Merge dev before to avoid problem after

.gitlab-ci.yml

@@ -591,6 +591,24 @@ issue_163:
   only:
   - release_test
 
+issue_170_User_Model:
+  image: robotran/ubuntu18-robotran-opengl:v1
+  stage: test_Issues
+  allow_failure: false
+  dependencies:
+    - MBsysC_realtimeON
+  script:
+    - mkdir TestProjects/Issue_170/workR/build
+    - cd    TestProjects/Issue_170/workR/build
+    - cmake -DFLAG_SEPARATE_BUILD=OFF ..
+    - make
+    - ./exe_Issue_170
+    - cmake -DFLAG_SEPARATE_BUILD=ON .
+    - make
+    - ./exe_Issue_170
+  only:
+  - release_test
+
 
 # --------------------------------------------------------------------------
 # Generating Doxygen documentation (directly available on Gitlab pages)

MBsysC/CMakeLists.txt

@@ -33,6 +33,10 @@ if (UNIX)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-comment -Wno-unused-result ")
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall -Wno-comment -Wextra -Wno-unused-value -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unused-result -Wno-unused-function  -Wno-unused-parameter")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall -Wno-comment -Wno-unused-value -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unused-result -Wno-maybe-uninitialized -Wno-unused-function -Wno-strict-aliasing -Wno-unused-parameter")
+	if (APPLE)
+		set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -Wno-unused-const-variable -Wno-uninitialized -Wno-unknown-warning-option")
+		set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -Wno-unused-const-variable -Wno-uninitialized -Wno-unknown-warning-option")
+	endif()
 endif()
 
 if(CMAKE_BUILD_TYPE) # User specify build type with -DCMAKE_BUILD_TYPE=X

MBsysC/mbs_common/mbs_load_xml/mbs_xml_binder.c

@@ -1023,9 +1023,10 @@ int mbs_info_links_binder(MbsInfoLinks *mbs_info_links, xmlNodePtr node, int mis
 int mbs_info_parameter_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr node, int mission)
 {
 	int i;
-	int ind_value = 0;
+    int ind_value = 0;
 	xmlNodePtr cur_node = node->children;
 	xmlChar* elementValue = NULL;
+    char* elementString = NULL;
 
 	if (mission == MBS_INFO_READER)
 	{
@@ -1055,7 +1056,7 @@ int mbs_info_parameter_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr n
 				{
 					mbs_info_parameter->type = 3;
 				}
-				else if(!strcmp((const char*)elementValue,"lut3D"))
+				else if(!strcmp((const char*)elementValue,"lut2D"))
 				{
 					mbs_info_parameter->type = 4;
 				}
@@ -1063,6 +1064,18 @@ int mbs_info_parameter_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr n
 				{
 					mbs_info_parameter->type = 5;
 				}
+                else if(!strcmp((const char*)elementValue,"structure"))
+                {
+                    mbs_info_parameter->type = 6;
+                }
+                else if(!strcmp((const char*)elementValue,"integer"))
+                {
+                    mbs_info_parameter->type = 7;
+                }
+                else
+                {
+                    mbs_warning_msg("Unknows user model parameter type: '%s'.\n", elementValue);
+                }
                 xmlFree(elementValue);
 			}
 			else if(!strcmp((const char*)cur_node->name,"value"))
@@ -1077,7 +1090,79 @@ int mbs_info_parameter_binder(MbsInfoParameter *mbs_info_parameter, xmlNodePtr n
 					set_double_xlm_node(cur_node, mbs_info_parameter->value_list[ind_value]);
 				}
 				ind_value++;
-			}
+            }
+            else if(!strcmp((const char*)cur_node->name,"lutfile"))
+            {
+                if (mission == MBS_INFO_READER)
+                {
+                    elementString = get_string_xml_node(cur_node);
+                    if (elementString != NULL){
+                        if (strncmp((const char*)elementString, "PRJPATH", 7)){
+                            mbs_info_parameter->structure_lutfile = strdup((char*)elementString);
+                        }
+                        else{
+                            mbs_info_parameter->flag_PRJPATH = 1;
+                            mbs_info_parameter->structure_lutfile = strdup((char*)elementString+7);
+                        }
+                    }
+                    else{
+                        mbs_info_parameter->structure_lutfile = strdup("");
+                    }
+                    free(elementString);
+                }
+                else if (mission == MBS_INFO_UPDATER)
+                {
+                    mbs_warning_msg("Function 'mbs_info_parameter_binder' does not handle the 'updating mission' on lutfile name.\n");
+                }
+            }
+            else if(!strcmp((const char*)cur_node->name,"structure"))
+            {
+                if (mission == MBS_INFO_READER)
+                {
+                    elementString = get_string_xml_node(cur_node);
+                    if (elementString != NULL){
+                        mbs_info_parameter->structure_name = strdup((char*)elementString);
+                    }
+                    else{
+                        mbs_info_parameter->structure_name = strdup("");
+                    }
+                    free(elementString);
+                }
+                else if (mission == MBS_INFO_UPDATER)
+                {
+                    mbs_warning_msg("Function 'mbs_info_parameter_binder' does not handle the 'updating mission' on lutfile name.\n");
+                }
+            }
+            else if(!strcmp((const char*)cur_node->name,"header"))
+            {
+                if (mission == MBS_INFO_READER)
+                {
+                    elementString = get_string_xml_node(cur_node);
+                    if (elementString != NULL){
+                        mbs_info_parameter->structure_header = strdup((char*)elementString);
+                    }
+                    else{
+                        mbs_info_parameter->structure_header = strdup("");
+                    }
+                    free(elementString);
+                }
+                else if (mission == MBS_INFO_UPDATER)
+                {
+                    mbs_warning_msg("Function 'mbs_info_parameter_binder' does not handle the 'updating mission' on lutfile name.\n");
+                }
+            }
+            else if(!strcmp((const char*)cur_node->name,"name") && mission == MBS_INFO_INIT)
+            {
+                ;
+            }
+            else if(!strcmp((const char*)cur_node->name,"type") && mission == MBS_INFO_INIT)
+            {
+                ;
+            }
+            else
+            {
+                mbs_warning_msg("Unknow node name in function 'mbs_info_parameter_binder': '%s'\n", (const char*)cur_node->name);
+            }
 		}
 		cur_node = cur_node->next;
 	}

MBsysC/mbs_common/mbs_module/mbs_equil.c

@@ -29,17 +29,17 @@
 
 #define MAX_NB_BUFFER (3 + 1) // maximal number of buffer 3 for equilibrium, 1 for q (animation) 
 
-MbsEquil* mbs_new_equil(MbsData* mbs_data)
+MbsEquil* mbs_new_equil(MbsData* s)
 {
 	MbsAux* mbs_aux;
 
 	// Initialize the local data struct
-	mbs_aux = initMbsAux(mbs_data);
+	mbs_aux = initMbsAux(s);
 
-	return mbs_new_equil_aux(mbs_data, mbs_aux);
+	return mbs_new_equil_aux(s, mbs_aux);
 }
 
-MbsEquil* mbs_new_equil_aux(MbsData* mbs_data, MbsAux* mbs_aux)
+MbsEquil* mbs_new_equil_aux(MbsData* s, MbsAux* mbs_aux)
 {
 	MbsEquil *equil;
 	MbsEquilOptions *opts;
@@ -69,6 +69,8 @@ MbsEquil* mbs_new_equil_aux(MbsData* mbs_data, MbsAux* mbs_aux)
 
     equil->success = 0;
 
+    equil->Nux_saved = s->Nux;
+
     // Initialize the options struct with default options
     opts = (MbsEquilOptions*)malloc(sizeof(MbsEquilOptions));
     opts->method = 1;
@@ -119,7 +121,7 @@ MbsEquil* mbs_new_equil_aux(MbsData* mbs_data, MbsAux* mbs_aux)
     return equil;
 }
 
-void mbs_delete_equil(MbsEquil* eq, MbsData* mbs_data)
+void mbs_delete_equil(MbsEquil* eq, MbsData* s)
 {
     if (eq != NULL)
     {
@@ -132,8 +134,8 @@ void mbs_delete_equil(MbsEquil* eq, MbsData* mbs_data)
         free_ivec_0(eq->xns);
 
         // 5. Linearization and gradient variables
-        if (mbs_data->nqu > 0) { free_dmat_0(eq->grad_Rr); }
-        if (eq->options->compute_uxd==1 && mbs_data->Nux > 0) { free_dmat_0(eq->grad_uxd); }
+        if (s->nqu > 0) { free_dmat_0(eq->grad_Rr); }
+        if (eq->options->compute_uxd==1 && s->Nux > 0) { free_dmat_0(eq->grad_uxd); }
         if (eq->nxe > 0) { free_dmat_0(eq->grad_fxe); }
         free_dmat_0(eq->grad);
         if (eq->options->grad_lpk == 1)
@@ -157,24 +159,24 @@ void mbs_delete_equil(MbsEquil* eq, MbsData* mbs_data)
 
         free(eq->options);
         //-------
-        freeMbsAux(eq->aux, mbs_data);
+        freeMbsAux(eq->aux, s);
         free(eq);
     }
 }
 
-void mbs_run_equil(MbsEquil* eq, MbsData* mbs_data)
+void mbs_run_equil(MbsEquil* eq, MbsData* s)
 {
 	// 1. Initialize the simulation
 	// - - - - - - - - - - - - - -
-	mbs_equil_init(eq, mbs_data);
+	mbs_equil_init(eq, s);
 
 	// 2. Run the simulation
 	// - - - - - - - - - - -
-	mbs_equil_loop(eq, mbs_data);  // another name might be more appropriate ??Q
+	mbs_equil_loop(eq, s);  // another name might be more appropriate ??Q
 
 	// 3. Finish the simulation
 	// - - - - - - - - - - - -
-	mbs_equil_finish(eq, mbs_data);
+	mbs_equil_finish(eq, s);
 }
 
 int mbs_equil_save(MbsEquil* eq, MbsData *s, int iter) 

MBsysC/mbs_common/mbs_module/mbs_kalman.c

@@ -41,7 +41,6 @@ int mbs_compute_kalmanDcpt(MbsSS *ss, MbsSS *sskal, double **T, int *nxc_ptr)
 
     double **uj, **sj, **vj,**p, **ujp, **ujt, **bb;
     double **abxy, **ujtajn1;
-    double **aj, **bj;
     double **qj, **ptjn1qj;
 
     double **TA;
@@ -178,4 +177,5 @@ int mbs_compute_kalmanDcpt(MbsSS *ss, MbsSS *sskal, double **T, int *nxc_ptr)
     free_dmat_0(TA);
     free_ivec_0(k);
 
+    return 0;
 }

MBsysC/mbs_common/mbs_module/mbs_modal.c

@@ -23,14 +23,14 @@
 #include "mbs_message.h"
 #include "mbs_check.h"
 
-MbsModal* mbs_new_modal(MbsData* mbs_data)
+MbsModal* mbs_new_modal(MbsData* s)
 {
     MbsAux* mbs_aux;
 
     // Initialize the local data struct
-    mbs_aux = initMbsAux(mbs_data);
+    mbs_aux = initMbsAux(s);
 
-    return mbs_new_modal_aux(mbs_data, mbs_aux);
+    return mbs_new_modal_aux(s, mbs_aux);
 }
 
 MbsModal* mbs_new_modal_aux(MbsData* s, MbsAux* mbs_aux)
@@ -74,6 +74,8 @@ MbsModal* mbs_new_modal_aux(MbsData* s, MbsAux* mbs_aux)
     opts->anim_t = 2;
 
     mo->options = opts;
+
+    mo->Nux_saved = s->Nux;
    
     return mo;
 }
@@ -108,10 +110,15 @@ void mbs_modal_init(MbsModal *mo, MbsData *s)
         mbs_error_msg("[%d] in mbs_modal_init !! \n", -300);
     }
 
-    // 0.2  Initialize the Lpk and SS structure
-    if (mo->options->compute_uxd==0 && s->Nux > 0 && mo->options->verbose == 1)
+    // 0.  Initialize the Lpk and SS structure
+    if (mo->options->compute_uxd==0 && s->Nux > 0)
     {
-        mbs_warning_msg(">>MODAL>> The uxd equations are not computed, check the option 'compute_uxd' \n ");
+        if (mo->options->verbose)
+        {
+            mbs_warning_msg(">>MODAL>> The uxd equations are not used for the modal analysis, check the option 'compute_uxd' \n");
+        }
+        mo->Nux_saved = s->Nux;
+        s->Nux = 0;
     }
 
     mo->lpk = mbs_new_lpk(s, MAX(s->nqu, s->Nux), MAX(s->nqu, s->Nux)); // voluntarily oversized (in order to avoid extra lpk structure)
@@ -573,6 +580,10 @@ void mbs_modal_finish(MbsModal *mo, MbsData *s)
         free(respath);
         free(animpath);
 
+        if (mo->options->compute_uxd == 0 && s->Nux == 0)
+        {
+            s->Nux = mo->Nux_saved;
+        }
 
         if (mo->options->verbose)
         {

MBsysC/mbs_common/mbs_struct/mbs_modal_struct.h

@@ -87,6 +87,8 @@ typedef struct MbsModal
     double *qdd_saved;  ///< copy of vector qdd before the modal process.  
     double *Qq_saved;   ///< copy of vector Qq  before the modal process.  
    
+    int Nux_saved; ///< copy of mbs_data Nux 
+
 	int nx; ///< number of 1st order equations, nx = 2*nqu (+Nux)
 
     double *eval_a;		///< Result of the Eigenvalue problem: real		 part of the nx eigen values						    [nx]

MBsysC/mbs_common/mbs_utilities/lut.c

@@ -49,8 +49,6 @@ MbsLut1Dvec* mbs_lut_1Dvec_alloc(int nx, int n)
 
 MbsLut2Dvec* mbs_lut_2Dvec_alloc(int nx, int ny, int n)
 {
-    int i, j;
-
     MbsLut2Dvec *newlut;
     newlut = (MbsLut2Dvec*)malloc(sizeof(MbsLut2Dvec));
     newlut->nx = nx;
@@ -75,14 +73,10 @@ void mbs_lut_2D_free(MbsLut2D *lut)
 {
     int i;
 
-    free(lut->x);
-    free(lut->y);
-    
-    for(i=1;i<=lut->nx;i++)
-    {
-        free(lut->z[i]);
-    }
-    free(lut->z);
+    free_dvec_1(lut->x);
+    free_dvec_1(lut->y);
+
+    free_dmat_1(lut->z);
 
     free(lut);
 }
@@ -102,7 +96,6 @@ void mbs_lut_1Dvec_free(MbsLut1Dvec *lut)
 
 void mbs_lut_2Dvec_free(MbsLut2Dvec *lut)
 {
-    int i, j;
     free_dvec_0(lut->x);
     free_dvec_0(lut->y);
     free_d3Darray_0(lut->mat_output);
@@ -367,7 +360,6 @@ int mbs_lut_2Dvec_interp(MbsLut2Dvec *lut, double x, double y, double *output)
     int indx, indy;
     int step, min, max;
     double alpha, beta, gamma, zeta;
-    double z;
 
     /* x-search */
     min = 0;
@@ -596,7 +588,7 @@ MbsLut1D* mbs_lut_1D_load_file(char* fileName)
     flut = fopen(fileName,"r");
     if(flut==0){
         mbs_msg("\t>LOOK UP TABLE> Error in mbs_lut_1D_load_file.\n");
-        mbs_msg("\t>             > Impossible to find the file %s.", fileName );
+        mbs_msg("\t>             > Impossible to find the file %s.\n", fileName );
         mbs_error_msg("In Look up table loading file, shuting down the process.\n");
     }
 
@@ -647,12 +639,9 @@ MbsLut2D* mbs_lut_2D_load_file(char* fileName)
 	lineChk = fgets(line,256, flut);  // read the number of elements
 	sscanf(line,"%d %d",&lut->nx, &lut->ny);  // save the number of elements
 
-	lut->x=calloc(lut->nx+1,sizeof(double));  // table memory allocation
-	lut->y=calloc(lut->ny+1,sizeof(double));  // table memory allocation
-	lut->z=calloc(lut->nx+1,sizeof(double*)); // table memory allocation
-
-	lut->x[0] = 0;
-	lut->y[0] = 0;
+    lut->x=get_dvec_1(lut->nx);  // table memory allocation
+    lut->y=get_dvec_1(lut->ny);  // table memory allocation
+    lut->z=get_dmat_1(lut->nx, lut->ny); // table memory allocation
 
 	// read the y vector
 	for(j=1;j<=lut->ny;j++){
@@ -663,7 +652,6 @@ MbsLut2D* mbs_lut_2D_load_file(char* fileName)
 	// read the x vector and the z matrix
 	for(i=1;i<=lut->nx;i++){
 		chk = fscanf(flut,"%lf", &lut->x[i] ); // 1st element = x[i]
-		lut->z[i] = (double*) calloc(lut->ny+1,sizeof(double)); 
 		for(j=1;j<=lut->ny;j++){
             chk = fscanf(flut,"%lf", &lut->z[i][j] );
 		}

MBsysC/mbs_common/mbs_utilities/useful_functions.c

@@ -680,7 +680,7 @@ double** get_contdmat_1(int x, int y)
 
 double*** get_d3Darray_0(int x, int y, int z)
 {
-    int i,j,k;
+    int i,j;
     double ***array3D;
 
     array3D = (double***)calloc(x, sizeof(double**));

MBsysC/mbs_common/mbs_utilities/useful_functions.h

@@ -447,7 +447,7 @@ double** load_dmat_0(int x, int y, char *name);
  * \param[in] mat the matrix to save, starting with index 0
  * \param[in] x nb of rows
  * \param[in] y nb of columns
- * \param[in] name the path an name of the file in which saving the matrix
+ * \param[in] name the path and name of the file in which saving the matrix
  */
 void save_dmat_0(double **mat, int x, int y, char *name);
 
@@ -457,7 +457,7 @@ void save_dmat_0(double **mat, int x, int y, char *name);
 * \param[in] mat the matrix to save, starting with index 0
 * \param[in] x nb of rows
 * \param[in] y nb of columns
-* \param[in] name the path an name of the file in which saving the matrix
+* \param[in] name the path and name of the file in which saving the matrix
 * \param[in] format the chosen format.
 */
 void save_format_dmat_0(double **mat, int x, int y, char *name, char *format);

MBsysC/mbs_workspace_template/C/user_IO.c

@@ -33,5 +33,9 @@ void mbs_delete_user_IO(UserIO *uvs)
     free(uvs);
 }
 
-
-
+void mbs_get_user_IO_size(int *n_in, int *n_out, int *n_user_IO) 
+{
+    *n_in  = 0; 
+    *n_out = 0; 
+    *n_user_IO = 0; 
+}

TestProjects/Issue_170/dataR/Issue_170.mbs

+<?xml version="1.0" encoding="UTF-8"?>
+<mbsDescR7>
+  <mbsname>Issue_170</mbsname>
+  <mbsyspad_version>1.11.2</mbsyspad_version>
+  <base>
+    <!--this is the base body-->
+    <gravity>
+      <coordinates>
+        <x>0.1</x>
+        <y>0.0</y>
+        <z>0.0</z>
+      </coordinates>
+    </gravity>
+    <graphics>
+      <x2D>
+        <position>
+          <x>100.0</x>
+          <y>200.0</y>
+        </position>
+      </x2D>
+      <x3D />
+    </graphics>
+  </base>
+  <bodytree>
+    <!--this is the body tree-->
+    <body>
+      <bodyname>Body_0</bodyname>
+      <parent>
+        <bodyname>base</bodyname>
+        <pointname>origin</pointname>
+      </parent>
+      <joint>
+        <jointname>Joint_0</jointname>
+        <type>T1</type>
+        <nature>independent</nature>
+        <graphics>
+          <x2D>
+            <position>
+              <x>202.0</x>
+              <y>195.0</y>
+            </position>
+          </x2D>
+          <x3D>
+            <x3D_joint />
+            <x3D_frame />
+          </x3D>
+        </graphics>
+      </joint>
+      <mass>10.0</mass>
+      <graphics>
+        <x2D>
+          <position>
+            <x>-19.0</x>
+            <y>-44.0</y>
+          </position>
+          <name_pos>
+            <x>0.0</x>
+            <y>0.0</y>
+          </name_pos>
+          <shape>rectangle</shape>
+          <size>
+            <x>133.0</x>
+            <y>80.0</y>
+          </size>
+          <control_points>
+            <control_point>
+              <x>114.0</x>
+              <y>-44.0</y>
+            </control_point>
+            <control_point>
+              <x>114.0</x>
+              <y>36.0</y>
+            </control_point>
+            <control_point>
+              <x>-19.0</x>
+              <y>36.0</y>
+            </control_point>
+            <control_point>
+              <x>-19.0</x>
+              <y>-44.0</y>
+            </control_point>
+          </control_points>
+          <angle>0.0</angle>
+        </x2D>
+        <x3D>
+          <x3D_com />
+          <x3D_points />
+          <x3D_lines />
+        </x3D>
+      </graphics>
+    </body>
+  </bodytree>
+  <user_models>
+    <!--this is the userModel list-->
+    <user_model>
+      <name>lut</name>
+      <parameter>
+        <name>one_D</name>
+        <type>lut1D</type>
+        <lutfile>PRJPATH/userfctR/Lut1D.txt</lutfile>
+      </parameter>
+      <parameter>
+        <name>two_D</name>
+        <type>lut2D</type>
+        <lutfile>PRJPATH/userfctR/Lut2D.txt</lutfile>
+      </parameter>
+    </user_model>
+    <user_model>
+      <name>nb_values</name>
+      <parameter>
+        <name>vector</name>
+        <type>vector</type>
+        <value>1.0</value>
+        <value>1.1</value>
+        <value>1.2</value>
+        <value>-2.0</value>
+      </parameter>
+      <parameter>
+        <name>state_1</name>
+        <type>state</type>
+        <value>0.0</value>
+        <value>1.0</value>
+        <value>7.0</value>
+      </parameter>
+      <parameter>
+        <name>state_2</name>
+        <type>state</type>
+        <value>-2.1</value>
+        <value>2.2</value>
+      </parameter>
+    </user_model>
+    <user_model>
+      <name>scalar</name>
+      <parameter>
+        <name>real</name>
+        <type>scalar</type>
+        <value>13.4</value>
+      </parameter>
+      <parameter>
+        <name>integer_from_double</name>
+        <type>integer</type>
+        <value>2.35</value>
+      </parameter>
+      <parameter>
+        <name>integer</name>
+        <type>integer</type>
+        <value>17.0</value>
+      </parameter>
+    </user_model>
+    <user_model>
+      <name>structure</name>
+      <parameter>
+        <name>lut_res</name>
+        <type>structure</type>
+        <structure>MbsLutRes</structure>
+        <header>lut.h</header>
+      </parameter>
+    </user_model>
+  </user_models>
+  <x3D>
+    <background>
+      <!--This is the background properties-->
+      <color R="51" G="102" B="204" />
+    </background>
+    <shapeScaleFactors>
+      <!--This is the scale factors-->
+      <frame>0.2</frame>
+      <joint>0.3</joint>
+      <com>0.3</com>
+      <point>0.3</point>
+    </shapeScaleFactors>
+    <opengl>
+      <lightAndShadowMode>LIGHTS_NO_SPEC_SHADER</lightAndShadowMode>
+      <glfwSample>4</glfwSample>
+    </opengl>
+    <lights>