[Ctypes] user models + enabling free memory with user models

MBsysC/mbs_common/mbs_load_xml/mbs_load_xml.c

@@ -707,6 +707,7 @@ MbsData* mbs_info_to_data(MbsInfos* mbs_infos, MbsData* s)
 
 void mbs_delete_data(MbsData *s)
 {
+    
     int i;
 
     if (s->mbs_name)
@@ -778,10 +779,10 @@ void mbs_delete_data(MbsData *s)
         free_dvec_1(s->uxd);
         free_dvec_1(s->ux0);
     }
- 
+    
 #ifndef SENSORKIN
     // User models
-    if (s->Nuser_model)
+    if (s->Nuser_model && s->user_model != NULL)
     {
         mbs_delete_user_model(s->user_model);
     }
@@ -824,5 +825,5 @@ void mbs_delete_data(MbsData *s)
     #endif
 
     free(s);
- 
+  
 }

MBsysC/mbs_common/mbs_load_xml/mbs_xml_binder_public.h

@@ -243,6 +243,9 @@ typedef struct MbsInfoParameter
     int type; // scalar=1 ;  vector=2 ; lut1D=3 ; lut2D=4 ; state=5 ; structure=6 : integer=7
     int n_value;
     double *value_list;
+    
+    /** pointer to the memory storing the value in the UserModel structure (redundant with MbsInfoDData **d_value but simpler) **/
+    void* val_ptr;
 
     MbsInfoDData **d_value; // d_data for the value
     int is_symmmetric; // asymmetric = 0, symmetric master = 1, symmetric salve = 2
@@ -255,9 +258,6 @@ typedef struct MbsInfoParameter
     int   flag_PRJPATH;
     char* structure_lutfile;
 
-    /** pointer to the memory storing the value in the UserModel structure (redundant with MbsInfoDData **d_value but simpler) **/
-    void* val_ptr;
-
 } MbsInfoParameter;
 
 typedef struct MbsInfoUserModel

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/forward_decl.py

@@ -45,6 +45,8 @@ class MbsInfoLink_c(ctypes.Structure):
     pass
 class MbsInfoUserModels_c(ctypes.Structure):
     pass
+class MbsInfoUserModel_c(ctypes.Structure):
+    pass
 class MbsInfoUserIOs_c(ctypes.Structure):
     pass
 class MbsInfoParameter_c(ctypes.Structure):

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_infos_c.py

@@ -28,6 +28,7 @@ from .forward_decl import MbsInfoCuts_c
 from .forward_decl import MbsInfoLinks_c
 from .forward_decl import MbsInfoLink_c
 from .forward_decl import MbsInfoUserModels_c
+from .forward_decl import MbsInfoUserModel_c
 from .forward_decl import MbsInfoUserIOs_c
 from .forward_decl import MbsInfoPoint_c
 from .forward_decl import MbsInfoSensor_c
@@ -99,10 +100,29 @@ MbsInfoLinks_c._fields_ = [
 #==============================================================================
 
 MbsInfoLink_c._fields_ = [
-    ("name", ctypes.c_char_p)
+    ("name", ctypes.c_char_p),
     #remaining fields not implemented
     ]
 
+#==============================================================================
+# MbsInfoUserModels_c
+#==============================================================================
+
+MbsInfoUserModels_c._fields_ = [
+    ("n_user_model", ctypes.c_int),
+    ("user_model_list", ctypes.POINTER(ctypes.POINTER(MbsInfoUserModel_c)))
+    ]
+
+#==============================================================================
+# MbsInfoUserModel_c
+#==============================================================================
+
+MbsInfoUserModel_c._fields_ = [
+    ("name", ctypes.c_char_p),
+    ("n_parameter", ctypes.c_int),
+    ("parameter_list", ctypes.POINTER(ctypes.POINTER(MbsInfoParameter_c)))
+    ]
+
 #==============================================================================
 # MbsInfoPoint_c
 #==============================================================================
@@ -134,3 +154,15 @@ MbsInfoExtforce_c._fields_ = [
     #remaining fields not implemented
     ]
 
+#==============================================================================
+# MbsInfoParameter_c
+#==============================================================================
+
+MbsInfoParameter_c._fields_ = [
+    ("name", ctypes.c_char_p),
+    ("type", ctypes.c_int),
+    ("n_value", ctypes.c_int),
+    ("value_list", ctypes.POINTER(ctypes.c_double)),
+    ("val_ptr", ctypes.POINTER(ctypes.c_double))
+    #remaining fields not implemented
+    ]
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -52,7 +52,7 @@ from ..mbsysc_loader.callback import mbs_sensor_wrap
 #==============================================================================
 # Global parameter of the current module
 #==============================================================================
-__DEBUG__ = False
+__DEBUG__ = True
 __MODULE_DIR__ = os.path.dirname(os.path.abspath(__file__))
 
 
@@ -223,6 +223,10 @@ class MbsData(object):
         fixed frame) applied to each body.
     tsim : scalar
         The time value.
+    user_model : dict
+        Dictionary containing the names of the user models as keys and a second
+        dictionary with their parameters as values. The second dictionary
+        contains the names of the parameters as keys and their values as values
     ux : ndarray
         Numpy array containing the values of the user variables.
     ux0 : ndarray
@@ -385,6 +389,10 @@ class MbsData(object):
         self.sensor_id = {}
         self.__generate_id__()
         
+        #UserModel
+        self.user_model = _StrictDict()
+        self.__load_user_model__()
+        
         
         # Loading user function
         if __DEBUG__ : print( "DEBUG>>  Loading user functions")
@@ -634,6 +642,11 @@ class MbsData(object):
             The other symbolic function will be assigned when a module is 
             instancied.
             
+            Assign and wrap python user functions in which the arguments are not 
+            dependent of another module instance (ie. MbsPart, MbsDirdyn...).
+            Store the functions in the MbsData instance 
+            and assign the pointer of functions in the C structure
+            
             The functions will be assigned to the MbsData instance when 
             the 'run' function in other modules is called and unassigned 
             at the end.
@@ -696,10 +709,6 @@ class MbsData(object):
         __Q = np.ctypeslib.as_array(Q, (self.njoint+1,))
         fun(self, tsim, __Q)
         
-#    def callback_undefined(self,function_name=None):
-#        print("undefined functions: "+function_name)
-#        return
-    
     def __unassign_user_fct__(self):
         """
             Unassign all user function if all args are in MbsData instance.
@@ -762,6 +771,37 @@ class MbsData(object):
                 index = self.mbs_infos_ptr.contents.extforce_point_list[i]
                 name = self.mbs_infos_ptr.contents.point_list[index].contents.extforce.contents.name.decode('utf-8')
                 self.extforce_id[name] = i+1
+                
+                
+    def __load_user_model__(self):
+        
+        self.user_model._locked = False
+        infos_c_ptr=self.mbs_infos_ptr.contents
+        for i in range(infos_c_ptr.user_models.contents.n_user_model):
+            user_model_list = infos_c_ptr.user_models.contents.user_model_list[i].contents
+            name = user_model_list.name.decode('utf-8')
+            self.user_model[name] = _StrictDict()
+            self.user_model[name]._parent_key = name
+            self.user_model[name]._locked = False
+            self.user_model[name]._type = dict()
+            for j in range(user_model_list.n_parameter):
+                parameter_list = user_model_list.parameter_list[j].contents
+                name2 = parameter_list.name.decode('utf-8')
+                val_ptr = parameter_list.val_ptr
+                value_list = parameter_list.value_list
+                self.user_model[name]._type[name2] = parameter_list.type
+                size = parameter_list.n_value
+                UmPy = (ctypes.cast(val_ptr, ctypes.c_void_p).value==ctypes.cast(value_list, ctypes.c_void_p).value)
+                if UmPy :
+                    self.user_model[name][name2] = np.ctypeslib.as_array(val_ptr, (1,size))
+                else :
+                    #not yet tested, it requires user and symbolic fonctions in C
+                    if self.user_model[name]._type[name2] == 5 or self.user_model[name]._type[name2] == 7:
+                        self.user_model[name][name2] = np.ctypeslib.as_array(ctypes.cast(val_ptr, ctypes.POINTER(ctypes.c_int)), (1,size))
+                    else :
+                        self.user_model[name][name2] = np.ctypeslib.as_array(val_ptr, (1,size))
+            self.user_model[name]._locked = True
+        self.user_model._locked = True
             
         
     
@@ -932,10 +972,7 @@ class MbsData(object):
         mbs_part = MbsPart(self)
         mbs_part.set_options(**kwargs)
         mbs_part.run()
-                
-        
-        
-    
+
     #==========================================================================
     # Defining properties
     #==========================================================================
@@ -1166,3 +1203,72 @@ class MbsData(object):
     @property
     def mbs_name(self):
         return ctypes.string_at(self.mbs_data_ptr.contents.mbs_name).decode("utf-8")
+    
+    
+class _StrictDict(dict):
+        
+    def __init__(self, *args, **kwargs):
+        dict.__init__(self, *args, **kwargs)
+        self._locked = True 
+        self._parent_key = None
+        self._type = None 
+        
+    def __setitem__(self, key, value):
+            
+        if self._locked == True:
+            
+            if not (self._type is None):
+                if self._type[key] == 1:
+                    if type(value) is float:
+                        tab = self.__getarray__(key)
+                        tab[0][0] = value
+                    elif type(value) is int:
+                        tab = self.__getarray__(key)
+                        tab[0][0] = int(value)
+                    else :
+                        print("UserModel "+self._parent_key+"."+key+" is a float, "+str(type(value))+" was given")
+                elif self._type[key] == 7:
+                    if type(value) is int:
+                        tab = self.__getarray__(key)
+                        tab[0][0] = value
+                    else :
+                        print("UserModel "+self._parent_key+"."+key+" is an int, "+str(type(value))+" was given")
+                elif self._type[key] == 2 or self._type[key] == 5:
+                    if type(value) is np.ndarray or type(value) is list:
+                        tab = self.__getarray__(key)
+                        if np.size(value) == np.size(tab):
+                            tab[:] = value[:]
+                        else:
+                            print("UserModel "+self._parent_key+"."+key+" is an array of size "+str(np.size(tab))+", array of size "+str(np.size(value))+" was given")
+                    else :
+                        print("UserModel "+self._parent_key+"."+key+" is an array, "+str(type(value))+" was given")
+                elif self._type[key] == 3:
+                    print("Type lut1D for a user mode is not available in python")
+                elif self._type[key] == 4:
+                    print("Type lut2D for a user mode is not available in python")
+                elif self._type[key] == 6:
+                    print("Type structure for a user model is not available in python")
+                else :
+                    print("Invalid type for the user model")
+                        
+        else :
+            dict.__setitem__(self, key, value)
+            
+    def __getarray__(self, key):
+        
+        return dict.__getitem__(self, key)
+        
+    def __getitem__(self, key):
+        
+        
+        if self._type is None:
+            return dict.__getitem__(self, key)
+        else :
+            if self._type[key] == 1 or self._type[key] == 7 :
+                
+                return dict.__getitem__(self, key)[0][0]
+            else:
+                return dict.__getitem__(self, key)[0]
+
+        
+