user_hardcoded.h generation working

MBprojects/PendulumSpringC/userfctR/user_hardcoded.h

+/* --------------------------------------------------------
+ * This code was generated automatically by MBsysC modules.
+ * MBsysC modules are distributed as part of the ROBOTRAN 
+ * software. They provides functionalities for dealing with
+ * symbolic equations generated by ROBOTRAN. 
+ *
+ * More info on www.robotran.be 
+ *
+ * Universite catholique de Louvain, Belgium 
+ *
+ * Last update : Thu Aug 13 11:02:43 2015
+ * --------------------------------------------------------
+ *
+ */
+#ifndef USER_HARDCODED_h
+#define USER_HARDCODED_h
+
+// ============================================================ //
+
+
+// gravity
+#define G_3 9.810000
+
+// mass
+#define M_1 5.000000
+#define M_3 2.000000
+#define M_4 2.000000
+#define M_5 2.000000
+
+// center of mass
+#define L_3_1 0.400000
+#define L_3_4 0.075000
+#define L_1_5 0.290000
+
+// inertia
+#define IN_5_1 0.100000
+#define IN_9_3 1.000000
+#define IN_5_4 0.100000
+#define IN_5_5 0.100000
+
+// body point
+#define DPT_1_1 0.250000
+#define DPT_1_2 -0.500000
+#define DPT_3_3 0.500000
+#define DPT_3_4 0.250000
+#define DPT_3_5 1.500000
+#define DPT_3_6 0.150000
+#define DPT_1_7 0.580000
+#define DPT_1_8 0.290000
+
+// ============================================================ //
+
+# endif

MBsysC/mbs_app/user_file_generation/CMakeLists.txt

@@ -40,7 +40,7 @@ xml_lib()
 
 # function to list all source files in the src/ directory, 
 # recursing into sub-directories
-function(list_gen_source_files HEADER_FILES)
+function(list_gen_source_files)
     file(GLOB_RECURSE SOURCE_FILES_TMP 
 		"${PROJECT_SOURCE_DIR}/src/*.c" 
 		"${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_load_xml/mbs_xml_reader.c"
@@ -50,7 +50,7 @@ endfunction()
 
 # function to list all paths to header files in the src/ directory, 
 # recursing into sub-directories (includes)
-function(list_gen_include_directories FULL_INCLUDE_DIRECTORIES)
+function(list_gen_include_directories)
     file(GLOB_RECURSE FULL_INCLUDE_DIRECTORIES_TMP RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} 
 		"${PROJECT_SOURCE_DIR}/src/*.h"
 		"${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_load_xml/mbs_xml_reader.h"

MBsysC/mbs_app/user_file_generation/readme.md

@@ -38,5 +38,6 @@ make
 specifying which file must be generated:
   * "user_models": user model files
   * "user_all_id": id header file
-  * "all": both of the previous option (this is the default option
+  * "user_hardcoded": hardcoded mbs values header file
+  * "all": all previous options (this is the default option
     if the options is omitted)

MBsysC/mbs_app/user_file_generation/src/main.c

@@ -163,6 +163,32 @@ void generate_user_all_id(char* mbsfile)
     
 }
 
+/*! \brief Generates 'user_hardcoded.h'
+ * 
+ * \param[in] mbsfile f.mbs file (with path) to use
+ */
+void generate_user_hardcoded(char* mbsfile)
+{
+    // variables declaration
+    char *fileoutH, *userpath;
+
+    //struct stat mbs_stat, outH_stat;
+    userpath = find_user_path(mbsfile);
+
+    MDS_gen_strct* gen;
+    gen = NULL;
+
+    // files initialization
+    fileoutH = (char*) malloc(sizeof(char)*(strlen(userpath)+50));
+    sprintf(fileoutH, "%suser_hardcoded.h", userpath);
+
+    gen = MDS_mbs_reader(mbsfile);
+    mbs_print_user_hardcoded(gen, fileoutH);
+
+    free_MDS_gen_strct(gen);
+    free(fileoutH);
+    free(userpath);
+}
 
 /**
  * 
@@ -203,6 +229,7 @@ int main(int argc, char *argv[])
         {
             generate_user_models(mbsFile);
             generate_user_all_id(mbsFile);
+            generate_user_hardcoded(mbsFile);
         }
         else if ( !strcmp(argv[2], "user_models") )
         {
@@ -212,10 +239,14 @@ int main(int argc, char *argv[])
         {
             generate_user_all_id(mbsFile);
         }
+        else if ( !strcmp(argv[2], "user_hardcoded") )
+        {
+            generate_user_hardcoded(mbsFile);
+        }
         else
         {
             printf("Error: %s is not a good argument !\n", argv[2]);
-            printf("Arguments accepted: 'user_models' and 'user_all_id' (without '')\n");
+            printf("Arguments accepted: 'all', 'user_models', 'user_all_id' and 'user_hardcoded' (without '')\n");
         }
     }
     return 0;

MBsysC/mbs_app/user_file_generation/src/mbs_print_user_files.c

 /*
- * Functions used to generate 'user_models.c' 'user_models.h'
+ * Functions used to generate 'user_models.c', 'user_models.h', 'user_all_id.h' and 'user_hardcoded.h'
  *
- * author: Aubain VERLE, Nicolas Docquier
+ * author: Aubain VERLE, Nicolas Docquier, Nicolas Van der Noot
  *
  * (c) Universite catholique de Louvain
  *
@@ -388,3 +388,149 @@ void mbs_print_user_all_id(MDS_gen_strct* gen, char *fileoutH)
     printf(">> 'user_all_id.h' created\n");
 
 }
+
+int get_index_parent_joint(MDS_body_strct *body, MDS_bodytree_strct *bodytree)
+{
+    int i;
+    char *joint_name;
+    
+    joint_name = body->joint_list[body->n_joint-1]->name;
+
+    for(i=0; i< bodytree->n_joint; i++)
+    {
+        if (!strcmp(bodytree->joint_list[i]->name ,joint_name))
+        {
+            return i+1;
+        }
+    }
+
+    printf("Error: unknown joint %s !\n", joint_name);
+    return 0;
+}
+
+/*! \brief print the 'user_hardcoded.h' file
+ * 
+ * \param[in] gen MDS generated structure (from the .mbs file)
+ * \param[in] fileoutH file to create
+ */
+void mbs_print_user_hardcoded(MDS_gen_strct* gen, char *fileoutH)
+{
+    int i, j, k;
+    int ind;
+    int cur_index;
+
+    FILE  *fidH;
+    MDS_bodytree_strct *bodytree;
+    MDS_body_strct *cur_body;
+    MDS_point_strct *cur_point;
+
+    int inertia_tab[6] = {1, 2, 3, 5, 6, 9};
+
+    // File declaration
+    fidH = NULL; // internal filename
+
+    // Opening file
+    fidH = fopen(fileoutH, "wt");
+
+    // Fill the file
+    if(fidH == NULL)
+    {
+        printf("error: cannot open file '%s'\n", fileoutH);
+        exit(1);
+    }
+
+    bodytree = gen->bodytree;
+
+    // -- user_hardcoded.h -- //
+
+    // print the generic header
+    mbs_print_header(fidH);
+
+    fprintf(fidH,"#ifndef USER_HARDCODED_h\n");
+    fprintf(fidH,"#define USER_HARDCODED_h\n");
+    fprintf(fidH,"\n");
+    fprintf(fidH,"// ============================================================ //\n\n");
+    fprintf(fidH,"\n");
+
+    // gravity
+    fprintf(fidH,"// gravity\n");
+    for(i=0; i<3; i++)
+    {
+        if (gen->base->gravity[i])
+        {
+            fprintf(fidH,"#define G_%d %f\n", i+1, gen->base->gravity[i]);
+        }        
+    }
+    fprintf(fidH,"\n");
+
+    // mass
+    fprintf(fidH,"// mass\n");
+    for(i=0; i<bodytree->n_body; i++)
+    {
+        cur_body = bodytree->body_list[i];
+        cur_index = get_index_parent_joint(cur_body, bodytree);
+
+        if (cur_body->mass)
+        {
+            fprintf(fidH,"#define M_%d %f\n", cur_index, cur_body->mass);
+        }
+    }
+    fprintf(fidH,"\n");
+
+    // com
+    fprintf(fidH,"// center of mass\n");
+    for(i=0; i<bodytree->n_body; i++)
+    {
+        cur_body = bodytree->body_list[i];
+        cur_index = get_index_parent_joint(cur_body, bodytree);
+
+        //x y z
+        for(j=0; j<3; j++)
+        {
+            if (cur_body->com[j])
+            {
+                fprintf(fidH,"#define L_%d_%d %f\n", j+1, cur_index, cur_body->com[j]);
+            }            
+        }        
+    }
+    fprintf(fidH,"\n");
+
+    // inertia
+    fprintf(fidH,"// inertia\n");
+    for(i=0; i<bodytree->n_body; i++)
+    {
+        cur_body = bodytree->body_list[i];
+        cur_index = get_index_parent_joint(cur_body, bodytree);
+
+        // Ixx Ixy Ixz Iyy Iyz Izz
+        for(j=0; j<6; j++)
+        {
+            if (cur_body->inertia[j])
+            {
+                fprintf(fidH,"#define IN_%d_%d %f\n", inertia_tab[j], cur_index, cur_body->inertia[j]);
+            }            
+        }        
+    }
+    fprintf(fidH,"\n");
+
+    // body point
+    fprintf(fidH,"// body point\n");
+    for(i=0; i< gen->n_point; i++)
+    {
+        cur_point = gen->point_list[i];
+
+        for(j=0; j<3; j++)
+        {
+            if (cur_point->pt[j])
+            {
+                fprintf(fidH,"#define DPT_%d_%d %f\n", j+1, i+1, cur_point->pt[j]);
+            }
+        }
+    }
+    fprintf(fidH,"\n");
+
+    fprintf(fidH,"// ============================================================ //\n\n");
+    fprintf(fidH,"# endif""\n");
+    fclose(fidH);
+    printf(">> 'user_hardcoded.h' created\n");
+}

MBsysC/mbs_app/user_file_generation/src/mbs_print_user_files.h

@@ -16,3 +16,5 @@ void print_empty_file(char *fileout);
 void mbs_print_user_models(MDS_gen_strct* gen, char *fileoutC, char *fileoutH);
 
 void mbs_print_user_all_id(MDS_gen_strct* gen, char *fileoutH);
+
+void mbs_print_user_hardcoded(MDS_gen_strct* gen, char *fileoutH);