WIP function loader outside modules

MBsysC/mbs_interface/MBsysPy/_mbs_function_handler.py

+# -*- coding: utf-8 -*-
+"""Portable Python interface to MBsysC using Ctypes.
+
+MBsysC which is a scientific tool dedicated to the analysis of rigid multibody
+systems.
+"""
+__author__ = "Robotran team"
+
+# importing utilities function
+from .mbs_utilities import callback_undefined
+
+# importing wrapping function
+from ._mbsysc_loader.callback import user_cons_hJ_wrap
+from ._mbsysc_loader.callback import user_cons_jdqd_wrap
+from ._mbsysc_loader.callback import user_Derivative_wrap
+from ._mbsysc_loader.callback import user_DrivenJoints_wrap
+from ._mbsysc_loader.callback import user_ExtForces_wrap
+from ._mbsysc_loader.callback import user_JointForces_wrap
+from ._mbsysc_loader.callback import user_LinkForces_wrap
+from ._mbsysc_loader.callback import user_Link3DForces_wrap
+from ._mbsysc_loader.callback import user_dirdyn_init_wrap
+from ._mbsysc_loader.callback import user_dirdyn_loop_wrap
+from ._mbsysc_loader.callback import user_dirdyn_finish_wrap
+from ._mbsysc_loader.callback import user_equil_init_wrap
+from ._mbsysc_loader.callback import user_equil_loop_wrap
+from ._mbsysc_loader.callback import user_equil_finish_wrap
+from ._mbsysc_loader.callback import user_equil_fxe_wrap
+
+
+def assign_user_fct_to_None(module, functions=None):
+    """
+
+    Parameters
+    ----------
+    module : TYPE
+        DESCRIPTION.
+
+    Returns
+    -------
+    None.
+
+    """
+    if functions is not None:
+        for fun in functions:
+            if fun == "cons_hJ":
+                module.user_cons_hJ = None
+            elif fun == "cons_jdqd":
+                module.user_cons_jdqd = None
+            elif fun == "derivative":
+                module.user_derivative = None
+            elif fun == "DrivenJoints":
+                module.user_DrivenJoints = None
+            elif fun == "ExtForces":
+                module.user_ExtForces = None
+            elif fun == "JointForces":
+                module.user_JointForces = None
+            elif fun == "LinkForces":
+                module.user_LinkForces = None
+            elif fun == "Link3DForces":
+                module.user_Link3DForces = None
+            elif fun == "dirdyn_init":
+                module.user_dirdyn_init = None
+            elif fun == "dirdyn_loop":
+                module.user_dirdyn_loop = None
+            elif fun == "dirdyn_finish":
+                module.user_dirdyn_finish = None
+            elif fun == "equil_init":
+                module.user_equil_init = None
+            elif fun == "equil_loop":
+                module.user_dequil_loop = None
+            elif fun == "equil_finish":
+                module.user_equil_finish = None
+            else:
+                print(fun + " is not an existing user function")
+    else:
+        # User function that only relies on MbsData structure
+        module.user_cons_hJ = None
+        module.user_cons_jdqd = None
+        module.user_derivative = None
+        module.user_DrivenJoints = None
+        module.user_ExtForces = None
+        module.user_JointForces = None
+        module.user_LinkForces = None
+        module.user_Link3DForces = None
+        # User function also related to dirdyn, equil...
+        module.user_dirdyn_init = None
+        module.user_dirdyn_loop = None
+        module.user_dirdyn_finish = None
+
+
+
+def iassign_symb_fct_to_None(module, functions=None):
+    """
+
+    Parameters
+    ----------
+    module : TYPE
+        DESCRIPTION.
+
+    Returns
+    -------
+    None.
+
+    """
+    if functions is not None:
+        for fun in functions:
+            if fun == "accelred":
+                module.mbs_accelred = None
+            elif fun == "cons_hJ":
+                module.mbs_cons_hJ = None
+            elif fun == "cons_jdqd":
+                module.mbs_cons_jdqd = None
+            elif fun == "dirdyna":
+                module.mbs_dirdyna = None
+            elif fun == "extforces":
+                module.mbs_extforces = None
+            elif fun == "gensensor":
+                module.mbs_gensensor = None
+            elif fun == "invdyna":
+                module.mbs_invdyna = None
+            elif fun == "link":
+                module.mbs_link = None
+            elif fun == "link3D":
+                module.mbs_link3D = None
+            elif fun == "sensor":
+                module.mbs_sensor = None
+            else:
+                print(fun + " is not an existing symbolic function")
+    else:
+        module.mbs_accelred = None
+        module.mbs_cons_hJ = None
+        module.mbs_cons_jdqd = None
+        module.mbs_dirdyna = None
+        module.mbs_extforces = None
+        module.mbs_gensensor = None
+        module.mbs_invdyna = None
+        module.mbs_link = None
+        module.mbs_link3D = None
+        module.mbs_sensor = None
+
+def __unassign_user_fct_2__(module, functions=None):
+    """
+    Unassign all user function if all args are in MbsData instance.
+
+    Only unassign the user functions in which the arguments are not
+    dependent of another module instance (ie. MbsPart, MbsDirdyn...).
+    """
+    print("unassign 2")
+    # Not necessary but if not present, dictionary must be filled in the
+    # load function and not the assign function.
+    module.ptrs_to_user_fcts.clear()
+
+    __assign_user_to_undefined__(module, functions)
+
+    assign_user_fct_to_None(module)
+
+
+def __assign_user_to_undefined__(module, functions=None):
+
+    if functions is not None:
+        for fun in functions:
+            if fun == "cons_hJ":
+                module.mbs.mbs_data_ptr.contents.user_cons_hJ = user_cons_hJ_wrap(lambda h, Jac, mbs, tsim: callback_undefined("user_cons_hJ"))
+            elif fun == "cons_jdqd":
+                module.mbs.mbs_data_ptr.contents.user_cons_jdqd = user_cons_jdqd_wrap(lambda h, Jac, mbs, tsim: callback_undefined("user_cons_jdqd"))
+            elif fun == "derivative":
+                module.mbs_data_ptr.contents.user_Derivative = user_Derivative_wrap(lambda mbs: callback_undefined("user_Derivative"))
+            elif fun == "DrivenJoints":
+                module.mbs_data_ptr.contents.user_DrivenJoints = user_DrivenJoints_wrap(lambda mbs, t: callback_undefined("user_DrivenJoints"))
+            elif fun == "ExtForces":
+                module.mbs_data_ptr.contents.user_ExtForces = user_ExtForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_ExtForces"))
+            elif fun == "JointForces":
+                module.mbs_data_ptr.contents.user_JointForces = user_JointForces_wrap(lambda mbs, t: callback_undefined("user_JointForces"))
+            elif fun == "LinkForces":
+                module.mbs_data_ptr.contents.user_LinkForces = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk: callback_undefined("user_LinkForces"))
+            elif fun == "Link3DForces":
+                module.mbs_data_ptr.contents.user_Link3DForces = user_Link3DForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_Link3DForces"))
+            elif fun == "dirdyn_init":
+                module.mbs.mbs_data_ptr.contents.user_dirdyn_init = user_dirdyn_init_wrap(lambda mbs, dd: callback_undefined("user_dirdyn_init"))
+            elif fun == "dirdyn_loop":
+                module.mbs.mbs_data_ptr.contents.user_dirdyn_loop = user_dirdyn_loop_wrap(lambda mbs, dd: callback_undefined("user_dirdyn_loop"))
+            elif fun == "dirdyn_finish":
+                module.mbs.mbs_data_ptr.contents.user_dirdyn_finish = user_dirdyn_finish_wrap(lambda mbs, dd: callback_undefined("user_dirdyn_finish"))
+            elif fun == "equil_init":
+                module.mbs.mbs_data_ptr.contents.user_equil_init = user_equil_init_wrap(lambda mbs, eq: callback_undefined("user_equil_init"))
+            elif fun == "equil_loop":
+                module.mbs.mbs_data_ptr.contents.user_equil_loop = user_equil_loop_wrap(lambda mbs, eq: callback_undefined("user_equil_loop"))
+            elif fun == "equil_finish":
+                module.mbs.mbs_data_ptr.contents.user_equil_finish = user_equil_finish_wrap(lambda mbs, eq: callback_undefined("user_equil_finish"))
+            elif fun == "equil_fxe":
+                module.mbs.mbs_data_ptr.contents.user_equil_fxe = user_equil_fxe_wrap(lambda mbs, f: callback_undefined("user_equil_fxe"))
+            else:
+                print(fun + " is not an existing user function")
+    else:
+        module.mbs_data_ptr.contents.user_Derivative = user_Derivative_wrap(lambda mbs: callback_undefined("user_Derivative"))
+        module.mbs_data_ptr.contents.user_DrivenJoints = user_DrivenJoints_wrap(lambda mbs, t: callback_undefined("user_DrivenJoints"))
+        module.mbs_data_ptr.contents.user_ExtForces = user_ExtForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_ExtForces"))
+        module.mbs_data_ptr.contents.user_JointForces = user_JointForces_wrap(lambda mbs, t: callback_undefined("user_JointForces"))
+        module.mbs_data_ptr.contents.user_LinkForces = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk: callback_undefined("user_LinkForces"))
+        module.mbs_data_ptr.contents.user_Link3DForces = user_Link3DForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_Link3DForces"))

MBsysC/mbs_interface/MBsysPy/examples/1_intro/workR/main.py

@@ -13,14 +13,14 @@ Copyright 2019 Universite Catholique de Louvain
 # Packages loading
 #==============================================================================
 import sys, time
-sys.path.insert(1,"./../../../..") # Relative path for this example script
+sys.path.insert(1,"./../../../../../build/python") # Relative path for this example script
 import MBsysPy as robotran
 
 #==============================================================================
 # Project loading
 #==============================================================================
 print("\n>>PYTHON>> Loading Project!")
-mbs_data = robotran.MbsData("../dataR/Bodies_and_Joints.mbs", 
+mbs_data = robotran.MbsData("../dataR/Bodies_and_Joints.mbs",
                             prj_functions_c=None, prj_lib_path="..")
 
 print(mbs_data)

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -43,6 +43,11 @@ from .._mbsysc_loader.loadlibs import libloadXML
 # importing utilities function
 from ..mbs_utilities import callback_undefined
 
+# importing function handler
+from .._mbs_function_handler import init_user_fct
+from .._mbs_function_handler import init_symb_fct
+from .._mbs_function_handler import __unassign_user_fct_2__
+
 # importing wrapping function
 from .._mbsysc_loader.callback import user_Derivative_wrap
 from .._mbsysc_loader.callback import user_DrivenJoints_wrap
@@ -392,30 +397,32 @@ class MbsData(object):
 
         # Storing project function pointer
         # User function that only relies on MbsData structure
-        self.user_cons_hJ = None
-        self.user_cons_jdqd = None
-        self.user_derivative = None
-        self.user_DrivenJoints = None
-        self.user_ExtForces = None
-        self.user_JointForces = None
-        self.user_LinkForces = None
-        self.user_Link3DForces = None
+        # self.user_cons_hJ = None
+        # self.user_cons_jdqd = None
+        # self.user_derivative = None
+        # self.user_DrivenJoints = None
+        # self.user_ExtForces = None
+        # self.user_JointForces = None
+        # self.user_LinkForces = None
+        # self.user_Link3DForces = None
+        init_user_fct(self)
         # User function also related to dirdyn, equil...
-        self.user_dirdyn_init = None
-        self.user_dirdyn_loop = None
-        self.user_dirdyn_finish = None
+        # self.user_dirdyn_init = None
+        # self.user_dirdyn_loop = None
+        # self.user_dirdyn_finish = None
 
         # Symbolic functions
-        self.mbs_accelred = None
-        self.mbs_cons_hJ = None
-        self.mbs_cons_jdqd = None
-        self.mbs_dirdyna = None
-        self.mbs_extforces = None
-        self.mbs_gensensor = None
-        self.mbs_invdyna = None
-        self.mbs_link = None
-        self.mbs_link3D = None
-        self.mbs_sensor = None
+        # self.mbs_accelred = None
+        # self.mbs_cons_hJ = None
+        # self.mbs_cons_jdqd = None
+        # self.mbs_dirdyna = None
+        # self.mbs_extforces = None
+        # self.mbs_gensensor = None
+        # self.mbs_invdyna = None
+        # self.mbs_link = None
+        # self.mbs_link3D = None
+        # self.mbs_sensor = None
+        init_symb_fct(self)
 
         # pointers dict to avoid garbage collecting
         self.ptrs_to_user_fcts = dict()
@@ -862,16 +869,17 @@ class MbsData(object):
         Only unassign the user functions in which the arguments are not
         dependent of another module instance (ie. MbsPart, MbsDirdyn...).
         """
-        # Not necessary but if not present, dictionary must be filled in the
-        # load function and not the assign function.
-        self.ptrs_to_user_fcts = {}
-
-        self.mbs_data_ptr.contents.user_Derivative = user_Derivative_wrap(lambda mbs: callback_undefined("user_Derivative"))
-        self.mbs_data_ptr.contents.user_DrivenJoints = user_DrivenJoints_wrap(lambda mbs, t: callback_undefined("user_DrivenJoints"))
-        self.mbs_data_ptr.contents.user_ExtForces = user_ExtForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_ExtForces"))
-        self.mbs_data_ptr.contents.user_JointForces = user_JointForces_wrap(lambda mbs, t: callback_undefined("user_JointForces"))
-        self.mbs_data_ptr.contents.user_LinkForces = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk: callback_undefined("user_LinkForces"))
-        self.mbs_data_ptr.contents.user_Link3DForces = user_Link3DForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_Link3DForces"))
+        __unassign_user_fct_2__(self)
+    #     # Not necessary but if not present, dictionary must be filled in the
+    #     # load function and not the assign function.
+    #     self.ptrs_to_user_fcts = {}
+
+    #     self.mbs_data_ptr.contents.user_Derivative = user_Derivative_wrap(lambda mbs: callback_undefined("user_Derivative"))
+    #     self.mbs_data_ptr.contents.user_DrivenJoints = user_DrivenJoints_wrap(lambda mbs, t: callback_undefined("user_DrivenJoints"))
+    #     self.mbs_data_ptr.contents.user_ExtForces = user_ExtForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_ExtForces"))
+    #     self.mbs_data_ptr.contents.user_JointForces = user_JointForces_wrap(lambda mbs, t: callback_undefined("user_JointForces"))
+    #     self.mbs_data_ptr.contents.user_LinkForces = user_LinkForces_wrap(lambda Z, Zd, mbs, tsim, ilnk: callback_undefined("user_LinkForces"))
+    #     self.mbs_data_ptr.contents.user_Link3DForces = user_Link3DForces_wrap(lambda PxF, RxF, VxF, OMxF, AxF, OMPxF, mbs, tsim, ixF: callback_undefined("user_Link3DForces"))
 
     def __unassign_symb_fct__(self):
         """

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -390,7 +390,7 @@ class MbsDirdyn(object):
 
     def __unassign_user_fct__(self):
         """Unassign user function where some args depend on MbsDirdyn module."""
-        self.ptrs_to_user_fcts = {}
+        self.ptrs_to_user_fcts.clear()
 
         self.mbs.user_cons_hJ = None
         self.mbs.mbs_data_ptr.contents.user_cons_hJ = user_cons_hJ_wrap(lambda h, Jac, mbs, tsim: callback_undefined("user_cons_hJ"))
@@ -405,7 +405,7 @@ class MbsDirdyn(object):
 
     def __unassign_symbolic_fct__(self):
         """Unassign symbolic function where some args depend on MbsDirdyn module."""
-        self.ptrs_to_symb_fcts = {}
+        self.ptrs_to_symb_fcts.clear()
 
         self.mbs.mbs_cons_hJ = None
         self.mbs.mbs_data_ptr.contents.mbs_cons_hJ = mbs_cons_hJ_wrap(lambda h, Jac, mbs, tsim: callback_undefined("mbs_cons_hJ"))