merge master (separate build)

MBprojects/PendulumSpringC/workR/CMakeLists.txt

@@ -120,18 +120,10 @@ init_src()
 
 increment_src("${PROJECT_SOURCE_DIR}/src")
 increment_src("${PROJECT_SOURCE_DIR}/../userfctR")
-increment_src("${PROJECT_SOURCE_DIR}/../userFiles")
 increment_src("${PROJECT_SOURCE_DIR}/../symbolicR")
 
 increment_void_symbolic(symbolicR)
 
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_struct")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_load_xml")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_module")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_numerics")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_utilities")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_realtime")
-
 
 # list include directories (to find headers)
 init_include()
@@ -139,8 +131,6 @@ init_include()
 increment_include("${PROJECT_SOURCE_DIR}/..")
 increment_include("${ROBOTRAN_SOURCE_DIR}")
 
-
-
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
 #                         CONFIGURE EXECUTABLE
 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
@@ -154,6 +144,23 @@ 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 (FLAG_SEPARATE_BUILD)
+	
+	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(${Executable} MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime)
+	endif(NOT FLAG_SHARED_LIB)
+
+endif (FLAG_SEPARATE_BUILD)
+
 # math external library (for Unix): linkage
 if (UNIX)
 	target_link_libraries (${Executable} m)

MBsysC/cmake_aux/flags/CMakeLists.txt

@@ -19,6 +19,14 @@ option (FLAG_PLOT
 option (FLAG_VISU
         "Java visualization" ON)
 
+# Compile Robotran MBSysC as shared lib (.so / .dll)
+option (FLAG_SHARED_LIB
+        "Compile as dynamic lib" OFF)
+
+# Link to MBSysC lib already compiled
+option (FLAG_SEPARATE_BUILD
+        "Link to MBSysC lib already compiled" OFF)
+
 
 
 

MBsysC/conf/FindLibRobotranC.cmake

+#
+# author: Timothee Habra
+# Sept 7 2015
+#
+# This file finds the libraries
+# related to Robotran MBSysC
+#
+# ROBOTRAN_C_FOUND :  1 if all required files found (0 otherwise)
+# SDL2_INCLUDE_PATH : include paths (for the header files) -> for compilation
+# SDL2_LIBRARIES :    libraries -> for linkage
+#
+
+
+IF (UNIX)
+
+IF (APPLE)
+	
+
+## ---- MAC OS ---- ##
+
+
+
+## ---------------- ##
+
+
+ELSE (APPLE)
+	
+
+## ---- LINUX ---- ##	
+
+# possible paths for: 'libMBsysC_module.so'
+SET(TRIAL_PATHS_LIB_MBSYSC_MODULES
+  "${ROBOTRAN_SOURCE_DIR}/build/mbs_module"
+)
+
+# possible paths for: 'libMBsysC_loadXML.so'
+SET(TRIAL_PATHS_LIB_MBSYSC_LOAD
+  "${ROBOTRAN_SOURCE_DIR}/build/mbs_load_xml"
+)
+
+# possible paths for: 'libMBsysC_numerics.so'
+SET(TRIAL_PATHS_LIB_MBSYSC_UTILITIES
+  "${ROBOTRAN_SOURCE_DIR}/build/mbs_utilities"
+)
+
+
+FIND_LIBRARY(LIB_MBSYSC_MODULES libMBsysC_module.so ${TRIAL_PATHS_LIB_MBSYSC_MODULES})
+FIND_LIBRARY(LIB_MBSYSC_LOAD libMBsysC_loadXML.so ${TRIAL_PATHS_LIB_MBSYSC_LOAD})
+FIND_LIBRARY(LIB_MBSYSC_UTILITIES libMBsysC_utilities.so ${TRIAL_PATHS_LIB_MBSYSC_UTILITIES})
+
+#SET(SDL2_LIBRARIES ${SDL2_LIBRARIES_SDL2})
+
+## --------------- ##
+
+
+ENDIF (APPLE)
+
+ELSE (UNIX)
+
+
+## ---- WINDOWS ---- ##
+
+
+
+ENDIF (UNIX)
+
+
+# flag put to 1 if all required files are found
+IF(LIB_MBSYSC_MODULES AND LIB_MBSYSC_LOAD AND LIB_MBSYSC_UTILITIES)
+  SET(ROBOTRAN_C_FOUND 1)
+ELSE(LIB_MBSYSC_MODULES AND LIB_MBSYSC_LOAD AND LIB_MBSYSC_UTILITIES)
+  SET(ROBOTRAN_C_FOUND 0)
+ENDIF(LIB_MBSYSC_MODULES AND LIB_MBSYSC_LOAD AND LIB_MBSYSC_UTILITIES)
+
+# outputs
+MARK_AS_ADVANCED(
+  ROBOTRAN_C_FOUND
+  #SDL2_INCLUDE_PATH
+  #SDL2_LIBRARIES 
+)

MBsysC/conf/cmake_config.h.in

@@ -9,5 +9,3 @@
  */
 #define PROJECT_SOURCE_DIR "@PROJECT_SOURCE_DIR@"
 #define PROJECT_BINARY_DIR "@PROJECT_BINARY_DIR@"
-#define ROBOTRAN_SOURCE_DIR "@ROBOTRAN_SOURCE_DIR@"
-#define J3D_PATH "@J3D_PATH@"

MBsysC/mbs_common/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC)
+
+## --------------- ##
+
+# link to useful cmake functions
+set(CMAKE_AUX "${CMAKE_CURRENT_SOURCE_DIR}/../cmake_aux")
+set(CMAKE_AUX_BIN ${PROJECT_BINARY_DIR}/cmake_aux)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../conf/")
+
+        
+add_subdirectory (${CMAKE_AUX}/listing/ ${CMAKE_AUX_BIN}/listing/)
+add_subdirectory (${CMAKE_AUX}/flags/ ${CMAKE_AUX_BIN}/flags/)
+add_subdirectory (${CMAKE_AUX}/libraries/ ${CMAKE_AUX_BIN}/libraries/)
+
+definitions()
+
+flags_check()
+
+## --------------- ##
+
+if (UNIX)
+  set(CMAKE_C_FLAGS "-fPIC")
+  set(CMAKE_EXE_LINKER_FLAGS "-fPIC")
+endif (UNIX)
+
+add_subdirectory (mbs_numerics/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_numerics/)
+add_subdirectory (mbs_struct/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_struct/)
+add_subdirectory (mbs_utilities/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_utilities/)
+add_subdirectory (mbs_load_xml/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_load_xml/)
+add_subdirectory (mbs_module/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_module/)
+add_subdirectory (mbs_realtime/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_realtime/)
\ No newline at end of file

MBsysC/mbs_common/mbs_load_xml/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC_loadXML)
+
+# Libxml2
+xml_lib()
+
+# list source files to compile
+init_src()
+increment_src(./)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
+
+if(FLAG_SHARED_LIB)
+	add_library(MBsysC_loadXML SHARED ${SOURCE_FILES} ${INCLUDE_DIR})
+else(FLAG_SHARED_LIB)
+	add_library(MBsysC_loadXML STATIC ${SOURCE_FILES} ${INCLUDE_DIR})
+endif(FLAG_SHARED_LIB)
+
+include_directories("./")
+include_directories("../mbs_utilities")
+include_directories("../mbs_struct")

MBsysC/mbs_common/mbs_load_xml/mbs_load_xml.c

 
 #include "mbs_load_xml.h"
-#include "realtime.h"
 
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 

MBsysC/mbs_common/mbs_module/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC_module)
+
+# Libxml2
+xml_lib()
+
+# list source files to compile
+init_src()
+increment_src(./)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
+
+set(CMAKE_C_FLAGS "${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)
+else(FLAG_SHARED_LIB)
+	add_library(MBsysC_module STATIC ${SOURCE_FILES} ${INCLUDE_DIR})
+endif(FLAG_SHARED_LIB)
+
+
+
+include_directories(../mbs_struct)
+include_directories(../mbs_numerics)
+include_directories(../mbs_utilities)
+include_directories(../mbs_utilities/auto_output)
+include_directories(../mbs_realtime/realtime)
+include_directories(../mbs_realtime/sdl)
+include_directories(../mbs_load_xml)  #this dependencies should be avoided (needed by equil which needs mds)

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

 /**
  * @file mbs_dirdyn.h
  *
- * This header defines structure and functions of the
+ * This header defines functions of the
  * dirdyn module in C.
  *
  *
@@ -15,126 +15,8 @@
 #ifndef MBS_DIRDYN_h
 #define MBS_DIRDYN_h
 
+#include "mbs_dirdyn_struct.h"
 #include "mbs_data.h"
-#include "mbs_aux.h"
-#include "mbs_buffer.h"
-
- /**
-  * Dopri5 structure for dirdyn options
-  */
-typedef struct DirdynOptDopri5
-{
-    int flag_use; ///< 1 to use dopri5 (adaptive time step), 0 to use runge kutta 4 (fixed time step)
-    int flag_waypoint; ///< 1 to use waypoints, 0 otherwise
-    int flag_solout_wp; ///< 1 to call solout only at required waypoints (only if flag_waypoint activated)
-
-    int nmax;    ///< maximal number of stpes [-]
-    int verbose; ///< 1 to get print indications related to time adaptive integrator, 0 otherwise
-     
-    double rtoler; ///< relative error tolerances [-]
-    double atoler; ///< absolute error tolerances [-]
-    double dt_max; ///< maximal time step [s]
-    double delta_t_wp; ///< time interval between two waypoints [s]
-
-} DirdynOptDopri5;
-
- /**
-  * Structure defining the option of a direct dynamic
-  */
-typedef struct MbsDirdynOptions
-{
-    /// initial time of the simulation, defaut = 0.0
-    double t0;
-    /// final time of the simulation, defaut = 5.0
-    double tf;
-    /// initial value of the integration step size, default = 0.001
-    double dt0;
-    /** Determine whether results are written to files on disk (in resultsR folder):
-     * 1: results are saved
-     * 0: results are not saved 
-     */
-    int save2file;
-    /* The keyword used for determining the name of result files */
-    const char* resfilename;
-    /** Path in which result file are saved.
-     *  Default: the resultsR folder of the project
-     */
-    const char* respath;
-     
-    /* The number of time steps between two buffer records
-    * values: a int value
-    * default: 1 (every time step are recorded)
-    */
-    int saveperiod;
-
-    /* The maximal number of user variables saved
-    * values: a int value
-    * default: 12
-    */
-    int max_save_user;
-    
-    /* The number of time step that can be recorded in the buffer. Results are
-     *  written to disk when the buffer is full.
-     * default: -1: compute the buffer size for saving results only once at the end
-     */
-    int buffersize;
-
-    int realtime; ///< 1 to activate to real-time features, 0 to deactivate them
-
-    int accelred; ///< 1 to use accelred, 0 otherwise    
-
-    DirdynOptDopri5 *dopri5; ///< Dopri5 structure for dirdyn options
-
-} MbsDirdynOptions;
-
- /**
-  * Dopri5 structure for dirdyn
-  */
-typedef struct DirdynDopri5
-{
-    int flag_save; ///< 1 if first dydt save done, 0 otherwise
-
-    double solout_last_t; ///< last time solout was called
-
-    double *dydt_save; ///< save dydt of the last time step
-
-} DirdynDopri5;
-
- /**
-  * General structure of the direct dynamic module
-  */
-typedef struct MbsDirdyn
-{
-    MbsDirdynOptions* options; ///< structure defining the option of a direct dynamic
-    MbsAux* mbs_aux;  
-    
-    double tsim; ///< current simulation time
-    double dt; ///< current integration step size
-    
-    int nState;      // size of the state vector
-    
-    /** pointers to the state vector */
-    double *y;
-    /** pointers to the output vector (???) */
-    double *yout;
-    /** pointers to the derivative vector */
-    double *yd;  
-
-    
-    MbsBuffer **buffers;
-    /** growing buffer to store user values */
-    MbsGrowingBuffer *user_buffer;
-    int bufferNb;
-    /** pointer to the array that must be saved to buffers */
-    double** savedArrays;
-    
-    /** counter for checking wheter results must be saved */
-    int savePeriodCounter;
-
-    DirdynDopri5 *dopri5; ///< Dopri5 structure for dirdyn
-
-} MbsDirdyn;
-
 
  /**
   * Create a new direct dynamic structure.

MBsysC/mbs_common/mbs_numerics/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC_numerics)
+
+
+
+# list source files to compile
+init_src()
+increment_src(./)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
+
+add_library(MBsysC_numerics ${SOURCE_FILES} ${INCLUDE_DIR})
+
+include_directories(../mbs_struct)
+include_directories(../mbs_utilities)

MBsysC/mbs_common/mbs_numerics/integrator.h

@@ -4,9 +4,10 @@
 #ifndef __INTEGRATOR_H_INCLUDED__  // guard against multiple/recursive includes
 #define __INTEGRATOR_H_INCLUDED__
 
-#include "MBSfun.h"
+#include "mbs_data.h"
+#include "mbs_aux.h"
 #include "nrutil.h"
-#include "mbs_dirdyn.h"
+#include "mbs_dirdyn_struct.h"
 
 void rk4(double y[], double dydx[], int n, double x, double h, double yout[],
          void (*derivs)(double, double [], double [],MbsData *, MbsDirdyn *),

MBsysC/mbs_common/mbs_realtime/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC_realtime)
+
+# list source files to compile
+init_src()
+increment_src(./realtime)
+
+# Get SDL lib and add plot functions to src
+if (FLAG_PLOT)
+
+	# Find SDL
+	sdl_lib()
+
+	increment_src(./sdl)
+
+	# configure a header file to pass some of the CMake settings to the source code
+	set(SDL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/sdl/SDL_files)
+
+	configure_file (
+  	"./sdl/conf/cmake_sdl_config.h.in"
+  	"${PROJECT_BINARY_DIR}/conf/cmake_sdl_config.h"
+  	)
+  	include_directories ("${PROJECT_BINARY_DIR}/conf")
+
+endif (FLAG_PLOT)
+
+# Get java lib and add java functions to src
+if (FLAG_VISU)
+	# find java and java 3d
+	java_lib()
+
+	include_directories("./java")
+	increment_src(./java)
+
+	set(JAR_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../mbsyspad/MBsysPad.jar)
+
+	configure_file (
+  	"./java/conf/cmake_java_config.h.in"
+  	"${PROJECT_BINARY_DIR}/conf/cmake_java_config.h"
+  	)
+  	include_directories ("${PROJECT_BINARY_DIR}/conf")
+
+endif (FLAG_VISU)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./realtime" PARENT_SCOPE)
+
+add_library(MBsysC_realtime ${SOURCE_FILES} ${INCLUDE_DIR})
+
+include_directories("./")
+include_directories("../mbs_struct")
+include_directories("../mbs_utilities")
+include_directories("./sdl" "./sdl/auto_plot")
+include_directories("./realtime")

MBsysC/mbs_common/mbs_realtime/java/conf/cmake_java_config.h.in

+/*
+ * author: Timothee Habra
+ * date: May 18 2015
+ * 
+ * Get absolute paths to java and java 3d.
+ *
+ * A header file called 'cmake_java_config.h' is then automatically generated in the build directory
+ */
+
+#define JAR_PATH "@JAR_PATH@"
+#define J3D_PATH "@J3D_PATH@"

MBsysC/mbs_common/mbs_realtime/java/java_functions.c

@@ -2,7 +2,7 @@
 #ifdef JAVA
 
 #include "java_functions.h"
-#include "cmake_config.h"
+#include "cmake_java_config.h"
 
 #include <stdlib.h>
 
@@ -10,7 +10,7 @@
 #define JNI_VERSION JNI_VERSION_1_6
 
 // path to the jar file containing mbsyspad bynary code
-#define JAR_PATH ROBOTRAN_SOURCE_DIR"/mbsyspad/MBsysPad.jar"
+//#define JAR_PATH ROBOTRAN_SOURCE_DIR"/mbsyspad/MBsysPad.jar"
 
 #define START_VIEWPOINT 0 ///< default initial viewpoint
 

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -3,7 +3,7 @@
 
 #include "realtime.h"
 #include "time_functions.h"
-#include "cmake_config.h"
+//#include "cmake_config.h"
 #include "useful_functions.h"
 
 #include <stdlib.h>

MBsysC/mbs_common/mbs_realtime/realtime/realtime_ext.c

@@ -77,7 +77,7 @@ Realtime_java* init_realtime_java(void *realtime_options, MbsData* mbs_data)
     double t0;
 
     Realtime_option *options;
-    Realtime_java *java;
+	Realtime_java *java;
 
     // variable (pointer) to return
     options = (Realtime_option*) realtime_options;

MBsysC/mbs_common/mbs_realtime/sdl/conf/cmake_sdl_config.h.in

+/*
+ * author: Timothee Habra
+ * date: May 18 2015
+ * 
+ * Get absolute paths to the SDL image.
+ *
+ * A header file called 'cmake_sdl_config.h' is then automatically generated in the build directory
+ */
+
+#define SDL_FILES_PATH "@SDL_FILES@"

MBsysC/mbs_common/mbs_realtime/sdl/events_sdl.c

@@ -2,7 +2,6 @@
 #ifdef SDL
 
 #include "plot_sdl.h"
-#include "visu_past.h"
 #include "realtime.h"
 #include "events_sdl.h"
 #include "mbs_data.h"

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.c

@@ -8,17 +8,17 @@
 
 #include "useful_functions.h"
 #include "plot_sdl.h"
-#include "cmake_config.h"
+#include "cmake_sdl_config.h"
 #include "time_functions.h"
 #include "events_sdl.h"
 #include "set_plot.h"
-#include "java_functions.h"
+//#include "java_functions.h"
 #include "realtime_functions.h"
 
 #define TIME_NO_INTERACTION_BREAK 3e6 ///< time eith no interaction to go on break mode [us]
 #define TIME_SDL_DELAY 25             ///< time delay for SDL
 
-#define SDL_FILES_PATH ROBOTRAN_SOURCE_DIR"/mbs_common/mbs_realtime/sdl/SDL_files"
+//#define SDL_FILES_PATH ROBOTRAN_SOURCE_DIR"/mbs_common/mbs_realtime/sdl/SDL_files"
 
 /*! \brief initialize the Screen_sdl structure
  * 

MBsysC/mbs_common/mbs_struct/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.7)
+
+project(MBsysC_struct)
+
+# list source files to compile
+init_src()
+increment_src(./)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
+
+add_library(MBsysC_struct ${SOURCE_FILES} ${INCLUDE_DIR})
+
+include_directories("../mbs_utilities/")
+include_directories("../mbs_numerics/")