Merge branch 'Issue237_Sensor_Callback' into 'dev'

[MBsysPy][Sensor] Callback for python sensor called by c library.

Closes #237

See merge request robotran/mbsysc!396

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -1503,9 +1503,32 @@ class MbsData(object):
         self.SWr[ixF, 1:7] = SWr[1:7]
 
     def __callback_mbs_sensor(self, fun, sens, isens):
-        """Do the callback for gensensor, forcesensor and sensor."""
-        self.__sens.__reassign_memory__(sens)
-        fun(self.__sens, self, isens)
+        """Do the callback for gensensor, forcesensor and sensor.
+
+        Notes
+        -----
+        This callback is used when a C-library (MBsysC, symbolicR, userfctR) calls
+        ask for the computation of a sensor if the symbolic functions are in
+        Python.
+
+        Currently the MBsysC core library never calls for a sensor computation.
+        Currently MBsysPy does not allows to load a userfctR C-library with
+        symbolic functions in Python.
+
+        So this function should never be called and has not been tested.
+        This function is defined for the future (change in MBsysPy, addons...).
+        """
+        mbs_warning("Warning: Computing MBsysPy sensor from C-library has not been tested! Check your results with care.")
+        # Check if the sensor is MBsysPy.MbsSensor instance or C pointer
+        if isinstance(sens, MbsSensor):
+            # Then use the current sensor
+            __sens = sens
+        else:
+            # Then create a MbsSensor arout the C pointer
+            __sens = MbsSensor(self, id_=isens, sensor_ptr=sens)
+            # Note: The C-memory will not be freed by object destructor.
+
+        fun(__sens, self, isens)
 
     def __callback_user_cons_hJ_part(self, fun, h, Jac, tsim):
         __h = np.ctypeslib.as_array(h, (self.Nuserc + 1,))