use function pointer to remove dependency of mbs realtime to user fct

MBprojects/PendulumSpringC/workR/src/main.c

@@ -22,6 +22,7 @@ extern "C" {
     #include "realtime.h"
     #include "cmake_config.h"
 	#include "mbs_project_interface.h"
+	#include "user_realtime.h"
 #ifdef __cplusplus
 }
 #endif
@@ -98,6 +99,21 @@ void mbs_get_project_functions(MbsData *mbs_data)
 	mbs_data->user_cons_hJ = user_cons_hJ;
 	mbs_data->user_cons_jdqd = user_cons_jdqd;
 
+	#ifdef REAL_TIME
+		mbs_data->user_realtime_options = user_realtime_options;
+
+		#ifdef SDL
+			mbs_data->user_keyboard = user_keyboard;
+			mbs_data->user_realtime_plot = user_realtime_plot;
+			mbs_data->user_joystick_axes = user_joystick_axes;
+			mbs_data->user_joystick_buttons = user_joystick_buttons;
+		#endif
+
+		#ifdef JAVA
+			mbs_data->user_realtime_visu = user_realtime_visu;
+		#endif
+	#endif
+
 	// symbolic function pointers
 	mbs_data->mbs_link = mbs_link;
 	mbs_data->mbs_link3D = mbs_link3D;

MBsysC/mbs_common/mbs_realtime/java/java_functions.c

@@ -190,7 +190,7 @@ void update_java(Simu_realtime *realtime)
     java     = realtime->ext->java;
     mbs_data = realtime->ext->mbs_data;
 
-    user_realtime_visu(mbs_data, java->nb_q, java->cur_q);
+    mbs_data->user_realtime_visu(mbs_data, java->nb_q, java->cur_q);
 
     if (java->visu_past_flag)
     {

MBsysC/mbs_common/mbs_realtime/java/visu_past.c

@@ -52,7 +52,7 @@ void update_past_visu(Simu_realtime *realtime, double tsim)
     // update the time
     tsim_save[min_tsim_index] = tsim;
 
-    user_realtime_visu(mbs_data, nb_q, cur_q);
+    mbs_data->user_realtime_visu(mbs_data, nb_q, cur_q);
 
     // update the vectors
     for (i=0; i<nb_q; i++)

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -47,7 +47,7 @@ void mbs_realtime_init(MbsData* mbs_data, double t0, double tf, double dt0)
     options->dt0  = dt0;
     options->nb_q = mbs_data->njoint;
 
-    user_realtime_options(options);
+    mbs_data->user_realtime_options(options);
 
     check_user_realtime_options(options);
     compute_buffer_size(options);
@@ -132,7 +132,7 @@ void mbs_realtime_loop(Simu_realtime *realtime, double tsim)
     if (realtime->flag_plot)
     {
         // assign values for the plot
-        user_realtime_plot(mbs_data);
+        mbs_data->user_realtime_plot(mbs_data);
 
         // check maximal values for the plot
         update_y_min_max(realtime);

MBsysC/mbs_common/mbs_realtime/realtime/realtime.h

@@ -37,7 +37,7 @@ typedef struct Realtime_extern
 
 /*! \brief user real-time option
  */
-typedef struct Realtime_option
+struct Realtime_option
 {
     // simulation
     double t0;  ///< initial simulation time [s]
@@ -80,7 +80,7 @@ typedef struct Realtime_option
 
     double fqc_visu; ///< frequence of the java visualization refreshment [Hz]
 
-} Realtime_option;
+};
 
 /*! \brief one constraint strcuture
  */
@@ -94,7 +94,7 @@ typedef struct Realtime_constraint
 
 /*! \brief real-time structure
  */
-typedef struct Simu_realtime
+struct Simu_realtime
 {
     // flags
     int simu_quit;       ///< 1 to quit the simulation, 0 otherwise
@@ -142,7 +142,7 @@ typedef struct Simu_realtime
 
     Realtime_option *options; ///< user options
 
-} Simu_realtime;
+};
 
 // -- Functions prototypes -- //
 

MBsysC/mbs_common/mbs_realtime/realtime/realtime_ext.c

@@ -149,7 +149,7 @@ Realtime_java* init_realtime_java(void *realtime_options, MbsData* mbs_data)
         }
     }
 
-    user_realtime_visu(mbs_data, nb_q, java->cur_q);
+    mbs_data->user_realtime_visu(mbs_data, nb_q, java->cur_q);
 
     java->jni_struct = init_jni(nb_q, java->cur_q, options->mbs_file, options->start_viewpoint);
 

MBsysC/mbs_common/mbs_realtime/sdl/events_sdl.c

@@ -40,7 +40,7 @@ void events_sdl(Simu_realtime *realtime, int cur_t_usec)
 
     realtime_sdl = realtime->ext->sdl;
     mbs_data     = realtime->ext->mbs_data;
-    screen_sdl   = realtime_sdl->screen_sdl;
+    screen_sdl   = (Screen_sdl*) realtime_sdl->screen_sdl;
 
     // -- Handles the events -- //
 
@@ -52,11 +52,11 @@ void events_sdl(Simu_realtime *realtime, int cur_t_usec)
     if (cur_t_usec >= realtime_sdl->next_user_keyboard_event_usec) 
     {
         // user keyboard
-        user_keyboard(mbs_data, realtime, cur_t_usec, keystates);
+        mbs_data->user_keyboard(mbs_data, realtime, cur_t_usec, keystates);
     }
 
     // user joystick axes
-    user_joystick_axes(mbs_data, realtime, screen_sdl->nb_joysticks);
+    mbs_data->user_joystick_axes(mbs_data, realtime, screen_sdl->nb_joysticks);
 
     // get event (if any)
     if (SDL_PollEvent(&event)) 
@@ -67,7 +67,7 @@ void events_sdl(Simu_realtime *realtime, int cur_t_usec)
             // joystick button pressed
             case SDL_JOYBUTTONDOWN:
 
-                user_joystick_buttons(mbs_data, event.jbutton.button);
+                mbs_data->user_joystick_buttons(mbs_data, event.jbutton.button);
 
                 break;
 
@@ -447,7 +447,7 @@ double get_Joystick_axis(int joystickID, int axisID, Simu_realtime *realtime)
 
     Screen_sdl *screen_sdl;
 
-    screen_sdl = realtime->ext->sdl->screen_sdl;
+    screen_sdl = (Screen_sdl*) realtime->ext->sdl->screen_sdl;
 
     if (joystickID >= screen_sdl->nb_joysticks)
     {

MBsysC/mbs_common/mbs_struct/mbs_data.h

@@ -130,6 +130,22 @@ struct MbsData
 	user_cons_hJ_ptr user_cons_hJ;
 	user_cons_jdqd_ptr user_cons_jdqd;
 
+	#ifdef REAL_TIME
+		user_realtime_options_ptr user_realtime_options;
+
+		#ifdef SDL
+			user_keyboard_ptr user_keyboard;
+			user_realtime_plot_ptr user_realtime_plot;
+			user_joystick_axes_ptr user_joystick_axes;
+			user_joystick_buttons_ptr user_joystick_buttons;
+		#endif
+
+		#ifdef JAVA
+			user_realtime_visu_ptr user_realtime_visu;
+		#endif
+	#endif
+
+
 	// symbolic function pointers
 	mbs_link_ptr	mbs_link;
 	mbs_link3D_ptr	mbs_link3D;

MBsysC/mbs_common/mbs_struct/mbs_project_fct_ptr.h

@@ -17,6 +17,29 @@ typedef void	(*user_DrivenJoints_ptr)(MbsData *s, double tsim);
 typedef void	(*user_cons_hJ_ptr)(double *h, double **Jac, MbsData *s, double tsim);
 typedef void	(*user_cons_jdqd_ptr)(double *jdqd, MbsData *s, double tsim);
 
+#ifdef REAL_TIME
+	typedef struct Realtime_option Realtime_option;
+
+	typedef void	(*user_realtime_options_ptr)(Realtime_option *options);
+
+	#ifdef SDL
+		typedef struct Simu_realtime Simu_realtime;
+		typedef unsigned __int8 uint8_t; // copied from sdl header
+		typedef uint8_t Uint8;  // copied from sdl header
+
+		typedef void	(*user_keyboard_ptr)(MbsData* mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates);
+		typedef void	(*user_realtime_plot_ptr)(MbsData* mbs_data);
+		typedef void	(*user_joystick_axes_ptr)(MbsData* mbs_data, Simu_realtime *realtime, int nb_joysticks);
+		typedef void	(*user_joystick_buttons_ptr)(MbsData* mbs_data, int buttonID);
+	#endif
+
+	#ifdef JAVA
+		typedef void	(*user_realtime_visu_ptr)(MbsData* mbs_data, int nb_q, double *q_vec);
+	#endif
+
+#endif
+
+
 
 typedef void	(*mbs_link_ptr)(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MbsData *s, double tsim);
 typedef void	(*mbs_link3D_ptr)(double **frc,double **trq, MbsData *s, double tsim);