[MbsModal][NewError] Added for MBsysPy, leaks checked.

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_functions_c.py

@@ -137,7 +137,7 @@ libmodules.mbs_delete_sensor.restype = None
 libmodules.mbs_new_part.argtypes = [ctypes.POINTER(MbsData_c)]
 libmodules.mbs_new_part.restype = ctypes.POINTER(MbsPart_c)
 
-libmodules.mbs_run_part.argtypes =[ctypes.POINTER(MbsPart_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_run_part.argtypes = [ctypes.POINTER(MbsPart_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_run_part.restype = ctypes.c_int
 
 libmodules.mbs_delete_part.argtypes = [ctypes.POINTER(MbsPart_c)]
@@ -190,10 +190,6 @@ libmodules.mbs_equil_add_variable.argtypes = [ctypes.POINTER(MbsEquilOptions_c),
 libmodules.mbs_equil_add_variable.restypes = None
 
 
-libmodules.mbs_new_modal.argtypes = [ctypes.POINTER(MbsData_c)]
-libmodules.mbs_new_modal.restype = ctypes.POINTER(MbsModal_c)
-
-
 libmodules.mbs_new_invdyn.argtypes = [ctypes.POINTER(MbsData_c)]
 libmodules.mbs_new_invdyn.restype = ctypes.POINTER(MbsInvdyn_c)
 
@@ -231,6 +227,7 @@ libmodules.mbs_solvekin_loop.restype = None
 libmodules.mbs_solvekin_finish.argtypes = [ctypes.POINTER(MbsSolvekin_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_solvekin_finish.restype = None
 
+
 libmodules.mbs_new_modal.argtypes = [ctypes.POINTER(MbsData_c)]
 libmodules.mbs_new_modal.restype = ctypes.POINTER(MbsModal_c)
 
@@ -238,13 +235,13 @@ libmodules.mbs_delete_modal.argtypes = [ctypes.POINTER(MbsModal_c), ctypes.POINT
 libmodules.mbs_delete_modal.restype = None
 
 libmodules.mbs_run_modal.argtypes = [ctypes.POINTER(MbsModal_c), ctypes.POINTER(MbsData_c)]
-libmodules.mbs_run_modal.restype = None
+libmodules.mbs_run_modal.restype = ctypes.c_int
 
 libmodules.mbs_modal_init.argtypes = [ctypes.POINTER(MbsModal_c), ctypes.POINTER(MbsData_c)]
-libmodules.mbs_modal_init.restype = None
+libmodules.mbs_modal_init.restype = ctypes.c_int
 
 libmodules.mbs_modal_loop.argtypes = [ctypes.POINTER(MbsModal_c), ctypes.POINTER(MbsData_c)]
-libmodules.mbs_modal_loop.restype = None
+libmodules.mbs_modal_loop.restype = ctypes.c_int
 
 libmodules.mbs_modal_finish.argtypes = [ctypes.POINTER(MbsModal_c), ctypes.POINTER(MbsData_c)]
-libmodules.mbs_modal_finish.restype = None
+libmodules.mbs_modal_finish.restype = ctypes.c_int

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_modal.py

 # -*- coding: utf-8 -*-
 """
-Module to handle direct dynamics simulations on Multibody systems.
+Module to handle modal analysis on Multibody systems.
 
 Summary
 -------
@@ -191,9 +191,7 @@ class MbsModal(object):
 
         self.set_options(**kwargs)
 
-        libmodules.mbs_run_modal(self.mbs_modal_ptr, self.mbs.mbs_data_ptr)
-        if self.store_results:
-            self.load_results()
+        error = libmodules.mbs_run_modal(self.mbs_modal_ptr, self.mbs.mbs_data_ptr)
 
         # Unassign user functions
         if self.mbs.opt_load_c < 2:
@@ -203,6 +201,35 @@ class MbsModal(object):
         if self.mbs.opt_load_c < 1:
             self.mbs.__unassign_symb_fct__(self.symb_fun_list)
 
+        if error < 0:
+            mbs_msg("\n--------------------------------------------------------------------------------\n"  # There is 80 characters printed
+                    "READ CAREFULLY !!!\n"
+                    "--------------------------------------------------------------------------------\n\n"
+                    "An error occurs during the modal analysis.\n"
+                    "The messages above give deeper informations on what went wrong.\n"
+                    "The messages below gives classic error and error backtrace.\n\n"
+
+                    "Usual errors are:\n"
+                    "    - Some options are not correct;\n"
+                    "    - Some mass or Inertia component is missing, leading to a invalid mass\n"
+                    "      matrix during the computation;\n"
+                    "    - The system is in a singular configuration;\n"
+                    "    - An error in user function (joint force, external forces) return wrong\n"
+                    "       value. Excessive force can generate infinte acceleration.\n"
+                    "\n"
+                    "If the simulation runs a little you should:\n"
+                    "    - In all cases, open the results/animation file and check the motion of the \n"
+                    "      system until it fails.\n"
+                    "    - In case of loop closure problem, you can alos check the dedicated animation\n"
+                    "      under the name 'Failed_loop_closing_procedure_q.res' if the related option\n"
+                    "      has been enable.\n"
+                    "\n--------------------------------------------------------------------------------\n"
+                    "\n--------------------------------------------------------------------------------\n")
+            raise RuntimeError("MbsModal.run() failed, read previous messages.")
+
+        if self.store_results:
+            self.load_results()
+
         return self.results
 
     def load_results(self):

TestProjects/MR_350/workR/main_MBsysPy.py

@@ -82,6 +82,21 @@ mbs_modal = Robotran.MbsModal(mbs_data)
 # Error: joints have change
 # mbs_data.set_qdriven(2)
 
+
+# Error: impossible cut
+# mbs_data.dpt[3][4] = 10.
+
+# Error: Mass matrix full of 0.
+#        Set all mass to 0
+# mbs_data.m[1] = 0.0
+# mbs_data.m[3] = 0.0
+# mbs_data.m[4] = 0.0
+# mbs_data.m[5] = 0.0
+#        Set all inertia to 0
+# mbs_data.In[5][1] = 0.0
+# mbs_data.In[5][4] = 0.0
+# mbs_data.In[5][5] = 0.0
+
 mbs_modal.set_options(save_result=1, save_anim=1, mode_ampl=0.2)
 mbs_modal.run()
 

TestProjects/MR_350/workR/src/main.c

@@ -132,6 +132,21 @@ int main(int argc, char const *argv[])
     mbs_modal->options->save_result = 1;
     mbs_modal->options->save_anim = 1;
     mbs_modal->options->verbose = 1;
+
+    // Error: impossible cut
+    // mbs_data->dpt[3][4] = 10;
+
+    // Error: Mass matrix full of 0.
+    //        Set all mass to 0
+    // mbs_data->m[1] = 0.0;
+    // mbs_data->m[3] = 0.0;
+    // mbs_data->m[4] = 0.0;
+    // mbs_data->m[5] = 0.0;
+    //        Set all inertia to 0
+    // mbs_data->In[5][1] = 0.0;
+    // mbs_data->In[5][4] = 0.0;
+    // mbs_data->In[5][5] = 0.0;
+
     mbs_run_modal(mbs_modal, mbs_data);
 
     mbs_delete_modal(mbs_modal, mbs_data);