[MBsysPy][MbsEquil] New error management. and create error test in example.

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_equil.py

@@ -88,7 +88,7 @@ class MbsEquil(object):
             symbolic_path = os.path.join(project_path, symbolic_path)
             # Error handeling
             if not os.path.isdir(symbolic_path):
-                mbs_msg('Thesymbolic function directory for direct dynamic module does not exist: "' + symbolic_path + '"')
+                mbs_msg('The symbolic function directory for direct dynamic module does not exist: "' + symbolic_path + '"')
                 mbs_msg('The current root folder is: "' + os.getcwd() + '"')
                 mbs_msg('The following directory is used instead: "' + self.symbolic_path + '".')
             else:
@@ -146,6 +146,7 @@ class MbsEquil(object):
     def __del__(self):
         """Delete the object by freeing the C - related memory."""
         libmodules.mbs_delete_equil(self.mbs_equil_ptr, self.mbs.mbs_data_ptr)
+        self.mbs_equil_ptr = None
         if __DEBUG__:
             mbs_msg("DEBUG>>  MbsEquil pointer deleted")
 
@@ -185,7 +186,7 @@ class MbsEquil(object):
 
         error = libmodules.mbs_run_equil(self.mbs_equil_ptr, self.mbs.mbs_data_ptr)
 
-        if self.store_results:
+        if not error and self.store_results:
             self.load_results()
 
         # Unassign user functions
@@ -211,10 +212,10 @@ class MbsEquil(object):
                     "    - An error in user function (joint force, external forces) return wrong value.\n"
                     "\n"
                     "If the simulation runs a little you should:\n"
-                    "    - In all cases, open the results/animation file and check the motion of the \n"
-                    "      system until it fails.\n"
+                    "    - In some cases if it was created open the results/animation file and check \n"
+                    "      the different equilibrium steps of the module until it fails.\n"
                     "    - In case of loop closure problem, you can alos check the dedicated animation\n"
-                    "      under the name 'Failed_loop_closing_procedure_q.res'.\n"
+                    "      under the name 'Failed_loop_closing_procedure_q.res' if the option was enable.\n"
                     "\n--------------------------------------------------\n"
                     "\n--------------------------------------------------\n")
             raise RuntimeError("MbsEquil.run() failed, read previous messages.")

TestProjects/MR_350/readme.md

@@ -7,7 +7,7 @@ Both project and MBsysC must be build with `FLAG_RELEASE=OFF`.
 
 We should always ensure that no memory is definitively lost with:
  * MBsys**C**_: `valgrind  --error-limit=yes --leak-check=full --show-leak-kinds=all --track-origins=yes --undef-value-errors=yes -v  --log-file=valgrindout.txt ./exe_PendulumSpringC`
- * MBsys**Py**: `valgrind --tool=memcheck --suppressions=valgrind-python.supp --log-file="valgrindout.txt" python3 -E -tt main_MBsysPy.py`
+ * MBsys**Py**: `valgrind --tool=memcheck --leak-check=full  --suppressions=valgrind-python.supp --log-file="valgrindout.txt" python3 -E -tt main_MBsysPy.py`
 
 check both _valgrindout.txt_ files and verify the following line:
 ```

TestProjects/MR_350/workR/main_MBsysPy.py

@@ -47,6 +47,28 @@ mbs_equil = Robotran.MbsEquil(mbs_data)
 # Error: joints have change
 # mbs_data.set_qdriven(2)
 
+# Error: Mass matrix full of 0.
+#        Set all mass to 0
+# mbs_data.m[1] = 0.0
+# mbs_data.m[3] = 0.0
+# mbs_data.m[4] = 0.0
+# mbs_data.m[5] = 0.0
+#        Set all inertia to 0
+# mbs_data.In[5][1] = 0.0
+# mbs_data.In[5][4] = 0.0
+# mbs_data.In[5][5] = 0.0
+
+
+# Error: impossible cut
+# mbs_data->dpt[3][4] = 10;
+
+# Error: no sensitive variables
+#        Replace all independent joints
+#        By anchor point coordinates with no symbol
+# mbs_equil.add_exchange(mbs_data.dpt[2], 1, 1, "dpt[2][1]")
+# mbs_equil.add_exchange(mbs_data.dpt[3], 1, 2, "dpt[3][1]")
+# mbs_equil.add_exchange(mbs_data.dpt[2], 2, 3, "dpt[2][2]")
+
 mbs_equil.set_options(method=1, senstol=1e-2, verbose=1)
 mbs_equil.run()