load dynamically symbolic function in linux

MBprojects/PendulumSpringC/symbolicR/CMakeLists.txt

@@ -30,7 +30,7 @@ set(INCLUDE_DIR ${INCLUDE_DIR} ${PROJECT_SOURCE_DIR} PARENT_SCOPE)
 increment_void_symbolic( symbolicR )
 
 include (GenerateExportHeader)
-add_library(project_symbolic ${SOURCE_FILES} ${INCLUDE_DIR})
+add_library(project_symbolic SHARED ${SOURCE_FILES} ${INCLUDE_DIR})
 
 GENERATE_EXPORT_HEADER( project_symbolic	)
 include_directories(${CMAKE_CURRENT_BINARY_DIR})

MBprojects/PendulumSpringC/workR/CMakeLists.txt

@@ -116,12 +116,11 @@ add_subdirectory( ${PROJECT_SOURCE_DIR}/../userfctR ${CMAKE_CURRENT_BINARY_DIR}/
 
 if (NOT FLAG_SEPARATE_SYMBOLIC)
     #increment_src( ${PROJECT_SOURCE_DIR}/../symbolicR )
+    #increment_void_symbolic( symbolicR )
+
 	add_subdirectory( ${PROJECT_SOURCE_DIR}/../symbolicR ${CMAKE_CURRENT_BINARY_DIR}/symbolicR)
 endif ( )
 
-#increment_void_symbolic( symbolicR )
-
-
 # list include directories (to find headers)
 init_include()
 
@@ -159,7 +158,7 @@ if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
 
 else ( ) 
 
-    target_link_libraries( ${Executable} MBsysC_loadXML MBsysC_module project_symbolic)
+    target_link_libraries( ${Executable} MBsysC_loadXML MBsysC_module )
 
     if (NOT FLAG_SHARED_LIB)  
 
@@ -184,6 +183,10 @@ else ( )
         
     endif ( )
 
+    if (UNIX)
+        target_link_libraries ( ${Executable} dl )
+    endif ( )
+
 endif ( )
 
 # separate symbolic files compilation

MBprojects/PendulumSpringC/workR/src/main.c

@@ -86,9 +86,22 @@ int main(int argc, char const *argv[])
     return 0;
 }
 
+#ifdef UNIX
+    #include <dlfcn.h>  // linux function to dynamically load libraries
+#endif
 
 void mbs_get_project_functions(MbsData *mbs_data)
 {
+    void *lib_handle;
+    char *error;
+
+    lib_handle = dlopen(PROJECT_SOURCE_DIR"/build/symbolicR/libproject_symbolic.so", RTLD_LAZY);
+    if (!lib_handle)
+    {
+        fprintf(stderr, "%s\n", dlerror());
+        exit(1);
+    }
+
 	// user function pointers
 	mbs_data->user_JointForces = user_JointForces;
 	mbs_data->user_init = user_init;
@@ -98,6 +111,7 @@ void mbs_get_project_functions(MbsData *mbs_data)
 	mbs_data->user_DrivenJoints = user_DrivenJoints;
 	mbs_data->user_cons_hJ = user_cons_hJ;
 	mbs_data->user_cons_jdqd = user_cons_jdqd;
+    mbs_data->user_LinkForces = user_LinkForces;
 
 	#ifdef REAL_TIME
 		mbs_data->user_realtime_options = user_realtime_options;
@@ -115,11 +129,27 @@ void mbs_get_project_functions(MbsData *mbs_data)
 	#endif
 
 	// symbolic function pointers
-	mbs_data->mbs_link = mbs_link;
-	mbs_data->mbs_link3D = mbs_link3D;
-	mbs_data->mbs_extforces = mbs_extforces;
-	mbs_data->mbs_accelred = mbs_accelred;
-	mbs_data->mbs_dirdyna = mbs_dirdyna;
-	mbs_data->mbs_cons_hJ = mbs_cons_hJ;
-	mbs_data->mbs_cons_jdqd = mbs_cons_jdqd;
-}
\ No newline at end of file
+    //mbs_data->mbs_link = mbs_link;
+    //mbs_data->mbs_link3D = mbs_link3D;
+    //mbs_data->mbs_extforces = mbs_extforces;
+    //mbs_data->mbs_accelred = mbs_accelred;
+    //mbs_data->mbs_dirdyna = mbs_dirdyna;
+    //mbs_data->mbs_cons_hJ = mbs_cons_hJ;
+    //mbs_data->mbs_cons_jdqd = mbs_cons_jdqd;
+
+    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");
+    mbs_data->mbs_accelred = dlsym(lib_handle, "mbs_accelred");
+    mbs_data->mbs_dirdyna = dlsym(lib_handle, "mbs_dirdyna");
+    mbs_data->mbs_cons_hJ = dlsym(lib_handle, "mbs_cons_hJ");
+    mbs_data->mbs_cons_jdqd = dlsym(lib_handle, "mbs_cons_jdqd");
+
+    if ((error = dlerror()) != NULL)
+    {
+          fprintf(stderr, "%s\n", error);
+          exit(1);
+    }
+
+    // note : no need to call dlclose(), the library will be automatically closed at the end of the execution
+}

MBsysC/mbs_common/mbs_struct/mbs_data.h

@@ -129,6 +129,7 @@ struct MbsData
 	user_DrivenJoints_ptr user_DrivenJoints;
 	user_cons_hJ_ptr user_cons_hJ;
 	user_cons_jdqd_ptr user_cons_jdqd;
+    user_LinkForces_ptr user_LinkForces;
 
 	#ifdef REAL_TIME
 		user_realtime_options_ptr user_realtime_options;

MBsysC/mbs_common/mbs_struct/mbs_project_fct_ptr.h

@@ -19,6 +19,8 @@ typedef void	(*user_Derivative_ptr)(MbsData *s);
 typedef void	(*user_DrivenJoints_ptr)(MbsData *s, double tsim);
 typedef void	(*user_cons_hJ_ptr)(double *h, double **Jac, MbsData *s, double tsim);
 typedef void	(*user_cons_jdqd_ptr)(double *jdqd, MbsData *s, double tsim);
+typedef double  (*user_LinkForces_ptr)(double Z, double Zd, MbsData *mbs_data, double tsim, int ilnk);
+
 
 #ifdef REAL_TIME
 	typedef struct Realtime_option Realtime_option;