AttributeError: 'SwigPyObject' object has no attribute 'recorder'

[GorgiAstro]

Hello folks,

I have trouble using a custom C++ message definition in my basilisk simulation. I created the following C++ message definition called QuatMsgPayload.h (it is using a C-style array for now but it will contain C++ structures in the future):

#ifndef QUAT_MSG_H
#define QUAT_MSG_H

/*! @brief Brief description of what this message contains */
typedef struct QuatMsgPayload {
    double quat[4];
} QuatMsgPayload;

#endif

I placed this message definition in the subfolder msgPayloadDefCpp of my custom BSK folder following the naming conventions from here http://hanspeterschaub.info/basilisk/Install/buildExtModules.html

I then created a simple C++ module which just converts MRP to quaternions.
Mrp2Quaternion.h:

#ifndef MRP2QUATERNION_H
#define MRP2QUATERNION_H

#include "architecture/_GeneralModuleFiles/sys_model.h"
#include "architecture/msgPayloadDefC/NavAttMsgPayload.h"
#include "msgPayloadDefCpp/QuatMsgPayload.h"
#include "architecture/utilities/bskLogging.h"
#include "architecture/messaging/messaging.h"

/*! @brief This is an auto-created sample C++ module.  The description is included with the module class definition
 */
class Mrp2Quaternion: public SysModel {
public:
    Mrp2Quaternion();
    ~Mrp2Quaternion();

    void Reset(uint64_t CurrentSimNanos);
    void UpdateState(uint64_t CurrentSimNanos);

public:
    ReadFunctor<NavAttMsgPayload> navAttInMsg;  //!< Input attitude
    Message<QuatMsgPayload> quatOutMsg;  //!< output quaternion
    BSKLogger bskLogger;              //!< -- BSK Logging

};

#endif

Mrp2Quaternion.cpp:

#include "Mrp2Quaternion.h"
#include <iostream>
#include <cstring>
#include "architecture/utilities/rigidBodyKinematics.h"

/*! This is the constructor for the module class.  It sets default variable
    values and initializes the various parts of the model */
Mrp2Quaternion::Mrp2Quaternion()
{
}

/*! Module Destructor */
Mrp2Quaternion::~Mrp2Quaternion()
{
}

/*! This method is used to reset the module and checks that required input messages are connect.
    @return void
*/
void Mrp2Quaternion::Reset(uint64_t CurrentSimNanos)
{
    // check that required input messages are connected
    if (!this->navAttInMsg.isLinked()) {
        bskLogger.bskLog(BSK_ERROR, "Mrp2Quaternion.navAttInMsg was not linked.");
    }

}


/*! This is the main method that gets called every time the module is updated.  Provide an appropriate description.
    @return void
*/
void Mrp2Quaternion::UpdateState(uint64_t CurrentSimNanos)
{
    NavAttMsgPayload navAttInMsgBuffer;  //!< local copy of message buffer
    QuatMsgPayload quatOutMsgBuffer;  //!< local copy of message buffer

    // always zero the output message buffers before assigning values
    quatOutMsgBuffer = this->quatOutMsg.zeroMsgPayload;

    // read in the input messages
    navAttInMsgBuffer = this->navAttInMsg();

    MRP2EP(navAttInMsgBuffer.sigma_BN, quatOutMsgBuffer.quat); // Converting from MRP to quaternion

    // write to the output messages
    this->quatOutMsg.write(&quatOutMsgBuffer, this->moduleID, CurrentSimNanos);
}

Mrp2Quaternion.i:

%module Mrp2Quaternion
%{
    #include "Mrp2Quaternion.h"
%}

%pythoncode %{
    from Basilisk.architecture.swig_common_model import *
%}
%include "std_string.i"
%include "swig_eigen.i"
%include "swig_conly_data.i"
%include "std_vector.i"

%include "sys_model.h"
%include "Mrp2Quaternion.h"

%include "architecture/msgPayloadDefC/NavAttMsgPayload.h"
struct NavAttMsg_C;
%include "msgPayloadDefCpp/QuatMsgPayload.h"

%pythoncode %{
import sys
protectAllClasses(sys.modules[__name__])
%}

I then ran conan again:
python3 conanfile.py --pathToExternalModules ../tubix20-lib/adcs/basilisk/

Then in Python, I instantiate the module and create a recorder:

# MRP to quaternion conversion
from Basilisk.ExternalModules import Mrp2Quaternion
mrp2quat = Mrp2Quaternion.Mrp2Quaternion()
mrp2quat.navAttInMsg.subscribeTo(sNavObject.attOutMsg)
scSim.AddModelToTask(att_det_task_name, mrp2quat)
mrp2quatLog = mrp2quat.quatOutMsg.recorder(samplingTime)
scSim.AddModelToTask(att_det_task_name, mrp2quatLog)

But trying to create a recorder on this output message brings the following error message:

    618 mrp2quat = Mrp2Quaternion.Mrp2Quaternion()
    619 mrp2quat.navAttInMsg.subscribeTo(sNavObject.attOutMsg)
    620 scSim.AddModelToTask(att_det_task_name, mrp2quat)
--> 621 mrp2quatLog = mrp2quat.quatOutMsg.recorder(samplingTime)
    622 scSim.AddModelToTask(att_det_task_name, mrp2quatLog)

AttributeError: 'SwigPyObject' object has no attribute 'recorder

It seems that my custom message definition is not recognized correctly in Python, but I can't find out why.
I tried with both Basilisk 2.1.6 and 2.2.0, using Python 3.9.12 on Ubuntu 22.10.

I also tried to place this message definition in the basilisk/src/architecture/msgPayloadDefCpp/ folder, in this case I had to adapt the include path in Mrp2Quaternion.i and Mrp2Quaternion.h from %include "msgPayloadDefCpp/QuatMsgPayload.h" to %include "architecture/msgPayloadDefCpp/QuatMsgPayload.h". I then ran conan again with the clean flag, and in this case it worked. So my issue seems to lie with message definitions in my external folder.

Cheers
Clément

[GorgiAstro]

Sorry about it, after many trying many things and re-running the conan command with the clean flag several times, the error message is gone, it's working.

The last thing I tried was to install the package libpython3.9-dev , after I realized in the cmake log that it was using libpython 3.10 whereas the Python interpreter is at version 3.9 , I don't know if it has anything to do with the issues I had though.