'of spacecraft and contain lists of CSSs')
exit(1)
gsScList = False
if 'genericSensorList' in kwargs:
gsScList = kwargs['genericSensorList']
if not isinstance(gsScList, list):
gsScList = [[gsScList]]
if len(gsScList) != scListLength:
print('ERROR: vizSupport: genericSensorList should have the same length as the '
'number of spacecraft and contain lists of generic sensors')
exit(1)
elScList = False
if 'ellipsoidList' in kwargs:
elScList = kwargs['ellipsoidList']
if not isinstance(elScList, list):
elScList = [[elScList]]
if len(elScList) != scListLength:
print('ERROR: vizSupport: ellipsoidList should have the same length as the '
'number of spacecraft and contain lists of generic sensors')
exit(1)
liScList = False
if 'lightList' in kwargs:
liScList = kwargs['lightList']
if not isinstance(liScList, list):
liScList = [[liScList]]
if len(liScList) != scListLength:
print('ERROR: vizSupport: lightList should have the same length as the '
'number of spacecraft and contain lists of light devices')
exit(1)
gsdScList = False
if 'genericStorageList' in kwargs:
gsdScList = kwargs['genericStorageList']
if not isinstance(gsdScList, list):
gsdScList = [[gsdScList]]
if len(gsdScList) != scListLength:
print('ERROR: vizSupport: genericStorageList should have the same length as the '
'number of spacecraft and contain lists of generic sensors')
exit(1)
tcScList = False
if 'transceiverList' in kwargs:
tcScList = kwargs['transceiverList']
if not isinstance(tcScList, list):
tcScList = [[tcScList]]
if len(tcScList) != scListLength:
print('ERROR: vizSupport: tcScList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
spriteScList = False
if 'spriteList' in kwargs:
spriteScList = kwargs['spriteList']
if not isinstance(spriteScList, list):
spriteScList = [spriteScList]
if len(spriteScList) != scListLength:
print('ERROR: vizSupport: spriteScList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
modelDictionaryKeyList = False
if 'modelDictionaryKeyList' in kwargs:
modelDictionaryKeyList = kwargs['modelDictionaryKeyList']
if not isinstance(modelDictionaryKeyList, list):
modelDictionaryKeyList = [modelDictionaryKeyList]
if len(modelDictionaryKeyList) != scListLength:
print('ERROR: vizSupport: modelDictionaryKeyList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
logoTextureList = False
if 'logoTextureList' in kwargs:
logoTextureList = kwargs['logoTextureList']
if not isinstance(logoTextureList, list):
logoTextureList = [logoTextureList]
if len(logoTextureList) != scListLength:
print('ERROR: vizSupport: logoTextureList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
oscOrbitColorList = False
if 'oscOrbitColorList' in kwargs:
oscOrbitColorList = kwargs['oscOrbitColorList']
if len(oscOrbitColorList) != scListLength:
print('ERROR: vizSupport: oscOrbitColorList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
for elem in oscOrbitColorList:
if isinstance(elem, list):
if len(elem) != 4:
print('ERROR: vizSupport: if specifying oscOrbitColorList color via RGBA values, you '
'must provide 4 integers values from 0 to 255 ')
exit(1)
for color in elem:
if color < 0 or color > 255:
print('ERROR: vizSupport: oscOrbitColorList color contained negative value ')
exit(1)
trueOrbitColorList = False
if 'trueOrbitColorList' in kwargs:
trueOrbitColorList = kwargs['trueOrbitColorList']
if len(trueOrbitColorList) != scListLength:
print('ERROR: vizSupport: trueOrbitColorList should have the same length as the '
'number of spacecraft and contain lists of transceivers')
exit(1)
for elem in trueOrbitColorList:
if isinstance(elem, list):
if len(elem) != 4:
print('ERROR: vizSupport: if specifying trueOrbitColorList color via RGBA values, you '
'must provide 4 integers values from 0 to 255 ')
exit(1)
for color in elem:
if color < 0 or color > 255:
print('ERROR: vizSupport: trueOrbitColorList color contained negative value ')
exit(1)
msmInfoList = False
if 'msmInfoList' in kwargs:
msmInfoList = kwargs['msmInfoList']
if not isinstance(msmInfoList, list):
msmInfoList = [msmInfoList]
if len(msmInfoList) != scListLength:
print('ERROR: vizSupport: msmInfoList should have the same length as the '
'number of spacecraft')
exit(1)
trueOrbitColorInMsgList = False
if 'trueOrbitColorInMsgList' in kwargs:
trueOrbitColorInMsgList = kwargs['trueOrbitColorInMsgList']
if not isinstance(trueOrbitColorInMsgList, list):
trueOrbitColorInMsgList = [trueOrbitColorInMsgList]
if len(trueOrbitColorInMsgList) != scListLength:
print('ERROR: vizSupport: trueOrbitColorInMsgList should have the same length as the '
'number of spacecraft')
exit(1)
# loop over all spacecraft to associated states and msg information
planetNameList = []
planetInfoList = []
spiceMsgList = []
vizMessenger.scData.clear()
c = 0
spacecraftParentName = ""
for sc in scList:
# create spacecraft information container
scData = vizInterface.VizSpacecraftData()
# link to spacecraft state message
if isinstance(sc, type(spacecraft.Spacecraft())):
# set spacecraft name
scData.spacecraftName = sc.ModelTag
spacecraftParentName = sc.ModelTag
scData.scStateInMsg.subscribeTo(sc.scStateOutMsg)
# link to celestial bodies information
for gravBody in sc.gravField.gravBodies:
# check if the celestial object has already been added
if gravBody.planetName not in planetNameList:
planetNameList.append(gravBody.planetName)
planetInfo = vizInterface.GravBodyInfo()
if gravBody.displayName == "":
planetInfo.bodyName = gravBody.planetName
else:
planetInfo.bodyName = gravBody.displayName
planetInfo.mu = gravBody.mu
planetInfo.radEquator = gravBody.radEquator
planetInfo.radiusRatio = gravBody.radiusRatio
planetInfo.modelDictionaryKey = gravBody.modelDictionaryKey
planetInfoList.append(planetInfo)
spiceMsgList.append(gravBody.planetBodyInMsg)
else:
# the scList object is an effector belonging to the parent spacecraft
scData.parentSpacecraftName = spacecraftParentName
ModelTag = sc[0]
effStateOutMsg = sc[1]
scData.spacecraftName = ModelTag
scData.scStateInMsg.subscribeTo(effStateOutMsg)
# process RW effectors
if rwEffectorScList:
rwList = []
if rwEffectorScList[c] is not None:
# RWs have been added to this spacecraft
for rwLogMsg in rwEffectorScList[c].rwOutMsgs:
rwList.append(rwLogMsg.addSubscriber())
scData.rwInMsgs = messaging.RWConfigLogMsgInMsgsVector(rwList)
# process THR effectors
if thrEffectorScList:
thrList = []
thrInfo = []
if thrEffectorScList[c] is not None: # THR clusters have been added to this spacecraft
clusterCounter = 0
for thrEff in thrEffectorScList[c]: # loop over the THR effectors attached to this spacecraft
thSet = vizInterface.ThrClusterMap()
thSet.thrTag = thrEff.ModelTag # set the label for this cluster of THR devices
if thrColorsScList:
if thrColorsScList[c] is not None:
thSet.color = thrColorsScList[c][clusterCounter]
for thrLogMsg in thrEff.thrusterOutMsgs: # loop over the THR cluster log message
thrList.append(thrLogMsg.addSubscriber())
thrInfo.append(thSet)
clusterCounter += 1
scData.thrInMsgs = messaging.THROutputMsgInMsgsVector(thrList)
scData.thrInfo = vizInterface.ThrClusterVector(thrInfo)
# process CSS information
if cssScList:
cssDeviceList = []
if cssScList[c] is not None: # CSS list has been added to this spacecraft
for css in cssScList[c]:
cssDeviceList.append(css.cssConfigLogOutMsg.addSubscriber())
scData.cssInMsgs = messaging.CSSConfigLogMsgInMsgsVector(cssDeviceList)
# process generic sensor HUD information
if gsScList:
gsList = []
if gsScList[c] is not None: # generic sensor(s) have been added to this spacecraft
for gs in gsScList[c]:
gsList.append(gs)
scData.genericSensorList = vizInterface.GenericSensorVector(gsList)
# process spacecraft ellipsoids
if elScList:
elList = []
if elScList[c] is not None: # generic sensor(s) have been added to this spacecraft
for el in elScList[c]:
elList.append(el)
scData.ellipsoidList = vizInterface.EllipsoidVector(elList)
# process spacecraft lights
if liScList:
liList = []
if liScList[c] is not None: # light objects(s) have been added to this spacecraft
for li in liScList[c]:
liList.append(li)
scData.lightList = vizInterface.LightVector(liList)
# process generic storage HUD information
if gsdScList:
gsdList = []
if gsdScList[c] is not None: # generic storage device(s) have been added to this spacecraft
for gsd in gsdScList[c]:
if len(gsd.color) > 1:
if len(gsd.color)/4 != len(gsd.thresholds) + 1:
print("ERROR: vizSupport: generic storage " + gsd.label +
" threshold list does not have the correct dimension. "
"It should be 1 smaller than the list of colors.")
exit(1)
else:
if len(gsd.thresholds) > 0:
print("ERROR: vizSupport: generic storage " + gsd.label +
" threshold list is set, but no multiple of colors are provided.")
exit(1)
gsdList.append(gsd)
scData.genericStorageList = vizInterface.GenericStorageVector(gsdList)
# process transceiver HUD information
if tcScList:
tcList = []
if tcScList[c] is not None: # transceiver(s) have been added to this spacecraft
for tc in tcScList[c]:
tcList.append(tc)
scData.transceiverList = vizInterface.TransceiverVector(tcList)
# process sprite information
if spriteScList:
if spriteScList[c] is not None:
scData.spacecraftSprite = spriteScList[c]
# process modelDictionaryKey information
if modelDictionaryKeyList:
if modelDictionaryKeyList[c] is not None:
scData.modelDictionaryKey = modelDictionaryKeyList[c]
# process logoTexture information
if logoTextureList:
if logoTextureList[c] is not None:
scData.logoTexture = logoTextureList[c]
if oscOrbitColorList:
if oscOrbitColorList[c] is not None:
scData.oscOrbitLineColor = vizInterface.IntVector(oscOrbitColorList[c])
if trueOrbitColorList:
if trueOrbitColorList[c] is not None:
scData.trueTrajectoryLineColor = vizInterface.IntVector(trueOrbitColorList[c])
if trueOrbitColorInMsgList:
if trueOrbitColorInMsgList[c] is not None:
scData.trueTrajectoryLineColorInMsg = trueOrbitColorInMsgList[c]
# process MSM information
if msmInfoList:
if msmInfoList[c] is not None: # MSM have been added to this spacecraft
scData.msmInfo = msmInfoList[c]
vizMessenger.scData.push_back(scData)
c += 1
vizMessenger.gravBodyInformation = vizInterface.GravBodyInfoVector(planetInfoList)
vizMessenger.spiceInMsgs = messaging.SpicePlanetStateMsgInMsgsVector(spiceMsgList)
# 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: vizSupport: liveStream must be True or False')
exit(1)
vizMessenger.liveStream = val
if 'broadcastStream' in kwargs:
val = kwargs['broadcastStream']
if not isinstance(val, bool):
print('ERROR: vizSupport: broadcastStream must be True or False')
exit(1)
vizMessenger.broadcastStream = val
if 'noDisplay' in kwargs:
val = kwargs['noDisplay']
if not isinstance(val, bool):
print('ERROR: vizSupport: noDisplay must be True or False')
exit(1)
if val and (vizMessenger.liveStream or vizMessenger.broadcastStream):
print('ERROR: vizSupport: noDisplay mode cannot be used with liveStream or broadcastStream.')
exit(1)
vizMessenger.noDisplay = val
if 'opNavMode' in kwargs:
deprecateOpNav()
val = kwargs['opNavMode']
if not isinstance(val, int):
print('ERROR: vizSupport: opNavMode must be 0 (off), 1 (regular opNav) or 2 (high performance opNav)')
exit(1)
if val < 0 or val > 2:
print('ERROR: vizSupport: opNavMode must be 0 (off), 1 (regular opNav) or 2 (high performance opNav)')
exit(1)
if val == 1:
vizMessenger.liveStream = True
if val == 2:
if (vizMessenger.liveStream or vizMessenger.broadcastStream):
print("ERROR: vizSupport: noDisplay mode cannot be used with liveStream or broadcastStream.")
else:
vizMessenger.noDisplay = True
return vizMessenger
@deprecated.deprecated("2025/04/17", "opNavMode has been deprecated. Use 'liveStream' or 'noDisplay' flags instead.")
def deprecateOpNav():
return