[dd] add a check on user time options

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -140,6 +140,39 @@ MbsDirdyn* mbs_new_dirdyn_aux(MbsData* mbs_data, MbsAux* mbs_aux)
     return dirdyn;
 }
 
+
+int check_user_dirdyn_options(MbsDirdyn* dd, MbsData* mbs_data)
+{
+    int i;
+    int err = 0;
+    // errors generated
+    if (dd->options->t0 > dd->options->tf)
+    {
+        err = _MBS_ERR_INIT;
+        mbs_msg("\t >Dirdyn> options error: t0 (%f) > tf (%f).\n", dd->options->t0, dd->options->tf);
+        mbs_msg("[%d] in check_user_dirdyn_options !! \n", err);
+        return err;
+    }
+
+    if (dd->options->dt0 <= 0.0)
+    {
+        err = _MBS_ERR_INIT;
+        mbs_msg("\t >Dirdyn> options error: dt0 (%f) is not strictly positive.\n", dd->options->dt0);
+        mbs_msg("[%d] in check_user_dirdyn_options !! \n", err);
+        return err;
+    }
+
+    if (dd->options->t0 == dd->options->tf)
+    {
+        err = _MBS_ERR_INIT;
+        mbs_msg("\t >Dirdyn> options error: t0 (%f) == tf (%f).\n", dd->options->t0, dd->options->tf);
+        mbs_msg("\t >Dirdyn> if you need one evaluation of the derivative function, see the oneshot option in dirdyn. \n");
+        mbs_msg("[%d] in check_user_dirdyn_options !! \n", err);
+        return err;
+    }
+
+    return err;
+}
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data)
@@ -394,6 +427,14 @@ int mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data)
     }
     user_dirdyn_init(mbs_data, dd);
 
+    // Checking time options
+    err = check_user_dirdyn_options(dd, mbs_data);
+    if (err < 0) {
+        mbs_msg("\t >Dirdyn> Incoherence detected during module initialization! \n");
+        mbs_msg("[%d] in mbs_dirdyn_init !! \n", err);
+        return err;
+    }
+
     /* TODO : Move in initialize_integrator when 2nd order integrator will be implemented */
     // Simulation state initialization
     for (i = 1; i <= mbs_data->nqu; i++)
@@ -1032,3 +1073,4 @@ int save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data)
 
     return 0;
 }
+

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

@@ -174,4 +174,14 @@ int mbs_fct_dirdyn(double t, double y[], double dydt[], MbsData *s, MbsDirdyn *d
  */
 int save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data);
 
+
+/*! \brief check that the dirdyn options performed by the user are correct
+ *
+ * \param[in] dd direct dynamics module
+ * \param[in] mbs_data Robotran main structure
+ *
+ * \return Error status, <0 in case of failure.
+ */
+int check_user_dirdyn_options(MbsDirdyn* dd, MbsData* mbs_data);
+
 #endif