correct real-time t!=0

MBprojects/PendulumSpringC/workR/src/main.c

@@ -69,15 +69,13 @@ int main(int argc, char const *argv[])
     mbs_dirdyn->options->save2file = 1;
     mbs_dirdyn->options->respath = PROJECT_SOURCE_DIR"/../resultsR";
 
-
-
     mbs_dirdyn->options->adapt_time_step = 1;
     mbs_dirdyn->options->adapt_rtoler = 1.0e-14;
     mbs_dirdyn->options->adapt_atoler = 1.0e-14;
     mbs_dirdyn->options->adapt_dt_max = 0.001;
     mbs_dirdyn->options->adapt_verbose = 1;
     
-    //mbs_dirdyn->options->realtime = 1;
+    mbs_dirdyn->options->realtime = 1;
 
     mbs_run_dirdyn(mbs_dirdyn, mbs_data);
     

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -141,7 +141,7 @@ void mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data){
     #ifdef REAL_TIME
     if (dd->options->realtime)
     {
-        mbs_realtime_init(mbs_data, dd->options->dt0, dd->options->tf);
+        mbs_realtime_init(mbs_data, dd->options->t0, dd->options->tf, dd->options->dt0);
     }
     #else
     if (dd->options->realtime)
@@ -254,6 +254,7 @@ void mbs_dirdyn_loop(MbsDirdyn* dd, MbsData* mbs_data){
     FILE *fileout_dopri5;
     int i;
     double **dopri5_alloc_tab;
+    double cur_t0, cur_tf;
 
     // NUMERICAL INTEGRATION
     // - - - - - - - - - - -
@@ -277,7 +278,10 @@ void mbs_dirdyn_loop(MbsDirdyn* dd, MbsData* mbs_data){
             dopri5_alloc_tab[i] = (double*) malloc (dd->nState*sizeof(double));
         }
 
-        dopri5(dd->nState, mbs_fct_dirdyn, dd->options->t0, dd->y, dd->options->tf, &(dd->options->adapt_rtoler), &(dd->options->adapt_atoler),
+        cur_t0 = dd->options->t0;
+        cur_tf = dd->options->tf;
+
+        dopri5(dd->nState, mbs_fct_dirdyn, cur_t0, dd->y, cur_tf, &(dd->options->adapt_rtoler), &(dd->options->adapt_atoler),
             0, solout_dopri5, 1, fileout_dopri5, 0.0, 0.0, 0.0, 0.0, 0.0, dd->options->adapt_dt_max, dd->options->dt0, dd->options->adapt_nmax,
             1, 0, 0, NULL, 0, dopri5_alloc_tab, mbs_data, dd);
 
@@ -428,7 +432,7 @@ void mbs_fct_dirdyn(double tsim, double y[], double dydt[], MbsData *s, MbsDirdy
  */
 void save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data)
 {
-     #ifdef REAL_TIME
+    #ifdef REAL_TIME
     Simu_realtime *realtime;
     #endif
 

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -29,10 +29,11 @@
 /*! \brief initialize the real-time structures
  * 
  * \param[in,out] mbs_data Robotran main structure
- * \param[in] dt0 intitial time step [s]
+ * \param[in] t0 initial time [s]
  * \param[in] tf final time [s]
+ * \param[in] dt0 intitial time step [s]
  */
-void mbs_realtime_init(MbsData* mbs_data, double dt0, double tf)
+void mbs_realtime_init(MbsData* mbs_data, double t0, double tf, double dt0)
 {
     // -- variables declaration -- //
     Simu_realtime *realtime;
@@ -41,6 +42,7 @@ void mbs_realtime_init(MbsData* mbs_data, double dt0, double tf)
     options = init_Realtime_option(mbs_data);
 
     // options determined by the simulation
+    options->t0   = t0;
     options->tf   = tf;
     options->dt0  = dt0;
     options->nb_q = mbs_data->njoint;

MBsysC/mbs_common/mbs_realtime/realtime/realtime.h

@@ -149,7 +149,7 @@ typedef struct Simu_realtime
 #ifdef __cplusplus
 extern "C" {
 #endif
-    void mbs_realtime_init(MbsData* mbs_data, double dt0, double tf);
+    void mbs_realtime_init(MbsData* mbs_data, double t0, double tf, double dt0);
     void mbs_realtime_loop(Simu_realtime *realtime, double tsim);
     void mbs_realtime_update(Simu_realtime *realtime, double tsim);
     void mbs_realtime_finish(Simu_realtime *realtime);

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.c

@@ -1818,6 +1818,14 @@ int str_label(char *str, double low_nb, double high_nb)
     // string computation
     diff_nb = fabs(high_nb - low_nb);
 
+    // numerical safety
+    if (fabs(diff_nb) < STR_LABEL_MIN)
+    {
+        sprintf(str,"[%.2f ; %.2f]", low_nb, high_nb );
+
+        return 0;
+    }
+
     exp_inf  = expo_ten_inf(diff_nb);
 
     div_exp = pow_int(10.0, exp_inf);
@@ -2466,7 +2474,6 @@ void plot_screen_sdl(Simu_realtime *realtime, double tsim, int screen_flag)
         screen_sdl->last_plot_auto_scaling   = screen_sdl->plot_auto_scaling;
 
 
-
         // x label range
 
         // corresponding index

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.h

@@ -92,6 +92,8 @@
 #define Y_LABEL_SHIFT_Y_START (Y_LABEL_SHIFT_Y + 9)
 #define Y_LABEL_SHIFT_Y_END (Y_LABEL_SHIFT_Y - 10)
 
+#define STR_LABEL_MIN 1.0e-9
+
 // scaling
 #define PLOT_SCALE_MAX 4.0
 #define SCALING_MULT_THRESHOLD 4.0