dynamic loading of symbolic lib in windows

MBprojects/PendulumSpringC/symbolicR/mbs_accelred_PendulumSpringC.c

@@ -61,7 +61,7 @@ g = s->g;
 
 // Driven Variables 
 
-user_DrivenJoints(s,tsim);
+s->user_DrivenJoints(s,tsim);
  
 NRh2 = 1.0; 
 while((NRh2 > NR_ERR) && (iter++ < MAX_NR_ITER)) 
@@ -178,7 +178,7 @@ if(iter > MAX_NR_ITER) return(-1);
 
 // Joint Forces 
 
-  Qq = user_JointForces(s,tsim);
+  Qq = s->user_JointForces(s,tsim);
  
 // Link Kinematics: Distance Z , Relative Velocity ZD
 
@@ -195,7 +195,7 @@ if(iter > MAX_NR_ITER) return(-1);
 
 // Link Forces 
 
-  Flnk1 = user_LinkForces(Z1,Zd1,s,tsim,1);
+  Flnk1 = s->user_LinkForces(Z1,Zd1,s,tsim,1);
  
 // Link Dynamics : Forces projection on body-fixed frames
 

MBprojects/PendulumSpringC/symbolicR/mbs_cons_hJ_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
  
 void mbs_cons_hJ(double *h,double **Jac,
 MbsData *s, double tsim)

MBprojects/PendulumSpringC/symbolicR/mbs_cons_jdqd_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
  
 void mbs_cons_jdqd(double *Jdqd,
 MbsData *s, double tsim)

MBprojects/PendulumSpringC/symbolicR/mbs_dirdyna_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
  
 void mbs_dirdyna(double **M,double *c,
 MbsData *s, double tsim)

MBprojects/PendulumSpringC/symbolicR/mbs_extforces_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
  
 void mbs_extforces(double **frc,double **trq,
 MbsData *s, double tsim)

MBprojects/PendulumSpringC/symbolicR/mbs_gensensor_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
 #include "mbs_sensor.h"
  
 void  mbs_gensensor(MbsSensor *sens, 

MBprojects/PendulumSpringC/symbolicR/mbs_invdyna_PendulumSpringC.c

@@ -30,7 +30,8 @@
 #include <math.h> 
 
 #include "MBSdataStructR7.h"
-#include "MBSfunR7.h"
+//#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
  
 void mbs_invdyna(double *Qq,
 MbsData *s, double tsim)

MBprojects/PendulumSpringC/symbolicR/mbs_link_PendulumSpringC.c

@@ -83,7 +83,7 @@ MbsData *s, double tsim)
  
 // Link Force Computation 
 
-  Flink1 = user_LinkForces(Z1,Zd1,s,tsim,1);
+  Flink1 = s->user_LinkForces(Z1,Zd1,s,tsim,1);
 
 // = = Block_0_1_0_2_2_1 = = 
  

MBprojects/PendulumSpringC/symbolicR/mbs_sensor_PendulumSpringC.c

@@ -31,6 +31,7 @@
 
 #include "MBSdataStructR7.h"
 //#include "MBSfunR7.h"
+#include "mbs_project_interface.h"
 #include "mbs_sensor.h"
  
 void  mbs_sensor(MbsSensor *sens, 

MBprojects/PendulumSpringC/workR/src/main.c

@@ -88,10 +88,13 @@ int main(int argc, char const *argv[])
 
 #ifdef UNIX
     #include <dlfcn.h>  // linux function to dynamically load libraries
+#else
+	#include <windows.h>
 #endif
 
 void mbs_get_project_functions(MbsData *mbs_data)
 {
+	#ifdef UNIX
     void *lib_handle;
     char *error;
 
@@ -101,6 +104,15 @@ void mbs_get_project_functions(MbsData *mbs_data)
         fprintf(stderr, "%s\n", dlerror());
         exit(1);
     }
+    #else
+	//HINSTANCE hInstLibrary = LoadLibrary(PROJECT_SOURCE_DIR"\\build\\symbolicR\\Debug\\libproject_symbolic.dll");
+	HINSTANCE hInstLibrary = LoadLibrary("D:\\Projects_Ubuntu\\Robotran-dev\\mbsysc\\MBprojects\\PendulumSpringC\\workR\\build\\symbolicR\\Debug\\project_symbolic.dll");
+	if(!hInstLibrary)
+	{
+		printf("symbolic DLL Failed To Load!\n");
+		//exit(1);
+	}
+	#endif
 
 	// user function pointers
 	mbs_data->user_JointForces = user_JointForces;
@@ -137,6 +149,7 @@ void mbs_get_project_functions(MbsData *mbs_data)
     //mbs_data->mbs_cons_hJ = mbs_cons_hJ;
     //mbs_data->mbs_cons_jdqd = mbs_cons_jdqd;
 
+    #ifdef UNIX
     mbs_data->mbs_link = dlsym(lib_handle, "mbs_link");
     mbs_data->mbs_link3D = dlsym(lib_handle, "mbs_link3D");
     mbs_data->mbs_extforces = dlsym(lib_handle, "mbs_extforces");
@@ -152,4 +165,16 @@ void mbs_get_project_functions(MbsData *mbs_data)
     }
 
     // note : no need to call dlclose(), the library will be automatically closed at the end of the execution
+    #else
+    mbs_data->mbs_link = (mbs_link_ptr)GetProcAddress(hInstLibrary, "mbs_link");
+	mbs_data->mbs_link3D = (mbs_link3D_ptr)GetProcAddress(hInstLibrary, "mbs_link3D");
+    mbs_data->mbs_extforces = (mbs_extforces_ptr)GetProcAddress(hInstLibrary, "mbs_extforces");
+    mbs_data->mbs_accelred = (mbs_accelred_ptr)GetProcAddress(hInstLibrary, "mbs_accelred");
+    mbs_data->mbs_dirdyna = (mbs_dirdyna_ptr)GetProcAddress(hInstLibrary, "mbs_dirdyna");
+    mbs_data->mbs_cons_hJ = (mbs_cons_hJ_ptr)GetProcAddress(hInstLibrary, "mbs_cons_hJ");
+    mbs_data->mbs_cons_jdqd = (mbs_cons_jdqd_ptr)GetProcAddress(hInstLibrary, "mbs_cons_jdqd");
+
+	#endif
 }
+
+

MBsysC/mbs_common/mbs_struct/mbs_project_interface.h

@@ -55,32 +55,32 @@ double* user_Link3DForces(double PxF[4], double RxF[4][4],
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 /*                  Symbolic functions                   *
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * */
+#include "project_symbolic_export.h"
 
+PROJECT_SYMBOLIC_EXPORT void mbs_cons_hJ(double *h,double **Jac,MbsData *s, double tsim);
 
-void mbs_cons_hJ(double *h,double **Jac,MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void mbs_cons_jdqd(double *Jdqd,MbsData *s, double tsim);
 
-void mbs_cons_jdqd(double *Jdqd,MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void mbs_link(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MbsData *s, double tsim);
 
-void mbs_link(double **frc,double **trq,double *Flnk,double *Z,double *Zd,MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void mbs_link3D(double **frc,double **trq, MbsData *s, double tsim);
 
-void mbs_link3D(double **frc,double **trq, MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void mbs_extforces(double **frc, double **trq, MbsData *s, double tsim);
 
-void mbs_extforces(double **frc, double **trq, MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT int mbs_accelred(MbsData *s, double tsim);
 
-int mbs_accelred(MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void  mbs_gensensor(MbsSensor *sens,
+                                            MbsData *s,
+                                            int isens);
 
-void  mbs_gensensor(MbsSensor *sens,
-              MbsData *s,
-              int isens);
+PROJECT_SYMBOLIC_EXPORT void  mbs_sensor(MbsSensor *sens,
+                                         MbsData *s,
+                                         int isens);
 
-void  mbs_sensor(MbsSensor *sens,
-              MbsData *s,
-              int isens);
+PROJECT_SYMBOLIC_EXPORT void mbs_invdyna(double *Qq,
+                                         MbsData *s, double tsim);
 
-void mbs_invdyna(double *Qq,
-             MbsData *s, double tsim);
-
-void mbs_dirdyna(double **M,double *c, MbsData *s, double tsim);
+PROJECT_SYMBOLIC_EXPORT void mbs_dirdyna(double **M,double *c, MbsData *s, double tsim);
              
              
 

MBsysC/mbs_common/mbs_struct/project_symbolic_export.h

+
+#ifndef PROJECT_SYMBOLIC_EXPORT_H
+#define PROJECT_SYMBOLIC_EXPORT_H
+
+#ifdef PROJECT_SYMBOLIC_STATIC_DEFINE
+#  define PROJECT_SYMBOLIC_EXPORT
+#  define PROJECT_SYMBOLIC_NO_EXPORT
+#else
+#  ifndef PROJECT_SYMBOLIC_EXPORT
+#    ifdef project_symbolic_EXPORTS
+        /* We are building this library */
+#      define PROJECT_SYMBOLIC_EXPORT __declspec(dllexport)
+#    else
+        /* We are using this library */
+#      define PROJECT_SYMBOLIC_EXPORT __declspec(dllimport)
+#    endif
+#  endif
+
+#  ifndef PROJECT_SYMBOLIC_NO_EXPORT
+#    define PROJECT_SYMBOLIC_NO_EXPORT 
+#  endif
+#endif
+
+#ifndef PROJECT_SYMBOLIC_DEPRECATED
+#  define PROJECT_SYMBOLIC_DEPRECATED __declspec(deprecated)
+#  define PROJECT_SYMBOLIC_DEPRECATED_EXPORT PROJECT_SYMBOLIC_EXPORT __declspec(deprecated)
+#  define PROJECT_SYMBOLIC_DEPRECATED_NO_EXPORT PROJECT_SYMBOLIC_NO_EXPORT __declspec(deprecated)
+#endif
+
+#define DEFINE_NO_DEPRECATED 0
+#if DEFINE_NO_DEPRECATED
+# define PROJECT_SYMBOLIC_NO_DEPRECATED
+#endif
+
+#endif

MBsysC/mbs_common/mbs_void_symbolicR/mbs_link3D_void.c

@@ -12,6 +12,7 @@
  
  
 #include "mbs_data.h"
+#include "mbs_project_interface.h"
   
 void mbs_link3D(double **frc,double **trq, MbsData *s, double tsim)
 {