SimulationBaseClass

class SimulationBaseClass.EventHandlerClass(eventName, eventRate=1000000000, eventActive=False, conditionList=None, actionList=None, conditionFunction=None, actionFunction=None, conditionTime=None, terminal=False, exactRateMatch=True)[source]

Bases: object

Class for defining event checking behavior, conditions, and actions.

Three checking strategies are supported:

  1. Exact Interval Checking: (default) The event is checked only when the current time is an exact multiple of the eventRate. This behavior is similar to how tasks are scheduled in Basilisk. Note that if no task leads to a timestep at a checking time, the event will not be checked.

  2. Elapsed Interval Checking: The event is checked whenever the eventRate has elapsed since the last check. This is enabled by setting exactRateMatch to False. This behavior is similar to how Basilisk loggers operate.

  3. Condition Time Checking: An alternative to interval-based checking when an event should occur at a specific time. This is enabled by setting conditionTime, and will lead to the event being triggered at the first timestep at or after the specified time.

When an event is checked, the conditionFunction is called to determine if the event should occur. If the condition returns True, the actionFunction is executed. and the event is deactivated. To continue checking the event, it must be reactivated. If the event is marked as terminal, the simulation will be instructed to terminate when the event condition occurs.

Parameters:

  • eventName (str) – Name of the event

  • eventRate (int) – Rate at which the event is checked in nanoseconds

  • eventActive (bool) – Whether the event is active or not

  • terminal (bool) – Whether this event should terminate the simulation when it occurs

  • conditionFunction (function) – Function to check if the event should occur. The function should take the simulation object as an argument and return a boolean. This is the preferred manner to set conditions as it enables the use of arbitrary packages and objects in events and allows for event code to be parsed by IDE tools.

  • conditionTime (int) – Alternative to conditionFunction, a time in nanoseconds to trigger the event. Does not depend on eventRate for checking.

  • actionFunction (function) – Function to execute when the event occurs. The function should take the simulation object as an argument. This is the preferred manner to set conditions as it enables the use of arbitrary packages and objects in events and allows for event code to be parsed by IDE tools.

  • exactRateMatch (bool) – If True, the event is checked only when the current time is an exact multiple of the eventRate. If False, the event is checked whenever the eventRate has elapsed since the last check.

  • conditionList (list) – (deprecated) List of conditions to check for the event, expressed as strings of code to execute within the class.

  • actionList (list) – (deprecated) List of actions to perform when the event occurs, expressed as strings of code to execute within the class.

checkEvent(parentSim)[source]

Check the condition and execute the action if condition is met.

nextCheckTime(currentTime)[source]

Get the earliest upcoming time this event should be checked.

shouldBeChecked(currentTime)[source]

See if the event should be checked at the current time.

class SimulationBaseClass.SimBaseClass[source]

Bases: object

Simulation Base Class

AddModelToTask(TaskName, NewModel, ModelData=None, ModelPriority=-1)[source]

This function is responsible for passing on the logger to a module instance (model), adding the model to a particular task, and defining the order/priority that the model gets updated within the task.

Parameters:

  • (str) (TaskName) – Name of the task

  • (obj) (NewModel) – Model to add to the task

  • ModelData – None or struct containing, only used for C BSK modules

  • (int) (ModelPriority) – Priority that determines when the model gets updated. (Higher number = Higher priority)

Returns:

ConfigureStopTime(TimeStop, StopCondition: Literal['<=', '>='] = '<=')[source]

Set the simulation stop time in nano-seconds.

Parameters:

  • TimeStop (int) – Time to stop the simulation in nanoseconds

  • StopCondition (str) –

    Condition for meeting the stop time. Two behaviors are supported:

    • <=: (default) The simulation will run as far as it can such that the StopTime is met if possible, but not exceeded.

    • >=: The simulation will run as far as it can such that the StopTime is minimally exceeded, but met if possible.

CreateNewProcess(procName, priority=-1)[source]

Creates a process and adds it to the sim

Parameters:

  • (str) (procName) – Name of process

  • (int) (priority) – Priority that determines when the model gets updated. (Higher number = Higher priority)

Returns:

simulationArchTypes.ProcessBaseClass object

CreateNewTask(TaskName, TaskRate, InputDelay=None, FirstStart=0)[source]

Creates a simulation task on the C-level with a specific update-frequency (TaskRate), an optional delay, and an optional start time.

Parameters:

  • TaskName (str) – Name of Task

  • TaskRate (int) – Number of nanoseconds to elapse before update() is called

  • InputDelay (int) – (deprecated, unimplemented) Number of nanoseconds simulating a lag of the particular task

  • FirstStart (int) – Number of nanoseconds to elapse before task is officially enabled

Returns:

simulationArchTypes.TaskBaseClass object

ExecuteSimulation()[source]

run the simulation until the prescribed stop time or termination.

GetMessageConnectionDot(extraMessages=None, includeUnlinked=True, includeRecorders=True, graphvizLayout='vertical')[source]

Return a Graphviz DOT description of the simulation message graph.

Parameters:

  • extraMessages (dict or list[dict], optional) – Stand-alone messages to include as possible source messages.

  • includeUnlinked (bool) – If True, include unlinked input message endpoints.

  • includeRecorders (bool) – If True, include message recorder modules.

  • graphvizLayout (str) – Graphviz module layout direction. Use "vertical" for a top-to-bottom layout or "horizontal" for a left-to-right layout.

Returns:

Graphviz DOT source text.

Return type:

str

GetMessageConnectionGraph(extraMessages=None, includeUnlinked=True, includeRecorders=True)[source]

Extract Basilisk message connections from the configured simulation.

Parameters:

  • extraMessages (dict or list[dict], optional) – Stand-alone messages to include as possible source messages. The dictionary keys are used as labels in the returned graph and any generated figure.

  • includeUnlinked (bool) – If True, include unlinked input message endpoints in the returned graph.

  • includeRecorders (bool) – If True, include message recorder modules in the returned graph.

Returns:

A graph dictionary containing module records, stand-alone message records, endpoint records, connection edge records, unlinked inputs, and linked inputs whose source was not found.

Return type:

dict

InitializeSimulation()[source]

Initialize the BSK simulation. This runs the SelfInit() and Reset() methods on each module.

SetProgressBar(value)[source]

Shows a dynamic progress in the terminal while the simulation is executing.

ShowExecutionFigure(show_plots=False)[source]

Shows in what order the Basilisk processes, task lists and modules are executed

ShowExecutionOrder()[source]

Shows in what order the Basilisk processes, task lists and modules are executed

ShowMessageConnectionFigure(show_plots=False, extraMessages=None, includeUnlinked=True, includeRecorders=True, renderer='matplotlib', fileName=None, graphvizFormat='svg', graphvizLayout='vertical')[source]

Show how Basilisk messages are connected between simulation modules.

Parameters:

  • show_plots (bool) – If True, display the Matplotlib figure or open the rendered Graphviz output file.

  • extraMessages (dict or list[dict], optional) – Stand-alone messages to draw as source messages. The dictionary keys are used as labels.

  • includeUnlinked (bool) – If True, draw unlinked input message endpoints.

  • includeRecorders (bool) – If True, draw message recorder modules.

  • renderer (str) – Rendering backend. Use "matplotlib" to return a Matplotlib figure, or "graphviz" to render through the Graphviz dot executable.

  • fileName (str, optional) – Output path for the Graphviz renderer. If no extension is provided, graphvizFormat is appended.

  • graphvizFormat (str) – Graphviz output format, such as "svg", "png", "pdf", or "dot".

  • graphvizLayout (str) – Graphviz module layout direction. Use "vertical" for a top-to-bottom layout or "horizontal" for a left-to-right layout.

Returns:

Matplotlib figure for the "matplotlib" renderer, or the Graphviz output file path for the "graphviz" renderer.

Return type:

matplotlib.figure.Figure or str

createNewEvent(eventName, *args, **kwargs)[source]

Create an event sequence that contains a series of tasks to be executed.

Parameters:

  • eventName (str) – Name of the event

  • *args – Arguments to pass to the EventHandlerClass constructor

  • **kwargs – Keyword arguments to pass to the EventHandlerClass constructor

disableTask(TaskName)[source]

Disable this particular task from being executed.

enableTask(TaskName)[source]

Enable this particular task to be executed.

setAllButCurrentEventActivity(currentEventName, activityCommand, useIndex=False)[source]

Set all event activity variables except for the currentEventName event. The useIndex flag can be used to prevent enabling or disabling every task, and instead only alter the ones that belong to the same group (for example, the same spacecraft). The distinction is made through an index set after the _ symbol in the event name. All events of the same group must have the same index.

class SimulationBaseClass.StructDocData(strName)[source]

Bases: object

Structure data documentation class

SimulationBaseClass.methodizeAction(actionList)[source]

Methodize an action list to a function

SimulationBaseClass.methodizeCondition(conditionList)[source]

Methodize a condition list to a function