Merge branch 'better_errors_child' into 'dev'

Better errors handling

See merge request robotran/mbsysc!391

CHANGELOG.md

 ## Changes for next release
 
  * To be defined
+ * [C][Python] error handling is enhanced, with new error names and proper closing of the functions for all modules, except Real-time in dirdyn
  * [C] All user models are printed with the `mbs_print_data` function
  * [C] New function `print_d_vec_0_format` allowing to set the format of the vector values.
  * [C] New function to compute matrix product between matrices of specified shape: `doublematrix_product_0`.
  * [C] LPK functions new error catched with code `-#16`; Documentation fixed.
+ * [C] Some functions that my be called by users have return status (<0 in case of error):
+    * Look Up Table: `mbs_lut_2D_alloc()`, `mbs_lut_res_alloc()`, `mbs_lut_res_load_file()`; 
+    * Useful functions: `read_dmat_0()`
  * [Py] User vector outputs are now available in the MbsDirdyn results field.
  * [Py] Using C symbolic library and Python user is possible even with external forces.
  * [Py] Adding missing fields in MbsData.

MBsysC/mbs_common/mbs_load_xml/mbs_load_libraries.c

@@ -8,6 +8,7 @@
 #include "mbs_load_libraries.h"
 #include "mbs_path.h"
 #include "mbs_message.h"
+#include "mbs_errors_names.h"
 
 #include "mbs_project_interface.h"
 
@@ -177,7 +178,7 @@ int mbs_load_symbolic_functions(MbsData* mbs_data, const char* symbolicLib_path,
         mbs_msg(">>LOAD>> Error in mbs_load_symbolic_functions, unable to load symbolic library.\n");
         mbs_msg("         Library path: %s\n", lib_fullpath);
         free(lib_fullpath);
-        return -8;
+        return _MBS_ERR_LOW_FILES;
     }
 
     mbs_data->fct.symb.mbs_link = (mbs_link_ptr)mbs_load_function(symbLibInfo, "mbs_link");
@@ -221,7 +222,7 @@ int mbs_load_user_functions(MbsData* mbs_data, const char* userfctLib_path, cons
         mbs_msg(">>LOAD>> Error in mbs_load_user_functions, unable to load user library.\n");
         mbs_msg("         Library path: %s\n", lib_fullpath);
         free(lib_fullpath);
-        return -8;
+        return _MBS_ERR_LOW_FILES;
     }
 
 

MBsysC/mbs_common/mbs_load_xml/mbs_load_xml.c

@@ -4,7 +4,7 @@
 #include "mbs_path.h"
 #include "mbs_message.h"
 #include "mbs_check.h"
-
+#include "mbs_errors_names.h"
 
 #include <string.h>
 
@@ -38,6 +38,10 @@ MbsData* mbs_load(const char* mbs_filename, const char* build_path)
     loader = mbs_new_loader();
     mbs_data = mbs_load_with_loader(mbs_filename, build_path, loader);
     mbs_delete_loader(loader);
+    if (mbs_data == NULL)
+    {
+        mbs_error_msg("in mbs_load !! \n");
+    }
 
     return mbs_data;
 }
@@ -61,7 +65,7 @@ MbsData* mbs_load_with_loader(const char* mbs_filename, const char* build_path,
         mbs_infos = mbs_info_reader(mbs_filename);
         if (!mbs_infos){
             mbs_msg(">>LOAD>> unable to create MbsInfo.\n");
-            mbs_error_msg("[%d] in mbs_load_with_loader !! \n", -909);
+            mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD + _MBS_ERR_LOW_FILES);
             return NULL;
         }
     }
@@ -83,7 +87,7 @@ MbsData* mbs_load_with_loader(const char* mbs_filename, const char* build_path,
         {
             mbs_msg(">>LOAD>> build_path is not defined \n");
             mbs_msg("\n>>LOAD>> Check your files names and paths \n\n");
-            mbs_error_msg("[%d] in mbs_load_with_loader !! \n", -910);
+            mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD +_MBS_ERR_LOW_FILES);
             free(symbolicLib_name);
             free(symbolicLib_path);
             free(userfctLib_name);
@@ -154,14 +158,30 @@ MbsData* mbs_load_with_loader(const char* mbs_filename, const char* build_path,
 
     mbs_data = mbs_new_data();
     mbs_data->project_path = (char*)malloc(sizeof(char)*(strlen(mbs_filename) + 100));
-    find_project_path(mbs_filename, mbs_data->project_path);
+    err = find_project_path(mbs_filename, mbs_data->project_path);
+    if (err <0)
+    {
+
+        free(symbolicLib_name);
+        free(symbolicLib_path);
+        free(userfctLib_name);
+        free(userfctLib_path);
+        if (!custom_mbs_info) {
+            mbs_delete_infos(mbs_infos);
+        }
+        mbs_msg("\n>>LOAD>> find_project_path \n\n");
+        mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD + err);
+        mbs_delete_data(mbs_data);
+        return NULL;
+
+    }
 
     // if we call project and user function pointer, init them
 #ifdef PRJ_FCT_PTR
     if (opts->load_symb_user!=LOAD_NONE) {
         err = mbs_load_symbolic_functions(mbs_data, symbolicLib_path, symbolicLib_name);
         if (err < 0){
-            mbs_error_msg("[%d] in mbs_load_with_loader !! \n", -900 + err);
+            mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD + err);
             free(symbolicLib_name);
             free(symbolicLib_path);
             free(userfctLib_name);
@@ -180,7 +200,7 @@ MbsData* mbs_load_with_loader(const char* mbs_filename, const char* build_path,
     if(opts->load_symb_user==LOAD_ALL) {
         err = mbs_load_user_functions(mbs_data, userfctLib_path, userfctLib_name);
         if (err < 0){
-            mbs_error_msg("[%d] in mbs_load_with_loader !! \n", -900 + err);
+            mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD + err);
             free(symbolicLib_name);
             free(symbolicLib_path);
             free(userfctLib_name);
@@ -204,6 +224,21 @@ MbsData* mbs_load_with_loader(const char* mbs_filename, const char* build_path,
 #endif
 
     mbs_data = mbs_info_to_data(mbs_infos, mbs_data);
+    if (mbs_data == NULL)
+    {
+        free(symbolicLib_name);
+        free(symbolicLib_path);
+        free(userfctLib_name);
+        free(userfctLib_path);
+        if (!custom_mbs_info) {
+            mbs_delete_infos(mbs_infos);
+        }
+
+        mbs_msg("\n>>LOAD>> mbs_info_to_data \n\n");
+        mbs_msg("[%d] in mbs_load_with_loader !! \n", _MBS_ERR_MOD_LOAD + _MBS_ERR_LOW_FILES);
+        return NULL;
+
+    }
 
     mbs_data->mbs_filename = (char*)malloc(1 + strlen(mbs_filename));
     strcpy(mbs_data->mbs_filename, mbs_filename);
@@ -710,8 +745,8 @@ MbsData* mbs_info_to_data(MbsInfos* mbs_infos, MbsData* s)
         {
             mbs_msg(">>LOAD>> Error while fetching user_model number \n");
             mbs_msg("\n>>LOAD>> Please Re-generated your user_model Files !!! \n\n");
-            mbs_error_msg("[%d] in mbs_load_with_loader \n", -900);
-            exit(1);
+            mbs_msg("[%d] in mbs_load_with_loader \n", _MBS_ERR_MOD_LOAD);
+            return NULL;
         }
         free_ivec_1(user_model_list_c);
         free_ivec_1(user_model_list_mbs);
@@ -762,8 +797,8 @@ MbsData* mbs_info_to_data(MbsInfos* mbs_infos, MbsData* s)
         {
             mbs_msg(">>LOAD>> Error while fetching user_IO number \n");
             mbs_msg("\n>>LOAD>> Please Re-generated your user_IO Files !!! \n\n");
-            mbs_error_msg("[%d] in mbs_load_with_loader \n", -900);
-            exit(1);
+            mbs_msg("[%d] in mbs_load_with_loader \n", _MBS_ERR_MOD_LOAD);
+            return NULL;
         }
 
         if (s->n_user_IO) {

MBsysC/mbs_common/mbs_load_xml/mbs_xml_binder.c

@@ -2,6 +2,8 @@
 #include "mbs_xml_binder_private.h"
 
 #include "mbs_message.h"
+#include "mbs_errors_names.h"
+
 
 /////////////////////////////////////////
 /// GET functions ///////////////////////
@@ -1449,9 +1451,8 @@ int mbs_info_mbsDescR7_binder(MbsInfos *mbs_infos, xmlNodePtr node, int mission)
         mbs_msg(">>LOAD>> Error during xmlParseFile function \n");
         mbs_msg(">>LOAD>> MDS_mbs_reader : Empty XML document\n");
         mbs_msg(">>LOAD>> Check your files names and paths \n\n");
-        mbs_error_msg("[%d] in MDS_mbs_reader !! \n", -909);
-        exit(1);
-        return 0;
+        mbs_msg("[%d] in MDS_mbs_reader !! \n", _MBS_ERR_LOW_FILES);
+        return _MBS_ERR_LOW_FILES;
     }
 
     cur_node = node->children;
@@ -1747,6 +1748,7 @@ int mbs_info_init_and_binder(MbsInfos *mbs_infos, const char *mbs_xml_name, int
 {
     xmlDocPtr doc;
     xmlNodePtr root;
+    int err = 0;
 
     // xml document opening
     xmlKeepBlanksDefault(0); // Ignore les noeuds texte composant la mise en forme
@@ -1755,22 +1757,29 @@ int mbs_info_init_and_binder(MbsInfos *mbs_infos, const char *mbs_xml_name, int
         mbs_msg(">>LOAD>> Error during xmlParseFile function \n");
         mbs_msg(">>LOAD>> mbs_info_init_and_binder : Invalid XML document\n");
         mbs_msg(">>LOAD>> Check your files names and paths \n\n");
-        mbs_error_msg("[%d] in mbs_info_init_and_binder !! \n", -909);
-        return -1;
+        mbs_msg("[%d] in mbs_info_init_and_binder !! \n", _MBS_ERR_LOW_FILES);
+        return _MBS_ERR_LOW_FILES;
     }
     // getting the root
     root = xmlDocGetRootElement(doc);
     if (root == NULL) {
-        xmlFreeDoc(doc);
         mbs_msg(">>LOAD>> Error during xmlParseFile function \n");
         mbs_msg(">>LOAD>> mbs_info_init_and_binder : Empty XML document\n");
         mbs_msg(">>LOAD>> Check your files names and paths \n\n");
-        mbs_error_msg("[%d] in mbs_info_init_and_binder !! \n", -909);
-        return -1;
+        mbs_msg("[%d] in mbs_info_init_and_binder !! \n", _MBS_ERR_LOW_FILES);
+        xmlFreeDoc(doc);
+        xmlCleanupParser();
+        return _MBS_ERR_LOW_FILES;
     }
 
-    mbs_info_mbsDescR7_binder(mbs_infos, root, mission);
-
+    err = mbs_info_mbsDescR7_binder(mbs_infos, root, mission);
+    if (err < 0)
+    {
+        mbs_msg(">>LOAD>> Error during mbs_info_mbsDescR7_binder function \n");
+        xmlFreeDoc(doc);
+        xmlCleanupParser();
+        return err;
+    }
     if (mission == MBS_INFO_UPDATER)
     {
         xmlSaveFormatFile("updated_prject.mbs", doc, 1);
@@ -1810,7 +1819,7 @@ int mbs_info_updater(MbsInfos *mbs_infos, const char *mbs_xml_name)
     err = mbs_info_init_and_binder(mbs_infos, mbs_xml_name, MBS_INFO_UPDATER);
     if (err < 0){
         mbs_msg(">>LOAD>> Error during  function mbs_info_updater.\n");
-        return -1;
+        return err;
     }
 
     return MBS_INFO_SUCCESS;

MBsysC/mbs_common/mbs_module/MBSfun.h

@@ -24,6 +24,15 @@
 
 
 int dirdynared(MbsAux *mbs_aux,MbsData *s);
+
+/**
+* \brief Compute the required forces ont the actuated joints in a configuration
+*
+* \param[in,out] mbs_aux the local computation structure, where the result is stored in the variable Mr.
+* \param[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
+*
+* \return  Error status, <0 in case of failure.
+*/
 int invdynared(MbsAux *mbs_aux, MbsData *s);
 
 /**
@@ -31,8 +40,8 @@ int invdynared(MbsAux *mbs_aux, MbsData *s);
 * necessary for
 *        - the state space representation (computation of A) and then the modal analysis.
 *
-* \p[in,out] mbs_aux the local computation structure, where the result is stored in the variable Mr.
-* \p[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
+* \param[in,out] mbs_aux the local computation structure, where the result is stored in the variable Mr.
+* \param[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
 */
 int mbs_Mred(MbsAux *mbs_aux, MbsData *s);
 
@@ -42,20 +51,24 @@ int mbs_Mred(MbsAux *mbs_aux, MbsData *s);
 *        - equilibrium (even with non zero acceleration)
 *        - linearization of MBS: obtention of Gr Kr around a given configuration (*) [not necessarely an equilibrium]
 *
-* \p[in,out] mbs_aux the local computation structure, where the result Rred is stored.
-* \p[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
+* \param[in,out] mbs_aux the local computation structure, where the result Rred is stored.
+* \param[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
+*
+* \return  Error status, <0 in case of failure.
 */
 int mbs_Rred(MbsAux *mbs_aux, MbsData *s);
 
 /**
-* \brief Compute the residual force on independant joints and required force in driven joints..
+* \brief Compute the residual force on independant joints and required force in driven joints.
 *
 * This function is the computationnal core of Rred and Invdynared computations.
 * This function assumes that all independent joints and all driven joints are
 * up-to-date (coordinates, velocities and accelerations).
 *
-* \p[in,out] mbs_aux  the local computation structure, where the result Rred and Qc are stored.
-* \p[in,out] s        the MbsData of the system, where q[qv], qd[qv], qdd[qv] and Qc are updated.
+* \param[in,out] mbs_aux  the local computation structure, where the result Rred and Qc are stored.
+* \param[in,out] s        the MbsData of the system, where q[qv], qd[qv], qdd[qv] and Qc are updated.
+*
+* \return  Error status, <0 in case of failure.
 */
 int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s);
 

MBsysC/mbs_common/mbs_module/mbs_Rred.c

@@ -8,6 +8,7 @@
 //
 //
 
+#include "mbs_errors_names.h"
 #include "MBSfun.h"
 #include "math.h"
 #include "nrfct.h"
@@ -26,6 +27,7 @@ int mbs_Rred(MbsAux *mbs_aux, MbsData *s)
     }
 
     err = mbs_Rred_core(mbs_aux, s);
+
     return err;
 }
 
@@ -115,8 +117,10 @@ int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s) {
     {
         if (isnan(mbs_aux->Rred[i]))
         {
+            err = _MBS_ERR_MID_RRED + _MBS_ERR_LOW_NAN;
+
             mbs_msg("\t >RRED> Rred[%d] is Not a number (Nan) \n", s->qu[i]);
-            return -87;
+            return(err);
         }
     }
 
@@ -139,11 +143,13 @@ int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s) {
             }
         }
         // compute lambda
-        ludcmp(mbs_aux->Jvt, s->nqv, mbs_aux->ind_Jvt, &d);
+        err = ludcmp(mbs_aux->Jvt, s->nqv, mbs_aux->ind_Jvt, &d);
         if (err < 0) // Error management
         {
+            err += _MBS_ERR_MID_RRED;
+
             mbs_msg("\t >RRED> Error in Rred during LU decomposition of Jv matrix for lambda computation\n");
-            return (-80 + err);
+            return (err);
         }
         lubksb(mbs_aux->Jvt, s->nqv, mbs_aux->ind_Jvt, mbs_aux->Jvtlambda);
 

MBsysC/mbs_common/mbs_module/mbs_aux.c

@@ -47,7 +47,7 @@ MbsAux * initMbsAux(MbsData *s)
         if (nquc != njoint - Ncons)
         {
             mbs_error_msg("nquc (%d) != njoint-Ncons (%d-%d=%d)", nquc, njoint, Ncons, njoint - Ncons);
-            exit(1);
+            exit(EXIT_FAILURE);
         }
 #endif
 

MBsysC/mbs_common/mbs_module/mbs_close_loops.c

@@ -11,6 +11,7 @@
 // 01/10/2008 : JFC : Bug n°40
 //
 
+#include "mbs_errors_names.h"
 #include "MBSfun.h"
 #include "nrfct.h"
 #include "mbs_project_interface.h"
@@ -39,18 +40,23 @@ int mbs_close_geo(MbsData *s, MbsAux *mbs_aux)
     {
         err = mbs_step_close_geo(s, mbs_aux);
         if (err < 0) {
+            err += _MBS_ERR_MID_CLOSE_GEO;
+
             mbs_msg("\t \t >CLOSE GEO> Error in mbs_close_geo during a NR iteration \n");
-            return -50 + err;
+            return err;
         }
     }
 
     if (iter >= mbs_aux->MAX_NR_ITER) // Error management
     {
+        err = _MBS_ERR_MID_CLOSE_GEO;
+
         mbs_msg("\t \t >CLOSE GEO> Impossible to close the geometry after %d iterations \n", iter);
         if (mbs_aux->close_anim) {
             mbs_anim_close_geo(s, mbs_aux);
         }
-        return -50;
+
+        return err;
     }
 
     return iter;

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -23,6 +23,7 @@
 #include "set_output.h"
 #include "MBSfun.h"
 #include "mbs_check.h"
+#include "mbs_errors_names.h"
 
 #include "mbs_message.h"
 
@@ -161,22 +162,36 @@ int mbs_run_dirdyn(MbsDirdyn* dd, MbsData* mbs_data)
     // - - - - - - - - - - - - - -
     err = mbs_dirdyn_init(dd, mbs_data);
     if (err < 0){
-        return -1;
+        // Freeing the buffers, without error catching
+        mbs_dirdyn_finish(dd, mbs_data);
+        mbs_error_msg("[%d] in mbs_run_dirdyn !! \n", _MBS_ERR_MOD_DIRDYN + err);
+        return _MBS_ERR_MOD_DIRDYN + err;
     }
 
     // 2. Run the simulation
     // - - - - - - - - - - -
     err = mbs_dirdyn_loop(dd, mbs_data);
     if (err < 0){
-        return -1;
+        // Freeing the buffers, without error catching
+        mbs_dirdyn_finish(dd, mbs_data);
+        mbs_error_msg("[%d] in mbs_run_dirdyn !! \n", _MBS_ERR_MOD_DIRDYN + err);
+        return _MBS_ERR_MOD_DIRDYN + err;
     }
 
-
     // 3. Finish the simulation
     // - - - - - - - - - - - -
-    mbs_dirdyn_finish(dd, mbs_data);
+    err = mbs_dirdyn_finish(dd, mbs_data);
+    if (err < 0) {
+        mbs_error_msg("[%d] in mbs_run_dirdyn !! \n", _MBS_ERR_MOD_DIRDYN + err);
+        return _MBS_ERR_MOD_DIRDYN + err;
+    }
+    
+    if (dd->options->verbose)
+    {
+        mbs_msg("\n>>DIRDYN>> Direct dynamics analysis finished.\n");
+    }
 
-    return 0;
+    return err;
 }
 
 int mbs_dirdyn_save(MbsDirdyn* dd, MbsData *mbs_data, double t) {
@@ -195,9 +210,8 @@ int mbs_dirdyn_save(MbsDirdyn* dd, MbsData *mbs_data, double t) {
     {
         mbs_msg(">>DIRDYN>> ***** mbs_dirdyn_save : impossible to save the files *****\n");
         mbs_msg(">>DIRDYN>> ***** during buffer save *****\n");
-        mbs_msg(">>DIRDYN>>\n");
-        mbs_error_msg("[%d] in mbs_fct_dirdyn !! \n", -400 + err);
-        return -400 + err;
+        mbs_msg("[%d] in mbs_dirdyn_save !! \n", err);
+        return err;
     }
 
     err = mbs_growing_buffer_save(dd->user_buffer, t);
@@ -206,9 +220,8 @@ int mbs_dirdyn_save(MbsDirdyn* dd, MbsData *mbs_data, double t) {
     {
         mbs_msg(">>DIRDYN>> ***** mbs_dirdyn_save : impossible to save the files *****\n");
         mbs_msg(">>DIRDYN>> ***** during growing buffer save *****\n");
-        mbs_msg(">>DIRDYN>>\n");
-        mbs_error_msg("[%d] in mbs_fct_dirdyn !! \n", -400 + err);
-        return -400 + err;
+        mbs_msg("[%d] in mbs_dirdyn_save !! \n", err);
+        return  err;
     }
 
     if (dd->options->save_visu)
@@ -228,8 +241,8 @@ int mbs_dirdyn_save(MbsDirdyn* dd, MbsData *mbs_data, double t) {
             mbs_msg(">>DIRDYN>> ***** mbs_dirdyn_save : impossible to save the files *****\n");
             mbs_msg(">>DIRDYN>> ***** during growing buffer save *****\n");
             mbs_msg(">>DIRDYN>> in the REAL-TIME process \n");
-            mbs_error_msg("[%d] in mbs_fct_dirdyn !! \n", -400 + err);
-            exit(1);
+            mbs_msg("[%d] in mbs_dirdyn_save !! \n", err);
+            return err;
         }
 #endif
     }
@@ -255,8 +268,8 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
     err = mbs_check_mbs_data_values(dd->mbs_aux, mbs_data);
     if (err < 0) {
         mbs_msg("\t >Dirdyn> Incoherences detected during module initialization! (See message above) \n");
-        mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -400);
-        return -400;
+        mbs_msg("[%d] in mbs_dirdyn_init !! \n", err);
+        return err;
     }
 
     // Check the usefulness of dirdyn
@@ -265,8 +278,9 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
     {
         mbs_msg("\t >Dirdyn> If no independant nor driven joints are present, the direct dynamic process has no reason to be used !\n");
         mbs_msg("\t >Dirdyn> Irrelevant process !\n");
-        mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -410);
-        return -410;
+        err =  _MBS_ERR_MOD_SPEC_11;
+        mbs_msg("[%d] in mbs_dirdyn_init !! \n", err);
+        return err;
     }
     else if (mbs_data->nqu == 0)
     {
@@ -279,9 +293,9 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
     // Checking constraints and dependant variable coherence
     err = mbs_check_nhu_nqv(mbs_data);
     if (err < 0) {
-        mbs_msg("\t >Dirdyn> Inchoherence detected during module initialization! \n");
-        mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -400);
-        return -400;
+        mbs_msg("\t >Dirdyn> Incoherence detected during module initialization! \n");
+        mbs_msg("[%d] in mbs_dirdyn_init !! \n", err);
+        return err;
     }
     // Set the selected integrator
     set_integrator(dd);
@@ -312,16 +326,21 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
     if (dd->options->realtime)
     {
         mbs_realtime_reset();
-        mbs_realtime_init(mbs_data, dd->options->t0, dd->options->tf, dd->options->dt0);
+        err = mbs_realtime_init(mbs_data, dd->options->t0, dd->options->tf, dd->options->dt0);
+        if (err < 0)
+        {
+            mbs_msg("\t >Real-time> error during activation !\n");
+            mbs_msg("[%d] in mbs_dirdyn_init, shutting down the process !! \n", err);
+            return err;
+        }
     }
 #else
     if (dd->options->realtime)
     {
-        user_dirdyn_finish(mbs_data, dd);
-
+        err = _MBS_ERR_INIT;
         mbs_msg("\t >Real-time> To use the real-time features (mbs_dirdyn->options->realtime activated), set the CMake flag 'FLAG_REAL_TIME' to ON !\n");
-        mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -410);
-        return -410;
+        mbs_msg("[%d] in mbs_dirdyn_init, shutting down the process !! \n", err);
+        return err;
     }
 #endif
 
@@ -502,6 +521,20 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
             sprintf(f_anim, "%s/%s_%s.anim", animpath, resfilename, fnameSuffix[bufId]);
 
             dd->buffers[bufId] = mbs_new_buffer(f, f_anim, bufElemNb[bufId], dd->options->buffersize, bufferIDs[bufId], dd->options->save_anim, dd->options->save_visu, 1. / (double)dd->options->framerate);
+            if (dd->buffers[bufId] == NULL)
+            {
+                free(f);
+                free(f_anim);
+                free(respath);
+                free(animpath);
+                free(fnameSuffix);
+                free(bufferIDs);
+                free(bufElemNb);
+
+                mbs_msg("\t >Dirdyn> Error during buffer visu initialization num %d! \n", i);
+                mbs_msg("[%d] in mbs_dirdyn_init !! \n", _MBS_ERR_MOD_SPEC_11);
+                return _MBS_ERR_MOD_SPEC_11;
+            }
         }
 
         if (dd->options->save_visu)
@@ -509,18 +542,34 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
 #ifdef VISU_3D
             if (!dd->options->realtime)
             {
+                free(f);
+                free(f_anim);
+                free(respath);
+                free(animpath);
+                free(fnameSuffix);
+                free(bufferIDs);
+                free(bufElemNb);
+
                 mbs_msg("\t >Real-time> Error: real-time features must be activated to set 'save_visu' to 1 ! \n");
-                mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -410);
-                exit(1);
+                mbs_msg("[%d] in mbs_dirdyn_init, shutting down the process !! \n",  _MBS_ERR_INIT);
+                return _MBS_ERR_INIT;
             }
 
             realtime = (Simu_realtime*)mbs_data->realtime;
 
             if (!realtime->options->flag_visu)
             {
+                free(f);
+                free(f_anim);
+                free(respath);
+                free(animpath);
+                free(fnameSuffix);
+                free(bufferIDs);
+                free(bufElemNb);
+
                 mbs_msg("\t >Real-time> Error: flag_visu must be set to 1 to set 'save_value' to 1 ! \n");
-                mbs_error_msg("[%d] in mbs_dirdyn_init !! \n", -410);
-                exit(1);
+                mbs_msg("[%d] in mbs_dirdyn_init, shutting down the process !! \n", _MBS_ERR_INIT);
+                return _MBS_ERR_INIT;
             }
 
             visu = realtime->ext->visu;
@@ -532,11 +581,23 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
                 sprintf(f_anim, "%s/visu_%d_q.anim", animpath, i);
 
                 dd->buffer_visu[i] = mbs_new_buffer(f, f_anim, visu->nb_q[i], dd->options->buffersize, BUFFER_VISU, dd->options->save_anim, dd->options->save_visu, 1. / (double)dd->options->framerate);
+                if (dd->buffer_visu[i] == NULL)
+                {
+                    free(f);
+                    free(f_anim);
+                    free(respath);
+                    free(animpath);
+                    free(fnameSuffix);
+                    free(bufferIDs);
+                    free(bufElemNb);
+
+                    mbs_msg("\t >Dirdyn> [REAL-TIME] Error during buffer visu initialization num %d! \n", i);
+                    mbs_msg("[%d] in mbs_dirdyn_init, shutting down the process !! \n", _MBS_ERR_MOD_SPEC_11);
+                    return _MBS_ERR_MOD_SPEC_11;
+                }
             }
 
 #else
-            user_dirdyn_finish(mbs_data, dd);
-
             free(f);
             free(f_anim);
             free(respath);
@@ -546,8 +607,8 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
             free(