[Ctypes] results in modules

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/workR/main_MBsysPy.py

@@ -108,7 +108,7 @@ mbs_data.mbs_reset_data()
 mbs_data.set_qa(mbs_data.joint_id["R2_pendulum"])
 mbs_equil = Robotran.MbsEquil(mbs_data)
 mbs_equil.add_extra_variable_um("mylink","L0")
-mbs_equil.replace_extra_variable(mbs_data.Qa,mbs_data.joint_id["R2_pendulum"],1)
+mbs_equil.replace_extra_variable(mbs_data.Qa,mbs_data.joint_id["R2_pendulum"],1,"Qa")
 mbs_equil.set_options(senstol = 1e-6, compute_uxd = 0, resfilename = "equil6")
 mbs_equil.set_options(grad_lpk = 1)
 mbs_equil.run()
@@ -124,7 +124,7 @@ mbs_equil = Robotran.MbsEquil(mbs_data)
 mbs_data.qd[mbs_data.joint_id["T1_cart"]] = 5
 mbs_equil.set_options(senstol = 1e-6, compute_uxd = 0, resfilename = "equil7")
 mbs_equil.set_options(verbose = 1, grad_lpk = 1, mode = 2)
-mbs_equil.add_exchange(mbs_data.Qa,mbs_data.joint_id["T1_cart"], mbs_data.joint_id["T1_cart"])
+mbs_equil.add_exchange(mbs_data.Qa,mbs_data.joint_id["T1_cart"], mbs_data.joint_id["T1_cart"],"Qa")
 mbs_equil.run()
 mbs_equil.print_equil()
 mbs_data.unset_qa(mbs_data.joint_id["T1_cart"])

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -1012,6 +1012,8 @@ class MbsData(object):
             
             param : options of the dirdyn module (see set_options in dirdyn module)
             
+            out : MbsResults instance
+            
         """
         if (not self.DonePart) and self.Ncons:
             mbs_part = MbsPart(self)
@@ -1019,11 +1021,13 @@ class MbsData(object):
             mbs_part.run()
             mbs_dirdyn = MbsDirdyn(self)
             mbs_dirdyn.set_options(**kwargs)
-            mbs_dirdyn.run()
+            results = mbs_dirdyn.run()
         else:
             mbs_dirdyn = MbsDirdyn(self)
             mbs_dirdyn.set_options(**kwargs)
-            mbs_dirdyn.run()
+            results = mbs_dirdyn.run()
+            
+        return results
             
     def exe_part(self, **kwargs):
         """ Run a partitioning module with the specified options

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -455,6 +455,8 @@ class MbsDirdyn(object):
         # Anassing required symbolic functions
         self.__unassign_symbolic_fct__()
         self.mbs.__unassign_symb_fct__()
+        
+        return self.results
     
     def set_options(self, **kwargs):
         """

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_equil.py

@@ -117,6 +117,10 @@ class MbsEquil(object):
         
         # addition of equilibrium variables
         self.addition_list = []
+        
+        # storing result
+        self.store_results = True 
+        self.results = MbsResultEquil()
     
         # Exposing some memory
         if __DEBUG__ : print( "DEBUG>>  Exposing MbsEquil fields")
@@ -383,6 +387,10 @@ class MbsEquil(object):
         self._compute_exchange()
         self._compute_extra_variable()
         libmodules.mbs_run_equil(self.mbs_equil_ptr, self.mbs.mbs_data_ptr)
+        
+        if self.store_results:
+            self.load_results()
+            
         # Anassign user functions
         self.__unassign_user_fct__()
         self.mbs.__unassign_user_fct__()
@@ -391,9 +399,46 @@ class MbsEquil(object):
         self.__unassign_symbolic_fct__()
         self.mbs.__unassign_symb_fct__()
         
+        return self.results
+        
         print(">>EQUIL>> MbsData structure contains the results of the equilibrium")
         
-    def add_exchange(self, ptr, index, replaced_var_id):
+    def load_results(self):
+        
+        mode = self.get_options("mode")
+        if mode == 1:
+            self.results.type = "static"
+        elif mode == 2:
+            self.results.type = "quasistatic"
+        elif mode == 3:
+            self.results.type = "dynamic"
+        else:
+            self.results.type = "not an existing mode"
+            
+        self.results.nquch = self.get_options("nquch")
+        self.results.nxe = self.get_options("nxe")
+        self.results.nx = self.nx 
+        
+        self.results.x = np.copy(np.ctypeslib.as_array(self.mbs_equil_ptr.contents.x, (self.nx,)))
+        for i, val in enumerate(self.results.x):
+            self.results.x_name.append("q" + str(i+1))
+        if self.mbs.Nux and self.get_options("compute_uxd"):
+            for i in range(self.mbs.Nux):
+               self.results.x_name[self.nx-self.mbs.Nux+i] = "ux" + str(i+1)
+        if self.results.nxe:
+            for i, val in enumerate(self.addition_list):
+                self.results.x_name[self.nx-self.results.nxe+i] = self.addition_list[i][1]
+        if self.results.nquch:
+            for i, val in enumerate(self.exchange_list):
+                self.results.x_name[self.exchange_list[i][1]-1] = self.exchange_list[i][2]
+        if self.success == 1:
+            self.results.success = "PASSED"
+        elif self.success == 0:
+            self.results.success = "NONE"
+        elif self.success == -1:
+            self.results.success = "FAILED"
+            
+    def add_exchange(self, ptr, index, replaced_var_id, ptr_name = "??"):
         """ Add a new equilibrium variable that replaces the specified 
             default one.
             
@@ -413,7 +458,9 @@ class MbsEquil(object):
                 Index in ptr of the variable to be exchanged
             replaced_var_id : int
                 Index of the default variable that will be replaced
-            
+            ptr_name : str
+                (optionnal) Name of the variable to be exchanged
+                                
         """
         if self.get_options("nquch"):
             print("As the number of equilibrium variables is locked in the external memory after the first call of run(), this function can not be called between two run()")
@@ -425,15 +472,15 @@ class MbsEquil(object):
             print(">>EQUIL>> variable exchange : Warning ! Generalized coordinates have to be used with caution as exchange variables")
         
         if len(self.exchange_list) == 0:
-            self.exchange_list = [[address, replaced_var_id]]
+            self.exchange_list = [[address, replaced_var_id, ptr_name]]
         else:
             for element in self.exchange_list:
                 if element[0] == address:
                     print(">>EQUIL>> variable exchange : Exchange variable is already an equilibrium variable")
                 else:
-                    self.exchange_list.append([address, replaced_var_id])
+                    self.exchange_list.append([address, replaced_var_id, ptr_name])
                     
-    def add_extra_variable(self, ptr, index):
+    def add_extra_variable(self, ptr, index, ptr_name = "??"):
         """ Add a new equilibrium variable
             
             Extra variables are stored and will be set in the memory of the 
@@ -450,6 +497,8 @@ class MbsEquil(object):
                 Array containing the extra variable to add to the equilibrium variables
             index : int
                 Index in ptr of the extra variable to add to the equilibrium variables
+            ptr_name : str 
+                (optionnal) Name of the extra variable
             
         """
         if self.get_options("nxe"):
@@ -462,13 +511,13 @@ class MbsEquil(object):
             print(">>EQUIL>> extra exchange : Warning ! Generalized coordinates have to be used with caution as extra variables")
         
         if len(self.addition_list) == 0:
-            self.addition_list = [address]
+            self.addition_list = [[address, ptr_name]]
         else:
             for element in self.addition_list:
-                if element == address:
+                if element[0] == address:
                     print(">>EQUIL>> variable exchange : Extra variable has already been added")
                 else:
-                    self.addition_list.append(address)
+                    self.addition_list.append([address, ptr_name])
          
     def add_extra_variable_um(self, user_model, param):
         """ Add a user model as new equilibrium variable 
@@ -496,13 +545,13 @@ class MbsEquil(object):
             return
         address = self.mbs.user_model[user_model].__getarray__(param)[0].ctypes.data
         if len(self.addition_list) == 0:
-            self.addition_list = [address]
+            self.addition_list = [[address, user_model+ "." + param]]
         else:
             for element in self.addtion_list:
-                if element == address:
+                if element[0] == address:
                     print(">>EQUIL>> variable exchange : Extra variable has already been added")
                 else:
-                    self.addition_list.append(address)
+                    self.addition_list.append([address, user_model+ "." + param])
             
     def add_exchange_um(self, user_model, param, replaced_var_id):
         """ Add a user model as a new equilibrium variable that replaces 
@@ -533,13 +582,13 @@ class MbsEquil(object):
             return
         address = self.mbs.user_model[user_model].__getarray__(param)[0].ctypes.data
         if len(self.exchange_list) == 0:
-            self.exchange_list = [[address, replaced_var_id]]
+            self.exchange_list = [[address, replaced_var_id, user_model+ "." + param]]
         else:
             for element in self.exchange_list:
                 if element[0] == address:
                     print(">>EQUIL>> variable exchange : Exchange variable is already an equilibrium variable")
                 else:
-                    self.exchange_list.append([address, replaced_var_id])
+                    self.exchange_list.append([address, replaced_var_id, user_model+ "." + param])
         
         
     def _compute_exchange(self):
@@ -566,11 +615,11 @@ class MbsEquil(object):
             libmodules.mbs_equil_addition(self.mbs_equil_ptr.contents.options)
         if self.get_options("nxe") == len(self.addition_list) and len(self.addition_list) > 0:
             for i, element in enumerate(self.addition_list):
-                libmodules.mbs_equil_add_variable(self.mbs_equil_ptr.contents.options, element,i+1)
+                libmodules.mbs_equil_add_variable(self.mbs_equil_ptr.contents.options, element[0],i+1)
         elif self.get_options("nxe") != len(self.addition_list):
             print(">>EQUIL>> extra variable : nxe (" +str(self.get_options("nxe"))+ ") different from the length of the extra variable list ("+ str(len(self.addition_list))+")")
         
-    def replace_exchange(self, ptr, index, id_exchanged):
+    def replace_exchange(self, ptr, index, id_exchanged, ptr_name = "??"):
         """ Replace an existing exchanged variable with another one
         
             This function can be called between two 'MbsEquil::run()' as it
@@ -587,6 +636,8 @@ class MbsEquil(object):
             id_exchanged : int
                 Index in the list of exchanged variable of the variable to be 
                 replaced
+            ptr_name : str 
+                (optionnal) Name of the variable to be exchanged
             
         """
         if ptr.ctypes.data == self.mbs.q.ctypes.data:
@@ -596,8 +647,9 @@ class MbsEquil(object):
             print(">>EQUIL>> variable exchange : There is no exchange variable at this index :" + str(id_exchanged))
         else:
             self.exchange_list[id_exchanged-1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
+            self.exchange_list[id_exchanged-1][2] = ptr_name
             
-    def replace_extra_variable(self, ptr, index, id_extra):
+    def replace_extra_variable(self, ptr, index, id_extra, ptr_name = "??"):
         """ Replace an existing extra variable with another one
         
             This function can be called between two 'MbsEquil::run()' as it
@@ -622,8 +674,8 @@ class MbsEquil(object):
         if id_extra > len(self.addition_list) or id_extra <=0 :
             print(">>EQUIL>> extra exchange : There is no extra variable at this index :" + str(id_extra))
         else:
-            self.addition_list[id_extra-1] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
-       
+            self.addition_list[id_extra-1][0] = ptr.ctypes.data + ctypes.sizeof(ctypes.c_double)*index
+            self.addition_list[id_extra-1][1] = ptr_name
         
     def replace_extra_variable_um(self, user_model, param, id_extra):
         """ Replace an existing extra variable with a user model
@@ -651,7 +703,7 @@ class MbsEquil(object):
             print(">>EQUIL>> extra exchange : There is no extra variable at this index :" + str(id_extra))
         else:
             self.addition_list[id_extra-1][0] = self.mbs.user_model[user_model].__getarray__(param)[0].ctypes.data     
-    
+            self.addition_list[id_extra-1][1] = user_model+ "." + param
     
     def replace_exchange_um(self, user_model, param, id_exchanged):
         """ Replace an existing exchanged variable with a user model
@@ -679,7 +731,7 @@ class MbsEquil(object):
             print(">>EQUIL>> variable exchange : There is no exchange variable at this index :" + str(id_exchanged))
         else:
             self.exchange_list[id_exchanged-1][0] = self.mbs.user_model[user_model].__getarray__(param)[0].ctypes.data 
-            
+            self.exchange_list[id_exchanged-1][2] = user_model+ "." + param
         
     def print_equil(self):
         
@@ -843,6 +895,8 @@ class MbsEquil(object):
                 self.mbs_equil_ptr.contents.options.contents.max_save_user = value
             elif key == "buffersize":
                 self.mbs_equil_ptr.contents.options.contents.buffersize = value
+            elif key == "store_results":
+                self.store_results = value
             else:
                 print(">>EQUIL>  The option "+key+ " is not defined in this module")
                 
@@ -927,6 +981,8 @@ class MbsEquil(object):
                 options.append(self.mbs_equil_ptr.contents.options.contents.max_save_user)
             elif key == "buffersize":
                 options.append(self.mbs_equil_ptr.contents.options.contents.buffersize)
+            elif key == "store_results":
+                options.append(self.store_results)
             else:
                 print(">>EQUIL>>  The option "+key+ " is not defined in this module")
                 
@@ -952,4 +1008,24 @@ class MbsEquil(object):
     @property
     def mbs_name(self):
         return self.mbs.mbs_name
-    
\ No newline at end of file
+    
+    @property 
+    def nx(self):
+        return self.mbs_equil_ptr.contents.nx
+    
+    @property
+    def success(self):
+        return self.mbs_equil_ptr.contents.success
+    
+class MbsResultEquil(object):
+    
+    def __init__(self):
+        
+        self.type = None 
+        self.nquch = None 
+        self.nxe = None
+        self.nx = None 
+        self.x = None
+        self.x_name = []
+        self.success = None
+        
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_modal.py

@@ -92,7 +92,7 @@ class MbsModal(object):
         self.mbs_invdyna = None
         
         # Storing Results
-#        self.results = MbsResult(self.mbs)
+        self.results = MbsResultModal()
         self.store_results = False
         
         # Exposing some memory
@@ -323,6 +323,8 @@ class MbsModal(object):
         self.mbs.__assign_symb_fct__()
           
         libmodules.mbs_run_modal(self.mbs_modal_ptr, self.mbs.mbs_data_ptr)
+        if self.store_results:
+            self.load_results()
         
         # Anassign user functions
         self.__unassign_user_fct__()
@@ -332,6 +334,20 @@ class MbsModal(object):
         self.__unassign_symbolic_fct__()
         self.mbs.__unassign_symb_fct__()
         
+        return self.results
+        
+        
+    def load_results(self):
+        
+        self.results.eval_a = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.eval_a, (self.nx,))
+        self.results.eval_b = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.eval_b, (self.nx,))
+        
+        self.results.evec_a = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.evec_a[0], (self.nx,self.nx))
+        self.results.evec_b = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.evec_b[0], (self.nx,self.nx))
+        
+        self.results.evec_r = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.evec_r[0], (self.nx,self.nx))
+        self.results.evec_phi = np.ctypeslib.as_array(self.mbs_modal_ptr.contents.evec_phi[0], (self.nx,self.nx))
+        
         
     def set_options(self, **kwargs):
         """
@@ -544,4 +560,28 @@ class MbsModal(object):
         if len(options) == 1:
             return options[0]
             
-        return tuple(options)
\ No newline at end of file
+        return tuple(options)
+    
+            
+    #==========================================================================
+    # Defining properties
+    #==========================================================================
+    @property 
+    def nx(self):
+        return self.mbs_modal_ptr.contents.nx
+  
+    
+    
+class MbsResultModal(object):
+    
+    def __init__(self):
+        
+        self.eval_a = None
+        self.eval_b = None 
+        self.evec_a = None
+        self.evec_b = None 
+        self.evec_r = None 
+        self.evec_phi = None
+        
+        
+        
\ No newline at end of file