[Ctypes] reset_data, load_from_file and get results from buffers

MBsysC/mbs_interface/MBsysPy/__init__.py

@@ -15,5 +15,6 @@ Portable Python interface to MBsysC using Ctypes.
 
 from .mbsysc_loader import *
 from .mbsyspy import *
+from .mbs_utilities import *
 
 __version__ = "1.11.2"
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbs_utilities.py

+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 by O. Lantsoght
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+
+"""
+
+
+# importing libraries
+from .mbsysc_loader.loadlibs import libutilities
+
+def set_output(var , file_name):
+    
+    file_name_c = file_name.encode('utf-8')
+    libutilities.set_output(var, file_name_c)
+
+
+

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/__init__.py

@@ -20,5 +20,6 @@ from .mbs_load_c import *
 from .mbs_data_c import *
 from .mbs_part_c import *
 from .mbs_dirdyn_c import *
+from .mbs_buffer_c import *
 from .mbs_aux_c import *
 from .mbs_sensor_c import *

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/forward_decl.py

@@ -66,4 +66,6 @@ class MbsAux_c(ctypes.Structure):
 class MbsEquil_c(ctypes.Structure):
     pass
 class MbsSensor_c(ctypes.Structure):
+    pass
+class AnimInfo_c(ctypes.Structure):
     pass
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_buffer_c.py

+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+-------------------------------
+(c) Universite catholique de Louvain, 2019
+
+Creation : 2019 
+Last update : 2019
+
+version MBsysC v1.11.2
+
+-------------------------------
+Portable Python interface to MBsysC using Ctypes.
+
+
+Declaration of MBsysC structure related to mbs_buffer.h header file in MBsysC.
+
+"""
+import ctypes
+
+from .forward_decl import MbsBuffer_c
+from .forward_decl import MbsGrowingBuffer_c
+from .forward_decl import AnimInfo_c
+
+#==============================================================================
+# MbsBuffer_c
+#==============================================================================
+MbsBuffer_c._fields_ =[
+        ("tx", ctypes.POINTER(ctypes.c_double)),
+        ("last_x", ctypes.POINTER(ctypes.c_double)),
+        ("last_t", ctypes.c_double), 
+        ("flag_no_print", ctypes.c_int),
+        ("filename", ctypes.c_char_p),
+        ("index", ctypes.c_int),
+        ("size", ctypes.c_int),
+        ("nx", ctypes.c_int),
+        ("id", ctypes.c_int),
+        ("anim", ctypes.POINTER(AnimInfo_c))
+        ]
+
+#==============================================================================
+# MbsGrowingBuffer_c
+#==============================================================================
+MbsGrowingBuffer_c._fields_ =[
+        ("t", ctypes.POINTER(ctypes.c_double)),
+        ("X", ctypes.POINTER(ctypes.POINTER(ctypes.c_double))),
+        ("names", ctypes.POINTER(ctypes.c_char_p)),
+        ("index", ctypes.c_int),
+        ("size", ctypes.c_int),
+        ("nx", ctypes.c_int),
+        ("max_nx", ctypes.c_int),
+        ("respath", ctypes.c_char_p)
+        ]
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsysc_loader/mbs_functions_c.py

@@ -44,6 +44,9 @@ __DEBUG__ = True
 libutilities.mbs_print_data.argtypes =[ctypes.POINTER(MbsData_c)]
 libutilities.mbs_print_data.restype  = None
 
+libutilities.mbs_reset_data.argtypes =[ctypes.POINTER(MbsData_c)]
+libutilities.mbs_reset_data.restype  = None
+
 libutilities.mbs_set_nb_userc.argtypes =[ctypes.POINTER(MbsData_c), ctypes.c_int]
 libutilities.mbs_set_nb_userc.restype  = None
 
@@ -65,6 +68,9 @@ libutilities.mbs_set_qv.restype  = None
 libutilities.mbs_unset_qa.argtypes =[ctypes.POINTER(MbsData_c), ctypes.c_int]
 libutilities.mbs_unset_qa.restype  = None
 
+libutilities.set_output.argtypes =[ctypes.c_double, ctypes.c_char_p]
+libutilities.set_output.restypes = None
+
 # LoadXML
 libloadXML.mbs_info_reader.argtypes =[ctypes.c_char_p]
 libloadXML.mbs_info_reader.restype  = ctypes.POINTER(MbsInfos_c)
@@ -88,3 +94,12 @@ libmodules.mbs_new_dirdyn.restype  = ctypes.POINTER(MbsDirdyn_c)
 
 libmodules.mbs_run_dirdyn.argtypes =[ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
 libmodules.mbs_run_dirdyn.restype  = None
+
+libmodules.mbs_dirdyn_init.argtypes =[ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_dirdyn_init.restype  = None
+
+libmodules.mbs_dirdyn_loop.argtypes =[ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_dirdyn_loop.restype  = None
+
+libmodules.mbs_dirdyn_finish.argtypes =[ctypes.POINTER(MbsDirdyn_c), ctypes.POINTER(MbsData_c)]
+libmodules.mbs_dirdyn_finish.restype  = None
\ No newline at end of file

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -701,6 +701,116 @@ class MbsData(object):
         else:
             libutilities.mbs_set_qv(self.mbs_data_ptr, indices)
         
+    def mbs_reset_data(self,verbose=True):
+        """
+            Reset mbs_data to its inital value
+        """
+        libutilities.mbs_reset_data(self.mbs_data_ptr)
+        if verbose :
+           print("mbs_data reseted to initial value")
+    
+    def mbs_load_from_file(self, baseFileName=None, result_path=None, time = -1):
+        """ Load a state to MbsData instance from files for specific time.
+            If the time specified is not found in the file, the last time step lower than the specification is taken.
+            The fieds q, qd, qdd, ux, uxd, q0, qd0, qdd0, ux0 ant tsim are set.
+            
+            :param baseFileName The path and resfilename containing the state to load. The suffix _q, _qd, _ux.res will be added.
+                                default = "dirdyn" if not specified
+            :param result_path  The path of the result folder, default = "ResultR" if not specified
+            :param time         The time corresponding to the state to load, defaut value is the last state.
+        """
+        def find_index(temp, t):
+            if (t == -1):
+                index = -1
+            else:
+                # Look the specified time
+                index = np.nonzero(temp[:,0]>=t)
+                if (np.size(index)):
+                    index=index[0][0]
+                    if not temp[index,0]==t:
+                        if __DEBUG__ : print ("Time specified not found, take the last occurence where t<time")
+                        index = index-1
+                else:
+                    if __DEBUG__ : print ("Time specified greather than time in files, taking the last state.")
+                    index = -1
+            return(index)
+        
+        project_path = self.project_path
+        if baseFileName == None:
+            baseFileName = "dirdyn"
+            
+        
+        if result_path == None:
+            result_path = os.path.join(project_path, "ResultR")
+        else : 
+            result_path = os.path.join(project_path, result_path)
+        # Error handeling
+        if not os.path.isdir(result_path):
+            if __DEBUG__ : print ('DEBUG>> The result directory does not exist: "'+ result_path+'"')
+            
+        index = -2
+        # Generalized coordinates
+        CurFile = baseFileName+'_q.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path) ):
+            temp = np.loadtxt(path)
+            index = find_index(temp, time)
+            self.q[1:] = temp[index, 1:]
+            self.q0[1:] = self.q[1:]
+            self.tsim = temp[index, 0]
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+        
+        # Generalized velocities
+        # Assumption: index is still valid
+        CurFile = baseFileName+'_qd.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path)):
+            temp = np.loadtxt(path)
+            if index == -2:
+                index = find_index(temp, time)
+            self.qd[1:] = temp[index, 1:]
+            self.qd0[1:] = self.qd[1:]
+        else:
+             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+             
+        # Generalized accelerations
+        # Assumption: index is still valid    
+        CurFile = baseFileName+'_qdd.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path)):
+            temp = np.loadtxt(path)
+            if index == -2:
+                index = find_index(temp, time)
+            self.qdd[1:] = temp[index, 1:]
+            self.qdd0[1:] = self.qdd[1:]
+        else:
+             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+        
+        # Generalized user state
+        # Assumption: index is still valid
+        if self.Nux:
+            CurFile = baseFileName+'_ux.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path) ):
+                temp = np.loadtxt(path)
+                if index == -2:
+                    index = find_index(temp, time)              
+                self.ux[1:] = temp[index, 1:]
+                self.ux0[1:] = self.ux[1:]
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+            
+            CurFile = baseFileName+'_uxd.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path)):
+                temp = np.loadtxt(path)
+                if index == -2:
+                    index = find_index(temp, time)              
+                self.uxd[1:] = temp[index, 1:]
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+        
         
     
     #==========================================================================

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -121,6 +121,10 @@ class MbsDirdyn(object):
         self.mbs_invdyna = None
         self.mbs_dirdyna = None
         
+        # Storing Results
+        self.results = MbsResult(self.mbs)
+        self.mbs_get_results = False
+        
         # Exposing some memory
         if __DEBUG__ : print( "DEBUG>>  Exposing MbsDirdyn fields")
         # Constraints
@@ -190,7 +194,7 @@ class MbsDirdyn(object):
             path = os.path.abspath(os.path.join(template_path, user_file))
         module = imp.load_source(user_file[:-3], path)
         self.user_cons_jdqd = module.user_cons_jdqd
-        self.ptrs_to_user_fcts["user_cons_jdqd"] = user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs))
+        self.ptrs_to_user_fcts["user_cons_jdqd"] = user_cons_jdqd_wrap(lambda jdqd,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs))
 
         # user_dirdyn
         user_file = "user_dirdyn.py"
@@ -311,7 +315,60 @@ class MbsDirdyn(object):
         self.mbs.mbs_dirdyna = self.mbs_dirdyna
         self.mbs.mbs_data_ptr.contents.mbs_dirdyna = self.ptrs_to_symb_fcts["mbs_dirdyna"]
         
-        libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+        
+        if not self.mbs_get_results:   
+            libmodules.mbs_run_dirdyn(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+        else:
+            #save2file forced to 1 because if buffers don't have the complete results, results are loaded from files
+            self.set_options(save2file = 1)
+            libmodules.mbs_dirdyn_init(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+            libmodules.mbs_dirdyn_loop(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
+       
+            # Results (buffer) memory is kept BUT FILES WILL BE WRITTEN LATER
+            if self.get_options("save2file"):
+                #c_mbs_dirdyn_write_buffers(self.mbs_dirdyn_ptr)
+                size1 = self.mbs_dirdyn_ptr.contents.buffers[0].contents.index
+                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)))
+                # get time array from the q buffer
+                self.results.t = self.results.q[:,0]
+                if not self.results.t[0] == self.get_options("t0"):
+                    print("The beginning of the integration is not available in the buffer.\n The complete results have to be loaded from files.")
+                    self.results.load_results_from_file()
+                # 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)))
+                
+                if self.mbs.mbs_data_ptr.contents.Nux:
+                    size2 = self.mbs_dirdyn_ptr.contents.buffers[4].contents.nx+1
+                    self.results.ux = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[4].contents.tx ,(size1, size2)))
+                    self.results.uxd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[5].contents.tx ,(size1, size2)))
+                    if self.mbs.mbs_data_ptr.contents.Nlink:
+                        size2 = self.mbs_dirdyn_ptr.contents.buffers[6].contents.nx+1
+                        self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[6].contents.tx ,(size1, size2)))
+                        self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[7].contents.tx ,(size1, size2)))
+                        self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[8].contents.tx ,(size1, size2)))
+                else :
+                     if self.mbs.mbs_data_ptr.contents.Nlink:
+                        size2 = self.mbs_dirdyn_ptr.contents.buffers[4].contents.nx+1
+                        self.results.Z = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[4].contents.tx ,(size1, size2)))
+                        self.results.Zd = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[5].contents.tx ,(size1, size2)))
+                        self.results.Fl = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.buffers[6].contents.tx ,(size1, size2)))
+                    
+                if self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx:
+                    size = self.mbs_dirdyn_ptr.contents.user_buffer.contents.index
+                    nbOutput = self.mbs_dirdyn_ptr.contents.user_buffer.contents.nx
+                    user_out = np.copy(np.ctypeslib.as_array(self.mbs_dirdyn_ptr.contents.user_buffer.contents.X[0],(nbOutput, size)))
+                    for i in np.arange(nbOutput):
+                        name = self.mbs_dirdyn_ptr.contents.user_buffer.contents.names[i]
+                        name = name.decode('utf-8')
+                        self.results.outputs[name] = user_out[i,:]
+            
+            libmodules.mbs_dirdyn_finish(self.mbs_dirdyn_ptr, self.mbs.mbs_data_ptr)
         
         # Anassign user functions
         self.mbs.user_cons_hJ = None
@@ -448,6 +505,9 @@ class MbsDirdyn(object):
         n_freeze : int 
             number of time step when the jacobian is freezed (computed once at the start of the n_freeze time steps)
             default = 0
+        mbs_get_results : int
+            1 to save a copy of the results from the buffers
+            default = 0
             
         """
         
@@ -543,6 +603,8 @@ class MbsDirdyn(object):
                 self.mbs_dirdyn_ptr.contents.options.contents.dt_max = value
             elif key == "n_freeze":
                 self.mbs_dirdyn_ptr.contents.options.contents.n_freeze = value
+            elif key == "mbs_get_results":
+                self.mbs_get_results = value
             else:
                 print(">>DIRDYN>> The option "+key+ " is not defined in this module")
                 
@@ -643,6 +705,8 @@ class MbsDirdyn(object):
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.dt_max)
             elif key == "n_freeze":
                 options.append(self.mbs_dirdyn_ptr.contents.options.contents.n_freeze)
+            elif key == "mbs_get_results":
+                options.append(self.mbs_get_results)
             else:
                 print(">>DIRDYN>> The option "+key+ " is not defined in this module")
                 
@@ -652,8 +716,8 @@ class MbsDirdyn(object):
             return options[0]
             
         return tuple(options)
-                
     
+                
     #==========================================================================
     # Defining properties
     #==========================================================================
@@ -668,3 +732,111 @@ class MbsDirdyn(object):
     @property
     def mbs_name(self):
         return self.mbs.mbs_name
+    
+    
+class MbsResult(object):
+        
+    def __init__(self,mbs):
+        self.q=[]
+        self.qd=[]
+        self.qdd=[]
+        self.Fl=[]
+        self.Z=[]
+        self.Zd=[]
+        self.Qq=[]
+        self.t=[]
+        self.ux=[]
+        self.uxd=[]
+        self.outputs={}
+        self.mbs=mbs
+    
+    def load_results_from_file(self, baseFileName=None, result_path=None):
+        
+        project_path = self.mbs.project_path
+        if baseFileName == None:
+            baseFileName = "dirdyn"
+            
+        
+        if result_path == None:
+            result_path = os.path.join(project_path, "ResultR")
+        else : 
+            result_path = os.path.join(project_path, result_path)
+        # Error handeling
+        if not os.path.isdir(result_path):
+            if __DEBUG__ : print ('DEBUG>> The result directory does not exist: "'+ result_path+'"')
+            
+        # Generalized coordinates
+        CurFile = baseFileName+'_q.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path) ):
+            self.results.q = np.loadtxt(path)
+            self.results.t = self.results.q[:,0]
+        else:
+            if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+        
+        # Generalized velocities
+        CurFile = baseFileName+'_qd.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path)):
+            self.results.qd = np.loadtxt(path)
+        else:
+             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+             
+        # Generalized accelerations   
+        CurFile = baseFileName+'_qdd.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path)):
+            self.results.qdd = np.loadtxt(path)
+        else:
+             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+             
+          
+        CurFile = baseFileName+'_Qq.res'
+        path = os.path.abspath(os.path.join(result_path, CurFile))
+        if (os.path.isfile(path)):
+            self.results.Qq = np.loadtxt(path)
+        else:
+             if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+        
+        # Generalized user state
+        if self.mbs.mbs_data_ptr.contents.Nux:
+            CurFile = baseFileName+'_ux.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path) ):
+                self.results.ux = np.loadtxt(path)
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+            
+            CurFile = baseFileName+'_uxd.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path)):
+                self.results.uxd = np.loadtxt(path)
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+                
+                
+        if self.mbs.mbs_data_ptr.contents.Nlink: 
+            CurFile = baseFileName+'_linkF.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path) ):
+                self.results.Fl = np.loadtxt(path)
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+            
+            CurFile = baseFileName+'_linkZ.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path)):
+                self.results.Z = np.loadtxt(path)
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+            
+            CurFile = baseFileName+'_linkZd.res'
+            path = os.path.abspath(os.path.join(result_path, CurFile))
+            if (os.path.isfile(path)):
+                self.results.Zd = np.loadtxt(path)
+            else:
+                if __DEBUG__ : print( "DEBUG>>  file '"+CurFile+"' not found in folder '"+os.path.dirname(path))
+         
+        
+    
+