[MBsysPy][MbsInvdyn][BUG] Missing user_invdyn_ function in module

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -59,6 +59,9 @@ from .._mbsysc_loader.callback import user_equil_init_wrap
 from .._mbsysc_loader.callback import user_equil_loop_wrap
 from .._mbsysc_loader.callback import user_equil_finish_wrap
 from .._mbsysc_loader.callback import user_equil_fxe_wrap
+from .._mbsysc_loader.callback import user_invdyn_init_wrap
+from .._mbsysc_loader.callback import user_invdyn_loop_wrap
+from .._mbsysc_loader.callback import user_invdyn_finish_wrap
 
 from .._mbsysc_loader.callback import mbs_accelred_wrap
 from .._mbsysc_loader.callback import mbs_extforces_wrap
@@ -456,7 +459,8 @@ class MbsData(object):
         user_fun_list = ['cons_hJ', 'cons_jdqd', 'derivative', 'DrivenJoints',
                          'ExtForces', 'JointForces', 'LinkForces', 'Link3DForces',
                          'dirdyn_init', 'dirdyn_loop', 'dirdyn_finish',
-                         'equil_init', 'equil_loop', 'equil_finish', 'equil_fxe'
+                         'equil_init', 'equil_loop', 'equil_finish', 'equil_fxe',
+                         'invdyn_init', 'invdyn_loop', 'invdyn_finish',
                          ]
         symb_fun_list = ['accelred', 'cons_hJ', 'cons_jdqd', 'invdyna', 'dirdyna',
                          'extforces', 'gensensor', 'link', 'link3D', 'sensor'
@@ -669,6 +673,12 @@ class MbsData(object):
                     self.user_equil_finish = None
                 elif fun == "equil_fxe":
                     self.user_equil_fxe = None
+                elif fun == "invdyn_init":
+                    self.user_invdyn_init = None
+                elif fun == "invdyn_loop":
+                    self.user_invdyn_loop = None
+                elif fun == "invdyn_finish":
+                    self.user_invdyn_finish = None
                 else:
                     raise TypeError(fun + " is not an existing user function")
         else:
@@ -764,6 +774,9 @@ class MbsData(object):
             - 'equil_loop'
             - 'equil_finish'
             - 'equil_fxe'
+            - 'invdyn_init'
+            - 'invdyn_loop'
+            - 'invdyn_finish'
 
         """
         template_path = os.path.join(module_dir, '../templates/user')
@@ -1013,6 +1026,57 @@ class MbsData(object):
                             spec.loader.exec_module(module)
                             self.user_equil_fxe = module.user_equil_fxe
 
+                elif fun == 'invdyn_init':
+                    if self.user_invdyn_init is None:
+                        # user_invdyn
+                        user_file = "user_invdyn.py"
+                        path = os.path.abspath(os.path.join(user_path, user_file))
+                        if not os.path.isfile(path):
+                            mbs_msg("file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+                            path = os.path.abspath(os.path.join(template_path, user_file))
+                        else:
+                            if __DEBUG__:
+                                mbs_msg("DEBUG>>  loading file '" + user_file + "' in folder '" + os.path.dirname(path))
+
+                        spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                        module = importlib.util.module_from_spec(spec)
+                        spec.loader.exec_module(module)
+                        self.user_invdyn_init = module.user_invdyn_init
+
+                elif fun == 'invdyn_loop':
+                    if self.user_invdyn_loop is None:
+                        # user_invdyn
+                        user_file = "user_invdyn.py"
+                        path = os.path.abspath(os.path.join(user_path, user_file))
+                        if not os.path.isfile(path):
+                            mbs_msg("file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+                            path = os.path.abspath(os.path.join(template_path, user_file))
+                        else:
+                            if __DEBUG__:
+                                mbs_msg("DEBUG>>  loading file '" + user_file + "' in folder '" + os.path.dirname(path))
+
+                        spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                        module = importlib.util.module_from_spec(spec)
+                        spec.loader.exec_module(module)
+                        self.user_invdyn_loop = module.user_invdyn_loop
+
+                elif fun == 'invdyn_finish':
+                    if self.user_invdyn_finish is None:
+                        # user_invdyn
+                        user_file = "user_invdyn.py"
+                        path = os.path.abspath(os.path.join(user_path, user_file))
+                        if not os.path.isfile(path):
+                            mbs_msg("file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+                            path = os.path.abspath(os.path.join(template_path, user_file))
+                        else:
+                            if __DEBUG__:
+                                mbs_msg("DEBUG>>  loading file '" + user_file + "' in folder '" + os.path.dirname(path))
+
+                        spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                        module = importlib.util.module_from_spec(spec)
+                        spec.loader.exec_module(module)
+                        self.user_invdyn_finish = module.user_invdyn_finish
+
                 else:
                     raise TypeError(fun + " is not an existing user function")
         else:
@@ -1228,6 +1292,9 @@ class MbsData(object):
             - 'equil_loop'
             - 'equil_finish'
             - 'equil_fxe'
+            - 'invdyn_init'
+            - 'invdyn_loop'
+            - 'invdyn_finish'
 
         Returns
         -------
@@ -1261,6 +1328,7 @@ class MbsData(object):
                             raise TypeError('mbs_module must belong to {:}'.format((MbsDirdyn, MbsEquil, MbsModal, MbsSolvekin, MbsInvdyn, MbsPart)))
                     else:
                         raise ValueError(' A module needs to be passed as mbs_module argument')
+
                 elif fun == 'dirdyn_init':
                     # user_dirdyn
                     if mbs_module is not None:
@@ -1327,6 +1395,36 @@ class MbsData(object):
                             raise TypeError('mbs_module must be MbsEquil to use equil_fxe')
                     else:
                         raise ValueError('Equil module needs to be passed as mbs_module argument')
+
+                elif fun == 'invdyn_init':
+                    # user_invdyn
+                    if mbs_module is not None:
+                        if isinstance(mbs_module, MbsInvdyn):
+                            self.ptrs_to_user_fcts["user_invdyn_init"] = user_invdyn_init_wrap(lambda mbs, dd: self.user_invdyn_init(self, mbs_module))
+                            self.mbs_data_ptr.contents.user_invdyn_init = self.ptrs_to_user_fcts["user_invdyn_init"]
+                        else:
+                            raise TypeError('mbs_module must be MbsInvdyn to use invdyn_init')
+                    else:
+                        raise ValueError('Dirdyn module needs to be passed as mbs_module argument')
+                elif fun == 'invdyn_loop':
+                    if mbs_module is not None:
+                        if isinstance(mbs_module, MbsInvdyn):
+                            self.ptrs_to_user_fcts["user_invdyn_loop"] = user_invdyn_loop_wrap(lambda mbs, dd: self.user_invdyn_loop(self, mbs_module))
+                            self.mbs_data_ptr.contents.user_invdyn_loop = self.ptrs_to_user_fcts["user_invdyn_loop"]
+                        else:
+                            raise TypeError('mbs_module must be MbsInvdyn to use invdyn_loop')
+                    else:
+                        raise ValueError('Dirdyn module needs to be passed as mbs_module argument')
+                elif fun == 'invdyn_finish':
+                    if mbs_module is not None:
+                        if isinstance(mbs_module, MbsInvdyn):
+                            self.ptrs_to_user_fcts["user_invdyn_finish"] = user_invdyn_finish_wrap(lambda mbs, dd: self.user_invdyn_finish(self, mbs_module))
+                            self.mbs_data_ptr.contents.user_invdyn_finish = self.ptrs_to_user_fcts["user_invdyn_finish"]
+                        else:
+                            raise TypeError('mbs_module must be MbsInvdyn to use invdyn_finish')
+                    else:
+                        raise ValueError('Dirdyn module needs to be passed as mbs_module argument')
+
                 elif fun == "derivative":
                     # derivative
                     self.ptrs_to_user_fcts["user_Derivative"] = user_Derivative_wrap(lambda mbs: self.user_derivative(self))
@@ -1613,6 +1711,9 @@ class MbsData(object):
             - 'equil_loop'
             - 'equil_finish'
             - 'equil_fxe'
+            - 'invdyn_init'
+            - 'invdyn_loop'
+            - 'invdyn_finish'
 
         Returns
         -------
@@ -1651,6 +1752,12 @@ class MbsData(object):
                     self.mbs_data_ptr.contents.user_equil_finish = user_equil_finish_wrap(lambda mbs, eq: callback_undefined("user_equil_finish"))
                 elif fun == "equil_fxe":
                     self.mbs_data_ptr.contents.user_equil_fxe = user_equil_fxe_wrap(lambda mbs, f: callback_undefined("user_equil_fxe"))
+                elif fun == "invdyn_init":
+                    self.mbs_data_ptr.contents.user_invdyn_init = user_invdyn_init_wrap(lambda mbs, dd: callback_undefined("user_invdyn_init"))
+                elif fun == "invdyn_loop":
+                    self.mbs_data_ptr.contents.user_invdyn_loop = user_invdyn_loop_wrap(lambda mbs, dd: callback_undefined("user_invdyn_loop"))
+                elif fun == "invdyn_finish":
+                    self.mbs_data_ptr.contents.user_invdyn_finish = user_invdyn_finish_wrap(lambda mbs, dd: callback_undefined("user_invdyn_finish"))
                 else:
                     raise TypeError(fun + " is not an existing user function")
         else:
@@ -1951,6 +2058,42 @@ class MbsData(object):
                     spec.loader.exec_module(module)
                     self.user_equil_fxe = module.user_equil_fxe
 
+            elif function_name == 'invdyn_init':
+                # user_invdyn
+                path = os.path.abspath(os.path.join(user_path, user_file))
+                if not os.path.isfile(path):
+                    mbs_msg(" file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+
+                else:
+                    spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                    module = importlib.util.module_from_spec(spec)
+                    spec.loader.exec_module(module)
+                    self.user_invdyn_init = module.user_invdyn_init
+
+            elif function_name == 'invdyn_loop':
+                # user_invdyn
+                path = os.path.abspath(os.path.join(user_path, user_file))
+                if not os.path.isfile(path):
+                    mbs_msg(" file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+
+                else:
+                    spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                    module = importlib.util.module_from_spec(spec)
+                    spec.loader.exec_module(module)
+                    self.user_invdyn_loop = module.user_invdyn_loop
+
+            elif function_name == 'invdyn_finish':
+                # user_invdyn
+                path = os.path.abspath(os.path.join(user_path, user_file))
+                if not os.path.isfile(path):
+                    mbs_msg(" file '" + user_file + "' not found in folder '" + os.path.dirname(path))
+
+                else:
+                    spec = importlib.util.spec_from_file_location(user_file[:-3], path)
+                    module = importlib.util.module_from_spec(spec)
+                    spec.loader.exec_module(module)
+                    self.user_invdyn_finish = module.user_invdyn_finish
+
             else:
                 raise TypeError(function_name + " is not an existing user function")
 

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_invdyn.py

@@ -116,7 +116,8 @@ class MbsInvdyn(object):
                 self.symbolic_path = symbolic_path
 
         self.user_fun_list = ['cons_hJ', 'cons_jdqd', 'derivative', 'DrivenJoints',
-                              'ExtForces', 'JointForces', 'LinkForces', 'Link3DForces'
+                              'ExtForces', 'JointForces', 'LinkForces', 'Link3DForces',
+                              'invdyn_init', 'invdyn_loop', 'invdyn_finish'
                               ]
         self.symb_fun_list = ['accelred', 'cons_hJ', 'cons_jdqd', 'invdyna',
                               'dirdyna', 'extforces', 'gensensor',

MBsysC/mbs_interface/MBsysPy/templates/CompleteProject-Python.xml

@@ -13,6 +13,7 @@
       <file src="user/user_DrivenJoints.py" dest="user_DrivenJoints.py"/>
       <file src="user/user_equil.py"        dest="user_equil.py"/>
       <file src="user/user_ExtForces.py"    dest="user_ExtForces.py"/>
+      <file src="user/user_invdyn.py"       dest="user_invdyn.py"/>
       <file src="user/user_JointForces.py"  dest="user_JointForces.py"/>
       <file src="user/user_Link3DForces.py" dest="user_Link3DForces.py"/>
       <file src="user/user_LinkForces.py"   dest="user_LinkForces.py"/>

MBsysC/mbs_interface/MBsysPy/templates/SimpleProject-Python.xml

@@ -13,6 +13,7 @@
       <file src="user/user_DrivenJoints.py" dest="user_DrivenJoints.py"/>
       <file src="user/user_equil.py"        dest="user_equil.py"/>
       <file src="user/user_ExtForces.py"    dest="user_ExtForces.py"/>
+      <file src="user/user_invdyn.py"       dest="user_invdyn.py"/>
       <file src="user/user_JointForces.py"  dest="user_JointForces.py"/>
       <file src="user/user_Link3DForces.py" dest="user_Link3DForces.py"/>
       <file src="user/user_LinkForces.py"   dest="user_LinkForces.py"/>

MBsysC/mbs_interface/MBsysPy/templates/user/user_invdyn.py

+# -*- coding: utf-8 -*-
+"""Module for the definition of user functions related to inverse dynamic analysis."""
+# Author: Robotran Team
+# (c) Universite catholique de Louvain, 2021
+
+
+def user_invdyn_init(mbs_data, mbs_invdyn):
+    """Run specific operation required by the user before running inverse dynamic.
+
+    Parameters
+    ----------
+    mbs_data : MBsysPy.MbsData
+        The instance containing the multibody project.
+    mbs_invdyn : MBsysPy.MbsInvdyn
+        The instance of the current inverse dynamic process.
+
+    Returns
+    -------
+    None.
+
+    """
+    print("user_invdyn_init (Template) : This function should not be called")
+
+    return
+
+
+def user_invdyn_loop(mbs_data, mbs_invdyn):
+    """Run specific operation required by the user at the end of step.
+
+    Parameters
+    ----------
+    mbs_data : MBsysPy.MbsData
+        The instance containing the multibody project.
+    mbs_invdyn : MBsysPy.MbsDirdyn
+        The instance of the current inverse dynamic process.
+
+    Returns
+    -------
+    None.
+    """
+    print("user_invdyn_loop(Template) : This function should not be called")
+
+    return
+
+
+def user_invdyn_finish(mbs_data, mbs_invdyn):
+    """Run specific operations required by the user when inverse dynamic analysis ends.
+
+    Parameters
+    ----------
+    mbs_data : MBsysPy.MbsData
+        The instance containing the multibody project.
+    mbs_invdyn : MBsysPy.MbsDirdyn
+        The instance of the current inverse dynamic process.
+
+    Returns
+    -------
+    None.
+
+    """
+    print("user_invdyn_finish (Template) : This function should not be called")
+
+    return