[MBsysPy] Pep8.

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/callback.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
+"""Definition of CFUNCTYPE needed for callback functions."""
+# (c) Universite catholique de Louvain, 2019
 
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-Definition of CFUNCTYPE needed for callback functions.
-
-"""
 
 import ctypes
 
@@ -28,15 +16,15 @@ from .forward_decl import MbsInfos_c
 from .forward_decl import MbsSensor_c
 
 
-#==============================================================================
+# =============================================================================
 # Global parameter of the current module
-#==============================================================================
+# =============================================================================
 __DEBUG__ = False
 
 
-#==============================================================================
+# =============================================================================
 # Declaration of function to be linked with the libraries
-#==============================================================================
+# =============================================================================
 # User
 user_JointForces_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c), ctypes.c_double)
 user_load_post_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsData_c))
@@ -63,11 +51,11 @@ mbs_new_user_model_wrap = ctypes.CFUNCTYPE(ctypes.POINTER(UserModel_c))
 mbs_delete_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserModel_c))
 mbs_delete_user_IO_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserIO_c))
 mbs_get_user_IO_size_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_int))
-mbs_load_user_model_xml_wrap= ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
+mbs_load_user_model_xml_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
 mbs_bind_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(MbsInfos_c), ctypes.POINTER(UserModel_c))
 mbs_print_user_model_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(UserModel_c))
 mbs_get_user_model_size_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int))
-mbs_get_user_model_list_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int)) 
+mbs_get_user_model_list_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.c_int))
 
 # Symbolic
 mbs_link_wrap = ctypes.CFUNCTYPE(None, ctypes.POINTER(ctypes.POINTER(ctypes.c_double)), ctypes.POINTER(ctypes.POINTER(ctypes.c_double)), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(MbsData_c), ctypes.c_double)

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/forward_decl.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
-
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-Forward declaration of all required MBsysC structure.
-
-"""
+"""Forward declaration of all required MBsysC structure."""
+# (c) Universite catholique de Louvain, 2019
 
 import ctypes
 
 
-#==============================================================================
+# =============================================================================
 # Global parameter of the current module
-#==============================================================================
+# =============================================================================
 __DEBUG__ = False
 
 
-#==============================================================================
+# =============================================================================
 # forward declaration of structures (C) as class
-#==============================================================================
+# =============================================================================
 class MbsInfos_c(ctypes.Structure):
     pass
 class MbsInfoBase_c(ctypes.Structure):
@@ -120,4 +107,4 @@ class AnimInfo_c(ctypes.Structure):
 class MbsLpk_c(ctypes.Structure):
     pass
 class MbsSS_c(ctypes.Structure):
-    pass
\ No newline at end of file
+    pass

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_data_c.py

 # -*- coding: utf-8 -*-
-"""
--------------------------------
-(c) Universite catholique de Louvain, 2019
-
-Creation : 2019 by O. Lantsoght
-Last update : 2019
-
-version MBsysC v1.11.2
-
--------------------------------
-Portable Python interface to MBsysC using Ctypes.
-
-While generating the libraries:
-  - SENSORKIN MUST BE UNDEFINED
-  - REALTIME  MUST BE UNDEFINED
-
-  - PRJ_FCT_PTR MUST BE DEFINED
-
-Declaration of MBsysC structure related to mbs_data.h header file in MBsysC.
-
-"""
+"""Declaration of MBsysC structure related to mbs_data.h header file in MBsysC."""
+# (c) Universite catholique de Louvain, 2019
 
 import ctypes
 
@@ -73,186 +54,189 @@ from .callback import mbs_sensor_wrap
 from .callback import mbs_gensensor_wrap
 
 
-#==============================================================================
+# =============================================================================
 # user_c
-#==============================================================================
-user_c._fields_ =[# REAL_TIME cannot be defined
-    ("user_JointForces",        user_JointForces_wrap),
-    # user load
-    ("user_load_post",          user_load_post_wrap),
-    # user dirdyn
-    ("user_dirdyn_init",        user_dirdyn_init_wrap),
-    ("user_dirdyn_loop",        user_dirdyn_loop_wrap),
-    ("user_dirdyn_finish",      user_dirdyn_finish_wrap),
-    # user equil
-    ("user_equil_init",         user_equil_init_wrap),
-    ("user_equil_loop",         user_equil_loop_wrap),
-    ("user_equil_finish",       user_equil_finish_wrap),
-    ("user_equil_fxe",          user_equil_fxe_wrap),
-    # Generalities
-    ("user_Derivative",         user_Derivative_wrap),
-    ("user_DrivenJoints",       user_DrivenJoints_wrap),
-    ("user_cons_hJ",            user_cons_hJ_wrap),
-    ("user_cons_jdqd",          user_cons_jdqd_wrap),
-    ("user_LinkForces",         user_LinkForces_wrap),
-    ("user_Link3DForces",       user_Link3DForces_wrap),
-    ("user_ExtForces",          user_ExtForces_wrap),
-    # data exchange
-    ("mbs_new_user_IO",         mbs_new_user_IO_wrap),
-    ("mbs_new_user_model",      mbs_new_user_model_wrap),
-    ("mbs_delete_user_model",   mbs_delete_user_model_wrap),
-    ("mbs_delete_user_IO",      mbs_delete_user_IO_wrap),
-    ("mbs_get_user_IO_size",    mbs_get_user_IO_size_wrap),
-    ("mbs_load_user_model_xml", mbs_load_user_model_xml_wrap),
-    ("mbs_bind_user_model",     mbs_bind_user_model_wrap),
-    ("mbs_print_user_model",    mbs_print_user_model_wrap),
-    ("mbs_get_user_model_size", mbs_get_user_model_size_wrap),
-    ("mbs_get_user_model_list", mbs_get_user_model_list_wrap)
-    ]
-
-
-#==============================================================================
+# =============================================================================
+user_c._fields_ = [
+                   ("user_JointForces", user_JointForces_wrap),
+                   # user load
+                   ("user_load_post", user_load_post_wrap),
+                   # user dirdyn
+                   ("user_dirdyn_init", user_dirdyn_init_wrap),
+                   ("user_dirdyn_loop", user_dirdyn_loop_wrap),
+                   ("user_dirdyn_finish", user_dirdyn_finish_wrap),
+                   # user equil
+                   ("user_equil_init", user_equil_init_wrap),
+                   ("user_equil_loop", user_equil_loop_wrap),
+                   ("user_equil_finish", user_equil_finish_wrap),
+                   ("user_equil_fxe", user_equil_fxe_wrap),
+                   # Generalities
+                   ("user_Derivative", user_Derivative_wrap),
+                   ("user_DrivenJoints", user_DrivenJoints_wrap),
+                   ("user_cons_hJ", user_cons_hJ_wrap),
+                   ("user_cons_jdqd", user_cons_jdqd_wrap),
+                   ("user_LinkForces", user_LinkForces_wrap),
+                   ("user_Link3DForces", user_Link3DForces_wrap),
+                   ("user_ExtForces", user_ExtForces_wrap),
+                   # data exchange
+                   ("mbs_new_user_IO", mbs_new_user_IO_wrap),
+                   ("mbs_new_user_model", mbs_new_user_model_wrap),
+                   ("mbs_delete_user_model", mbs_delete_user_model_wrap),
+                   ("mbs_delete_user_IO", mbs_delete_user_IO_wrap),
+                   ("mbs_get_user_IO_size", mbs_get_user_IO_size_wrap),
+                   ("mbs_load_user_model_xml", mbs_load_user_model_xml_wrap),
+                   ("mbs_bind_user_model", mbs_bind_user_model_wrap),
+                   ("mbs_print_user_model", mbs_print_user_model_wrap),
+                   ("mbs_get_user_model_size", mbs_get_user_model_size_wrap),
+                   ("mbs_get_user_model_list", mbs_get_user_model_list_wrap)
+                  ]
+
+
+# =============================================================================
 # symb_c
-#==============================================================================
-symb_c._fields_ =[# REAL_TIME cannot be defined
-    ("mbs_link",                mbs_link_wrap),
-    ("mbs_link3D",              mbs_link3D_wrap),
-    ("mbs_extforces",           mbs_extforces_wrap),
-    ("mbs_accelred",            mbs_accelred_wrap),
-    ("mbs_dirdyna",             mbs_dirdyna_wrap),
-    ("mbs_invdyna",             mbs_invdyna_wrap),
-    ("mbs_cons_hJ",             mbs_cons_hJ_wrap),
-    ("mbs_cons_jdqd",           mbs_cons_jdqd_wrap),
-    ("mbs_sensor",              mbs_sensor_wrap),
-    ("mbs_gensensor",           mbs_gensensor_wrap)]
-
-
-#==============================================================================
+# =============================================================================
+symb_c._fields_ = [
+                   ("mbs_link", mbs_link_wrap),
+                   ("mbs_link3D", mbs_link3D_wrap),
+                   ("mbs_extforces", mbs_extforces_wrap),
+                   ("mbs_accelred", mbs_accelred_wrap),
+                   ("mbs_dirdyna", mbs_dirdyna_wrap),
+                   ("mbs_invdyna", mbs_invdyna_wrap),
+                   ("mbs_cons_hJ", mbs_cons_hJ_wrap),
+                   ("mbs_cons_jdqd", mbs_cons_jdqd_wrap),
+                   ("mbs_sensor", mbs_sensor_wrap),
+                   ("mbs_gensensor", mbs_gensensor_wrap)
+                  ]
+
+
+# =============================================================================
 # Functions_c
-#==============================================================================
-Functions_c._anonymous_ = ("user","symb")
-Functions_c._fields_ =[
-    ("symbolicLibHandle",   ctypes.POINTER(MbsDataLibInfo_c)),
-    ("userfctLibHandle",    ctypes.POINTER(MbsDataLibInfo_c)),
-    ("symb",                symb_c),
-    ("user",                user_c)]
-
-#==============================================================================
+# =============================================================================
+Functions_c._anonymous_ = ("user", "symb")
+Functions_c._fields_ = [
+                        ("symbolicLibHandle", ctypes.POINTER(MbsDataLibInfo_c)),
+                        ("userfctLibHandle", ctypes.POINTER(MbsDataLibInfo_c)),
+                        ("symb", symb_c),
+                        ("user", user_c)
+                       ]
+
+# =============================================================================
 # MbsData_c
-#==============================================================================
+# =============================================================================
 MbsData_c._anonymous_ = ("fct",)
-MbsData_c._fields_ =[
+MbsData_c._fields_ = [
     # Geometric and dynamic datas
-    ("npt",     ctypes.c_int),
-    ("dpt",     ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("l",       ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("m",       ctypes.POINTER(ctypes.c_double)),
-    ("In",      ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("g",       ctypes.c_double*(3+1)),
-    
-    ("nbody",   ctypes.c_int),
-    ("njoint",  ctypes.c_int),
-    
+    ("npt", ctypes.c_int),
+    ("dpt", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("l", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("m", ctypes.POINTER(ctypes.c_double)),
+    ("In", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("g", ctypes.c_double * (3 + 1)),
+
+    ("nbody", ctypes.c_int),
+    ("njoint", ctypes.c_int),
+
     # Coordinate partiotionning datas
-    ("nqu",     ctypes.c_int),
-    ("nqc",     ctypes.c_int),
-    ("nqlocked",ctypes.c_int),
-    ("nqdriven",ctypes.c_int),
-    ("nqa",     ctypes.c_int),
-    ("nqv",     ctypes.c_int),
-    ("nhu",     ctypes.c_int),
-        
-    ("qu",      ctypes.POINTER(ctypes.c_int)),
-    ("qc",      ctypes.POINTER(ctypes.c_int)),
+    ("nqu", ctypes.c_int),
+    ("nqc", ctypes.c_int),
+    ("nqlocked", ctypes.c_int),
+    ("nqdriven", ctypes.c_int),
+    ("nqa", ctypes.c_int),
+    ("nqv", ctypes.c_int),
+    ("nhu", ctypes.c_int),
+
+    ("qu", ctypes.POINTER(ctypes.c_int)),
+    ("qc", ctypes.POINTER(ctypes.c_int)),
     ("qlocked", ctypes.POINTER(ctypes.c_int)),
     ("qdriven", ctypes.POINTER(ctypes.c_int)),
-    ("qa",      ctypes.POINTER(ctypes.c_int)),
-    ("qv",      ctypes.POINTER(ctypes.c_int)),
-    ("hu",      ctypes.POINTER(ctypes.c_int)),
-    
+    ("qa", ctypes.POINTER(ctypes.c_int)),
+    ("qv", ctypes.POINTER(ctypes.c_int)),
+    ("hu", ctypes.POINTER(ctypes.c_int)),
+
     # Initial and current generalized coordinates, velocties and acceleration
-    ("q",       ctypes.POINTER(ctypes.c_double)),
-    ("qd",      ctypes.POINTER(ctypes.c_double)),
-    ("qdd",     ctypes.POINTER(ctypes.c_double)),
-        
-    ("q0",      ctypes.POINTER(ctypes.c_double)),
-    ("qd0",     ctypes.POINTER(ctypes.c_double)),
-    ("qdd0",    ctypes.POINTER(ctypes.c_double)),
-    
+    ("q", ctypes.POINTER(ctypes.c_double)),
+    ("qd", ctypes.POINTER(ctypes.c_double)),
+    ("qdd", ctypes.POINTER(ctypes.c_double)),
+
+    ("q0", ctypes.POINTER(ctypes.c_double)),
+    ("qd0", ctypes.POINTER(ctypes.c_double)),
+    ("qdd0", ctypes.POINTER(ctypes.c_double)),
+
     # Time and array for forces and torques
-    ("frc",     ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("trq",     ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    ("Qq",      ctypes.POINTER(ctypes.c_double)),
-    ("Qa",      ctypes.POINTER(ctypes.c_double)),
-    
-    ("tsim",    ctypes.c_double),
-    ("t0",      ctypes.c_double),
-    ("tf",      ctypes.c_double),
-    ("dt0",     ctypes.c_double),
-    
+    ("frc", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("trq", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+    ("Qq", ctypes.POINTER(ctypes.c_double)),
+    ("Qa", ctypes.POINTER(ctypes.c_double)),
+
+    ("tsim", ctypes.c_double),
+    ("t0", ctypes.c_double),
+    ("tf", ctypes.c_double),
+    ("dt0", ctypes.c_double),
+
     # Constraints datas
-    ("lrod",    ctypes.POINTER(ctypes.c_double)),
-    ("Nloopc",  ctypes.c_int),
-    ("Ncons",   ctypes.c_int),
-    ("Nuserc",  ctypes.c_int),
-    ("NRerr",   ctypes.c_double),
-    ("lambda_",  ctypes.POINTER(ctypes.c_double)),
+    ("lrod", ctypes.POINTER(ctypes.c_double)),
+    ("Nloopc", ctypes.c_int),
+    ("Ncons", ctypes.c_int),
+    ("Nuserc", ctypes.c_int),
+    ("NRerr", ctypes.c_double),
+    ("lambda_", ctypes.POINTER(ctypes.c_double)),
     # The true key is "lambda" (lowe "l"), but this is a reserved keyword in
     # Python, so a single trailing underscore is added.
-    
+
     # Forces in driven joints
-    ("Qc",      ctypes.POINTER(ctypes.c_double)),
-    
+    ("Qc", ctypes.POINTER(ctypes.c_double)),
+
     # Links constraints
-    ("Nlink",   ctypes.c_int),
+    ("Nlink", ctypes.c_int),
     ("Nlink3D", ctypes.c_int),
-    ("Z",       ctypes.POINTER(ctypes.c_double)),
-    ("Zd",      ctypes.POINTER(ctypes.c_double)),
-    ("Fl",      ctypes.POINTER(ctypes.c_double)),
-        
-    ("l3DWr",   ctypes.POINTER(ctypes.c_double)),
-    
+    ("Z", ctypes.POINTER(ctypes.c_double)),
+    ("Zd", ctypes.POINTER(ctypes.c_double)),
+    ("Fl", ctypes.POINTER(ctypes.c_double)),
+
+    ("l3DWr", ctypes.POINTER(ctypes.c_double)),
+
     # Sensors
     ("Nsensor", ctypes.c_int),
-    
+
     # External forces
-    ("Nxfrc",   ctypes.c_int),
-    ("xfidpt",  ctypes.POINTER(ctypes.c_int)),
-    ("SWr",     ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
-    
+    ("Nxfrc", ctypes.c_int),
+    ("xfidpt", ctypes.POINTER(ctypes.c_int)),
+    ("SWr", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+
     # User model & User IO
     # SENSORKIN MUST BE UNDEFINED
-    ("Nuser_model",     ctypes.c_int),
-    ("user_model",      ctypes.POINTER(UserModel_c)),
-    ("n_user_IO",       ctypes.c_int),
-    ("user_IO",         ctypes.POINTER(UserIO_c)),
-    ("__user_IO_info",  ctypes.POINTER(UserIoInfo_c)),
-    
+    ("Nuser_model", ctypes.c_int),
+    ("user_model", ctypes.POINTER(UserModel_c)),
+    ("n_user_IO", ctypes.c_int),
+    ("user_IO", ctypes.POINTER(UserIO_c)),
+    ("__user_IO_info", ctypes.POINTER(UserIoInfo_c)),
+
     # User state
-    ("ux",              ctypes.POINTER(ctypes.c_double)),
-    ("uxd",             ctypes.POINTER(ctypes.c_double)),
-    ("ux0",             ctypes.POINTER(ctypes.c_double)),
-    ("Nux",             ctypes.c_int),
-    
+    ("ux", ctypes.POINTER(ctypes.c_double)),
+    ("uxd", ctypes.POINTER(ctypes.c_double)),
+    ("ux0", ctypes.POINTER(ctypes.c_double)),
+    ("Nux", ctypes.c_int),
+
     # Other fields
-    ("udd",             ctypes.POINTER(ctypes.c_double)),
-    
-    ("DonePart",        ctypes.c_int),
-    ("DoneEquil",       ctypes.c_int),
-    ("DoneModal",       ctypes.c_int),
-    
-    ("process",         ctypes.c_int),
-    ("simu_end",        ctypes.c_int),
-    ("flag_stop",       ctypes.c_int),
-
-    ("mbs_filename",    ctypes.c_char_p),
-    ("build_path",      ctypes.c_char_p),
-    ("project_path",    ctypes.c_char_p),
-    ("mbs_name",        ctypes.c_char_p),
-    
-    # REALTIME FLAG MUST BE UNDEFINED
-    #("realtime",    ctypes.c_void_p),
-    
+    ("udd", ctypes.POINTER(ctypes.c_double)),
+
+    ("DonePart", ctypes.c_int),
+    ("DoneEquil", ctypes.c_int),
+    ("DoneModal", ctypes.c_int),
+
+    ("process", ctypes.c_int),
+    ("simu_end", ctypes.c_int),
+    ("flag_stop", ctypes.c_int),
+
+    ("mbs_filename", ctypes.c_char_p),
+    ("build_path", ctypes.c_char_p),
+    ("project_path", ctypes.c_char_p),
+    ("mbs_name", ctypes.c_char_p),
+
     # Pointer to projects functions
     # PRJ_FCT_PTR MUST BE DEFINED
-    ("fct",             Functions_c)]
\ No newline at end of file
+    ("fct", Functions_c)
+
+    # REALTIME FLAG can be defined
+    # ("realtime", ctypes.c_void_p),
+                     ]