Merge branch '261-mbsyspy-loading-dirdyn-results-errors' into 'dev'

Resolve "MBsysPy, loading dirdyn results errors"

Closes #261

See merge request robotran/mbsysc!410

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -232,71 +232,98 @@ class MbsDirdyn(object):
 
             if (error >= 0 and self.get_options("save2file")):
                 # Results(buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
-                size1 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.index
-                if size1 == 0:
-                    size1 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.size
-                size2 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.nx + 1
-
-                # array are initialized to the time pointer so as to start index of joints at 1(we have to ensure contiguity between t and x in buffers ! ! !)
-                self.results.q = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[0].contents.tx, (size1, size2)))
+                # Arrays are initialized to the time pointer so as to start index of joints at 1.
+
+                nb_joint = self.mbs_dirdyn_ptr.contents.buffers[0].contents.nx + 1
+                nb_steps = self.mbs_dirdyn_ptr.contents.buffers[0].contents.index
+                if nb_steps == 0:
+                    # nb_steps is the number of steps not (yet) save to disk.
+                    # If the value is 0 it means that all has been saved to disk.
+                    # But all is also still in memory.
+                    nb_steps = self.mbs_dirdyn_ptr.contents.buffers[0].contents.size
+
+                # Load the joint coordinates to test if the whole integration is in memory
+                self.results.q = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[0].contents.tx, (nb_steps, nb_joint)))
                 # get time array from the q buffer
                 self.results.t = self.results.q[:, 0]
-                if not self.results.t[0] == self.get_options("t0"):
-                    mbs_msg("The beginning of the integration is not available in the buffer.\n The complete results have to be loaded from files.")
-                    filename = bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[0].contents.filename))
-                    self.results.load_results_from_file(filename, module=6)
-                # get qd and qdd buffer
-                self.results.qd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[1].contents.tx, (size1, size2)))
-                self.results.qdd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[2].contents.tx, (size1, size2)))
-                size2 = self.mbs_dirdyn_ptr.contents.buffers[3].contents.nx + 1
-                self.results.Qq = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[3].contents.tx, (size1, size2)))
-                buffer_id = 4
-                if self.mbs.Nux:
-                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
-                    self.results.ux = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
-                    self.results.uxd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (size1, size2)))
-                    buffer_id = buffer_id + 2
-                if self.mbs.Nlink:
-                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
-                    self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
-                    self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (size1, size2)))
-                    self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 2].contents.tx, (size1, size2)))
-                    buffer_id = buffer_id + 3
-                if self.mbs.nqc:
-                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
-                    self.results.Qc = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
-                    buffer_id = buffer_id + 1
-                if self.mbs.nhu:
-                    size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
-                    self.results.Lambda = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (size1, size2)))
-                    buffer_id = buffer_id + 1
-
-                nb_user_output_vector = libutilities.get_output_vector_nb()
-                for i in range(nb_user_output_vector):
-                    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 of the output vector should be recoverable with function
-                    # 'libutilities.get_output_vector_label(i)' returning char*.
-                    # However on MacOs (see comments of merge request !383) this
-                    # does not work (pointer seems to be random).
-                    name = bytes_to_str(os.path.basename(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.filename)[:-4])
-                    len_prefix = len(self.get_options("resfilename"))
-                    name = name[len_prefix + 1:]
-
-                    self.results.outputs[name] = user_out
-
-                if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx:
-                    size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.index
+                if self.results.t[0] != self.get_options("t0"):
+                    results_loaded = False
+                    # Results have to be loaded from file, extract files names.
+                    results_filename = bytes_to_str(ctypes.string_at(self.mbs_dirdyn_ptr.contents.buffers[0].contents.filename))
+                    # Check if user vector output have been defined
+                    user_output_vector_filenames = []
+                    nb_user_output_vector = libutilities.get_output_vector_nb()
+                    first_buffer_id = self.buffer_nb - nb_user_output_vector
+                    for i in range(nb_user_output_vector):
+                        vector_name = bytes_to_str(self.mbs_dirdyn_ptr.contents.buffers[first_buffer_id + i].contents.filename)
+                        user_output_vector_filenames.append(os.path.basename(vector_name))
+                    # Check if user auto output have been used
+                    user_output_filenames = []
                     nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
                     for i in range(nbOutput):
-                        user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.user_buffer.contents.X[i], (1, size)))
                         name = bytes_to_str(self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i])
-                        self.results.outputs[name] = user_out[0]
+                        user_output_filenames.append(self.get_options("resfilename") + '_' + name + '.res')
+
+                else:
+                    results_loaded = True
+                    # The whole integration is in the memory, load all results.
+                    self.results.qd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[1].contents.tx, (nb_steps, nb_joint)))
+                    self.results.qdd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[2].contents.tx, (nb_steps, nb_joint)))
+                    self.results.Qq = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[3].contents.tx, (nb_steps, nb_joint)))
+                    buffer_id = 4
+                    if self.mbs.Nux and self.get_options("compute_all_uxd"):
+                        size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
+                        self.results.ux = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, size2)))
+                        self.results.uxd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (nb_steps, size2)))
+                        buffer_id = buffer_id + 2
+                    if self.mbs.Nlink:
+                        size2 = self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.nx + 1
+                        self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, size2)))
+                        self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 1].contents.tx, (nb_steps, size2)))
+                        self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + 2].contents.tx, (nb_steps, size2)))
+                        buffer_id = buffer_id + 3
+                    if self.mbs.nqc:
+                        self.results.Qc = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, nb_joint)))
+                        buffer_id = buffer_id + 1
+                    if self.mbs.nhu:
+                        self.results.Lambda = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[buffer_id].contents.tx, (nb_steps, nb_joint)))
+                        buffer_id = buffer_id + 1
+
+                    nb_user_output_vector = libutilities.get_output_vector_nb()
+                    for i in range(nb_user_output_vector):
+                        vector_size = 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, (nb_steps, vector_size)))
+
+                        # Name of the output vector should be recoverable with function
+                        # 'libutilities.get_output_vector_label(i)' returning char*.
+                        # However on MacOs (see comments of merge request !383) this
+                        # does not work (pointer seems to be random).
+                        name = bytes_to_str(os.path.basename(self.mbs_dirdyn_ptr.contents.buffers[buffer_id + i].contents.filename)[:-4])
+                        len_prefix = len(self.get_options("resfilename"))
+                        name = name[len_prefix + 1:]
+
+                        self.results.outputs[name] = user_out
+
+                    if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx:
+                        size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.index
+                        if not size:
+                            size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.size
+                        nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
+                        for i in range(nbOutput):
+                            user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.user_buffer.contents.X[i], (1, size)))
+                            name = bytes_to_str(self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i])
+                            self.results.outputs[name] = user_out[0]
 
             if (error >= 0):
                 libmodules.mbs_dirdyn_finish(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
 
+            if not results_loaded:
+                mbs_msg("The beginning of the integration is not available in the buffer.\n"
+                        "The complete results are loaded from files.\n")
+                self.results.load_results_from_file(results_filename, module=6,
+                                                    user_output=user_output_filenames,
+                                                    user_vector=user_output_vector_filenames)
+
         # Unassign user functions
         if self.mbs.opt_load_c < 2:
             self.mbs.__unassign_user_fct__(self.user_fun_list)
@@ -877,6 +904,11 @@ class MbsDirdyn(object):
         """Access to `dt` attribute (read-only)."""
         return self.mbs_dirdyn_ptr.contents.dt
 
+    @property
+    def buffer_nb(self):
+        """Access to `bufferNb` attribute (read-only)."""
+        return self.mbs_dirdyn_ptr.contents.bufferNb
+
 
 class MbsResult(object):
     """
@@ -943,7 +975,8 @@ class MbsResult(object):
         self.outputs = {}
         self.mbs = mbs
 
-    def load_results_from_file(self, filename, result_path="resultsR", module=0):
+    def load_results_from_file(self, filename, result_path="resultsR", module=0,
+                               user_output=None, user_vector=None):
         """
         Load the results from the files into a MbsResult instance.
 
@@ -951,17 +984,23 @@ class MbsResult(object):
 
         Parameters
         ----------
-        filename: str
+        filename : str
             The resfilename containing the results to load. The required suffix
            (ie. "_q.res") will be added automatically
-        result_path: str, optional
+        result_path : str, optional
             The relative path of the result folder from the project folder.
             default is "resultsR"
-        module: int
+        module : int
             The module in which this function is called. In some modules, some
             results files don't exist. Module ids corresponds to the
             'MbsData.process' value. If set to 0 we try to load all files
             default is 0
+        user_output : list
+            List containing the user output files to be loaded if not None.
+            default is None.
+        user_vector : list
+            List containing the user vector output files to be loaded if not None.
+            default is None.
         """
         project_path = self.mbs.project_path
         baseFileName = os.path.basename(filename)
@@ -1075,3 +1114,23 @@ class MbsResult(object):
             else:
                 if __DEBUG__:
                     mbs_msg("DEBUG>>  file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
+
+        if user_output:
+            for CurFile in user_output:
+                path = os.path.abspath(os.path.join(result_path, CurFile))
+                name = CurFile[len(baseFileName) + 1:-4]
+                if(os.path.isfile(path)):
+                    self.outputs[name] = np.loadtxt(path)[:, 1:]
+                else:
+                    if __DEBUG__:
+                        mbs_msg("DEBUG>>  file '" + CurFile + "' not found in folder '" + os.path.dirname(path))
+
+        if user_vector:
+            for CurFile in user_vector:
+                path = os.path.abspath(os.path.join(result_path, CurFile))
+                name = CurFile[len(baseFileName) + 1:-4]
+                if(os.path.isfile(path)):
+                    self.outputs[name] = np.loadtxt(path)
+                else:
+                    if __DEBUG__:
+                        mbs_msg("DEBUG>>  file '" + CurFile + "' not found in folder '" + os.path.dirname(path))