[MBsysPy] Fix user output vector in outputs

MBsysC/mbs_interface/MBsysPy/_mbsysc_loader/mbs_functions_c.py

@@ -96,6 +96,8 @@ libutilities.mbs_set_error_msg_fct_ptr.restypes = None
 libutilities.get_output_vector_nb.argtypes = []
 libutilities.get_output_vector_nb.restypes = ctypes.c_int
 
+libutilities.get_output_vector_label.argtypes = [ctypes.c_int]
+libutilities.get_output_vector_label.restypes = ctypes.c_char_p
 
 # LoadXML
 libloadXML.mbs_info_reader.argtypes = [ctypes.c_char_p]

MBsysC/mbs_interface/MBsysPy/examples/5_sensors/userfctR/user_dirdyn.py

@@ -33,6 +33,9 @@ def user_dirdyn_init(mbs, dd):
     # In the next command, the sensor use the memory already allocated in C
     mbs.sensors.append(Robotran.MbsSensor(mbs, 1, dd.mbs_dirdyn_ptr.contents.mbs_aux.contents.psens))
 
+    # We assign memory for storing a sensor field (vector only)
+    mbs.define_output_vector('sensor_velocity', 3)
+
     return
 
 
@@ -68,6 +71,8 @@ def user_dirdyn_loop(mbs, dd):
     Robotran.set_output(mbs.sensors[0].A[3], "sensor_MbsData_MBsysPy")
     Robotran.set_output(mbs.sensors[1].A[3], "sensor_Python_MBsysPy")
     Robotran.set_output(mbs.sensors[2].A[3], "sensor_C_MBsysPy")
+    # Here we store all a vector
+    mbs.set_output_vector(mbs.sensors[1].V[1:], "sensor_velocity")
 
     # Remark:
     # All the approaches give the same results. If no new sensor are required,

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -264,10 +264,9 @@ class MbsDirdyn(object):
 
                 nb_user_output_vector = libutilities.get_output_vector_nb()
                 for i in range(nb_user_output_vector):
-                    ignored_length = len(bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.options.contents.resfilename)))
-                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + i
-                    user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
-                    name = os.path.basename(bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.filename)))[ignored_length:]
+                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.nx + 1
+                    user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.tx, (size1, size2)))
+                    name = os.path.basename(bytes_to_str(ctypes.string_at(libutilities.get_output_vector_label(i))))
                     self.results.outputs[name] = user_out
 
                 if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx: