separate build working

MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_events.c

@@ -10,7 +10,7 @@
 
 #include "realtime.h"
 #include "events_sdl.h"
-#include "plot_sdl.h"
+#include "user_realtime.h"
 
 /*! \brief handle inputs comming from the keyboard
  * 

MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_plot.c

@@ -8,8 +8,7 @@
 
 #ifdef SDL
 
-#include "plot_sdl.h"
-#include "set_plot.h"
+#include "user_realtime.h"
 
 /*! \brief assign values for the SDL functions
  *

MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_visu.c

@@ -13,7 +13,7 @@
 
 #ifdef JAVA
 
-#include "java_functions.h"
+#include "user_realtime.h"
 
 /*! \brief Java visualization user configuration
  * 

MBprojects/PendulumSpringC/workR/CMakeLists.txt

@@ -135,19 +135,7 @@ set (Executable exe_${PROJECT_NAME})
 # generate the executable
 add_executable (${Executable} ${SOURCE_FILES})
 
-if (FLAG_SEPARATE_BUILD) # find MBSysC dynamic libraries
-	find_package(LibRobotranC REQUIRED)
-	target_link_libraries(${Executable} "${LIB_MBSYSC_MODULES}")
-	target_link_libraries(${Executable} "${LIB_MBSYSC_LOAD}")
-	target_link_libraries(${Executable} "${LIB_MBSYSC_UTILITIES}")
-else ( )
-	add_subdirectory("${ROBOTRAN_SOURCE_DIR}/mbs_common" "${CMAKE_CURRENT_BINARY_DIR}/mbs_common")
-	target_link_libraries(${Executable} MBsysC_loadXML)
-	target_link_libraries(${Executable} MBsysC_module)
-	if(NOT FLAG_SHARED_LIB)
-		target_link_libraries(${Executable} MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime)
-	endif(NOT FLAG_SHARED_LIB)
-endif ( )
+
 
 if (FLAG_VISU)
 	include_directories(${JNI_INCLUDE_PATH})
@@ -170,3 +158,17 @@ endif ( )
 if (FLAG_VISU)
 	target_link_libraries (${Executable} ${JNI_LIBRARIES})
 endif ( )
+
+if (FLAG_SEPARATE_BUILD) # find MBSysC dynamic libraries
+	find_package(LibRobotranC REQUIRED)
+	target_link_libraries(${Executable} "${LIB_MBSYSC_MODULES}")
+	target_link_libraries(${Executable} "${LIB_MBSYSC_LOAD}")
+	target_link_libraries(${Executable} "${LIB_MBSYSC_UTILITIES}")
+else ( )
+	add_subdirectory("${ROBOTRAN_SOURCE_DIR}/mbs_common" "${CMAKE_CURRENT_BINARY_DIR}/mbs_common")
+	target_link_libraries(${Executable} MBsysC_loadXML)
+	target_link_libraries(${Executable} MBsysC_module)
+	if(NOT FLAG_SHARED_LIB)
+		target_link_libraries(${Executable} MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime)
+	endif(NOT FLAG_SHARED_LIB)
+endif ( )

MBprojects/PendulumSpringC/workR/src/main.c

@@ -69,6 +69,8 @@ int main(int argc, char const *argv[])
     mbs_dirdyn->options->save2file = 1;
     mbs_dirdyn->options->respath = PROJECT_SOURCE_DIR"/../resultsR";
     
+    mbs_dirdyn->options->realtime = 1;
+
     mbs_run_dirdyn(mbs_dirdyn, mbs_data);
     
     mbs_delete_dirdyn(mbs_dirdyn, mbs_data);

MBsysC/mbs_common/mbs_load_xml/CMakeLists.txt

@@ -20,6 +20,7 @@ set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
 
 if(FLAG_SHARED_LIB)
 	add_library(MBsysC_loadXML SHARED ${SOURCE_FILES} ${INCLUDE_DIR})
+	target_link_libraries (MBsysC_loadXML ${LIBXML2_LIBRARIES})
 else(FLAG_SHARED_LIB)
 	add_library(MBsysC_loadXML STATIC ${SOURCE_FILES} ${INCLUDE_DIR})
 endif(FLAG_SHARED_LIB)

MBsysC/mbs_common/mbs_module/CMakeLists.txt

@@ -10,6 +10,10 @@ project(MBsysC_module)
 xml_lib(mbs_module)
 set(LIBXML2_LIBRARIES ${LIBXML2_LIBRARIES} PARENT_SCOPE)
 
+# GSL
+gsl_lib(mbs_module)
+set(GSL_LIBRARIES ${GSL_LIBRARIES} PARENT_SCOPE)
+
 # list source files to compile
 init_src()
 increment_src(./)
@@ -23,7 +27,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-result")
 
 if(FLAG_SHARED_LIB)
 	add_library(MBsysC_module SHARED ${SOURCE_FILES} ${INCLUDE_DIR})
-	target_link_libraries(MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime)
+	target_link_libraries(MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime ${LIBXML2_LIBRARIES} ${GSL_LIBRARIES})
 else( )
 	add_library(MBsysC_module STATIC ${SOURCE_FILES} ${INCLUDE_DIR})
 endif( )

MBsysC/mbs_common/mbs_numerics/CMakeLists.txt

@@ -6,8 +6,6 @@ cmake_minimum_required(VERSION 2.8.7)
 
 project(MBsysC_numerics)
 
-
-
 # list source files to compile
 init_src()
 increment_src(./)

MBsysC/mbs_common/mbs_numerics/dopri5.h

@@ -176,9 +176,9 @@ nfcnRead    Number of function calls.
 #include <stdio.h>
 #include <limits.h>
 
-// modif: add mbs_data and mbs_aux headers
+// modif: add mbs_data and mbs_dirdyn_struct headers
 #include "mbs_data.h"
-#include "mbs_dirdyn.h"
+#include "mbs_dirdyn_struct.h"
 
 // modif: long nr, MbsData *s, MbsDirdyn *dd added
 typedef void (*FcnEqDiff)(unsigned n, long nr, double x, double *y, double *f, MbsData *s, MbsDirdyn *dd);

MBsysC/mbs_common/mbs_realtime/CMakeLists.txt

@@ -58,6 +58,17 @@ set(INCLUDE_DIR ${INCLUDE_DIR} "./realtime" PARENT_SCOPE)
 
 add_library(MBsysC_realtime ${SOURCE_FILES} ${INCLUDE_DIR})
 
+# SDL external library: linkage
+if (FLAG_PLOT)
+	target_link_libraries (MBsysC_realtime ${SDL2_LIBRARIES} ${SDL2TTF_LIBRARIES})
+endif ( )
+
+# Java external library: linkage
+if (FLAG_VISU)
+	target_link_libraries (MBsysC_realtime ${JNI_LIBRARIES})
+endif ( )
+
+
 include_directories("./")
 include_directories("../mbs_struct")
 include_directories("../mbs_utilities")

MBsysC/mbs_common/mbs_realtime/java/java_functions.h

@@ -29,13 +29,6 @@ typedef struct JNI_struct
 } JNI_struct;
 
 // functions prototypes
-#ifdef __cplusplus
-extern "C" {
-#endif
-    void user_realtime_visu(MbsData* mbs_data, int nb_q, double *q_vec);
-#ifdef __cplusplus
-}
-#endif
 
 JNIEnv* create_vm(void);
 JNI_struct* init_jni(int nb_q, double *q_vec, char *mbs_file, int start_viewpoint);

MBsysC/mbs_common/mbs_realtime/sdl/auto_plot/set_plot.h

@@ -7,14 +7,7 @@
 #ifndef _SET_PLOT_H_
 #define _SET_PLOT_H_
 
-// funcions prototype
-#ifdef __cplusplus // in case the function is called from a C++ file
-    extern "C" {
-        void set_plot(double value, const char* label);
-    }
-#else
-    void set_plot(double value, char* label);
-#endif
+#include "user_realtime.h"
 
 #ifdef SDL
     #include "plot_sdl.h"

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.h

@@ -23,6 +23,7 @@
 #endif
 
 #include "mbs_data.h"
+#include "user_realtime.h"
 
 // y axis: main parts
 #define SCREEN_UP_HEIGHT_LOSS 40
@@ -250,18 +251,6 @@ typedef struct Screen_sdl
 
 // -- Functions prototypes -- //
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-    void user_realtime_plot(MbsData* mbs_data);
-    void user_keyboard(MbsData* mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates);
-    void user_joystick_axes(MbsData* mbs_data, Simu_realtime *realtime, int nb_joysticks);
-    void user_joystick_buttons(MbsData* mbs_data, int buttonID);
-    void wait_key(Simu_realtime *realtime, int cur_t_usec, double tsim);
-#ifdef __cplusplus
-}
-#endif
-
 void wait_key_generic(Simu_realtime *realtime, int cur_t_usec, double tsim);
 
 Screen_sdl* init_screen_sdl(Realtime_option *options);

MBsysC/mbs_common/mbs_realtime/sdl/user_realtime.h

+
+#ifdef REAL_TIME
+
+#ifndef _USER_REALTIME_H_
+#define _USER_REALTIME_H_
+
+#include "mbs_data.h"
+#include "realtime.h"
+#include <stdint.h>
+
+typedef uint8_t Uint8;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+	void user_realtime_visu(MbsData* mbs_data, int nb_q, double *q_vec);
+    void user_realtime_plot(MbsData* mbs_data);
+    void user_keyboard(MbsData* mbs_data, Simu_realtime *realtime, int cur_t_usec, const Uint8 *keystates);
+    void user_joystick_axes(MbsData* mbs_data, Simu_realtime *realtime, int nb_joysticks);
+    void user_joystick_buttons(MbsData* mbs_data, int buttonID);
+    void wait_key(Simu_realtime *realtime, int cur_t_usec, double tsim);
+#ifdef __cplusplus
+}
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+    void set_plot(double value, const char* label);
+    }
+#else
+    void set_plot(double value, char* label);
+#endif
+
+#endif
+#endif