Fix recorders for 2D arrays not working

docs/source/Support/bskReleaseNotes.rst

@@ -34,6 +34,8 @@ Version |release|
 - Refactored the CI build system scripts
 - Removed deprecated use of ``Basilisk.simulation.planetEphemeris.ClassicElementsMsgPayload``.
   Users need to use ``ClassicalElements()`` defined in ``orbitalMotion``.
+- Fixed bug with recording message payload entries that are 2D arrays. This bug was introduced with the faster recording
+  strategy added in version 2.78.0.
 
 
 Version 2.78.0 (August 30, 2025)

src/architecture/messaging/msgAutoSource/generateSWIGModules.py

@@ -308,8 +308,7 @@ def parseSwigXml(xmlPath: str, targetStructName: str, cpp: bool, recorderPropert
             if typeWithPointerRef in C_TYPE_TO_NPY_ENUM and len(typeArrayParts) < 3:
                 npyType = C_TYPE_TO_NPY_ENUM[typeWithPointerRef]
                 macroName = f"RECORDER_PROPERTY_NUMERIC_{len(typeArrayParts)}"
-                dimensions = "".join(f", {dim}" for dim in typeArrayParts)
-                result += f"{macroName}({targetStructName}, {fieldName}, {typeWithPointerRef}, {npyType} {dimensions});\n"
+                result += f"{macroName}({targetStructName}, {fieldName}, {typeWithPointerRef}, {npyType});\n"
             elif not recorderPropertyRollback:
                 fullType = f"{typeWithPointerRef}{''.join(f'[{i}]' for i in typeArrayParts)}"
                 result += f"RECORDER_PROPERTY({targetStructName}, {fieldName}, ({fullType}));\n"

src/architecture/messaging/newMessaging.ih

@@ -333,9 +333,11 @@ typedef struct messageType;
     } else {
         npy_intp dims[1] = {static_cast<npy_intp>(N)};
         $result = PyArray_SimpleNew(1, dims, npyTypeNum);
-        for (size_t recordIndex = 0; recordIndex < N; ++recordIndex ) {
-            void* ptr = PyArray_GETPTR1((PyArrayObject*)$result, recordIndex);
-            *reinterpret_cast<fieldType*>(ptr) = $1->record().at(recordIndex). ## fieldName;
+        if (!$result) SWIG_fail;
+
+        for (size_t i = 0; i < N; ++i ) {
+            void* ptr = PyArray_GETPTR1((PyArrayObject*)$result, i);
+            *reinterpret_cast<fieldType*>(ptr) = $1->record().at(i). ## fieldName;
         }
     }
     if (PyErr_Occurred()) SWIG_fail;
@@ -355,27 +357,29 @@ typedef struct messageType;
 
 %enddef
 
-%define RECORDER_PROPERTY_NUMERIC_1(payloadType, fieldName, fieldType, npyTypeNum, dim1)
-/*
- * Exposes a fixed-size 1D numeric array field (e.g. float[3]) as a NumPy array with shape [N, dim1].
- * Uses contiguous memcpy per record for efficiency.
- */
+%define RECORDER_PROPERTY_NUMERIC_1(payloadType, fieldName, fieldType, npyTypeNum)
 %typemap(out) Recorder<payloadType>* Recorder<payloadType>::_ ## fieldName ## _array
 {
     size_t N = $1->record().size();
     if (N == 0) {
         npy_intp dims[1] = {0};
         $result = PyArray_SimpleNew(1, dims, NPY_FLOAT64);
     } else {
-        npy_intp dims[2] = {static_cast<npy_intp>(N), (npy_intp) dim1};
+        /* Derive dimensions from compiled type */
+        auto &first = $1->record().at(0).fieldName;
+        const size_t d1 = sizeof(first) / sizeof(first[0]);
+        const size_t elemsPerRecord = d1;
+        const size_t bytesPerRecord = elemsPerRecord * sizeof(fieldType);
+
+        npy_intp dims[2] = {static_cast<npy_intp>(N), (npy_intp) d1};
         $result = PyArray_SimpleNew(2, dims, npyTypeNum);
+        if (!$result) SWIG_fail;
 
         fieldType* dest = static_cast<fieldType*>(PyArray_DATA((PyArrayObject*)$result));
-        size_t recordStride = dim1;
 
-        for (size_t recordIndex = 0; recordIndex < N; ++recordIndex) {
-            const fieldType* src = &($1->record().at(recordIndex).fieldName[0]);
-            std::memcpy(dest + recordIndex * recordStride, src, recordStride * sizeof(fieldType));
+        for (size_t i = 0; i < N; ++i) {
+            const fieldType* src = &($1->record().at(i).fieldName[0]);
+            std::memcpy(dest + i * elemsPerRecord, src, bytesPerRecord);
         }
     }
     if (PyErr_Occurred()) SWIG_fail;
@@ -395,29 +399,34 @@ typedef struct messageType;
 
 %enddef
 
-%define RECORDER_PROPERTY_NUMERIC_2(payloadType, fieldName, fieldType, npyTypeNum, dim1, dim2)
-/*
- * Exposes a fixed-size 2D numeric array field (e.g. float[3][3]) as a NumPy array with shape [N, dim1, dim2].
- */
+%define RECORDER_PROPERTY_NUMERIC_2(payloadType, fieldName, fieldType, npyTypeNum)
 %typemap(out) Recorder<payloadType>* Recorder<payloadType>::_ ## fieldName ## _array
 {
     size_t N = $1->record().size();
     if (N == 0) {
         npy_intp dims[1] = {0};
         $result = PyArray_SimpleNew(1, dims, NPY_FLOAT64);
     } else {
-        npy_intp dims[3] = {static_cast<npy_intp>(N), (npy_intp) dim1, (npy_intp) dim2};
+        /* Derive dimensions from compiled type */
+        auto &first = $1->record().at(0).fieldName;
+        const size_t d1 = sizeof(first) / sizeof(first[0]);
+        const size_t d2 = sizeof(first[0]) / sizeof(first[0][0]);
+        const size_t elemsPerRecord = d1 * d2;
+        const size_t bytesPerRecord = elemsPerRecord * sizeof(fieldType);
+
+        npy_intp dims[3] = {static_cast<npy_intp>(N), (npy_intp) d1, (npy_intp) d2};
         $result = PyArray_SimpleNew(3, dims, npyTypeNum);
+        if (!$result) SWIG_fail;
 
         fieldType* dest = static_cast<fieldType*>(PyArray_DATA((PyArrayObject*)$result));
-        size_t recordStride = dim1 * dim2;
 
-        for (size_t recordIndex = 0; recordIndex < N; ++recordIndex) {
-            const fieldType* src = &($1->record().at(recordIndex).fieldName[0][0]);
-            std::memcpy(dest + recordIndex * recordStride, src, recordStride * sizeof(fieldType));
+        for (size_t i = 0; i < N; ++i) {
+            const fieldType* src = &($1->record().at(i).fieldName[0][0]);
+            std::memcpy(dest + i * elemsPerRecord, src, bytesPerRecord);
         }
+
+        if (PyErr_Occurred()) SWIG_fail;
     }
-    if (PyErr_Occurred()) SWIG_fail;
 }
 
 %extend Recorder<payloadType> {