#include "json.h"
#include "mbs_data.h"

Functions
int	count_json_array_elements (JsonNode *node)
	Counts the number of element in the Json array. More...

int	count_json_elements (JsonNode *node)
	Counts the number of element in the json node. More...

int	mbs_json_double (JsonNode node, double val_ptr, char *key, int read_write, int allow_missing)
	Link between double value and the specific key of a Json node or the current node. More...

int	mbs_json_get_double (JsonNode node, double val_ptr)
	Get the node value content a double. More...

int	mbs_json_set_double (JsonNode *node, double value)
	Set a double into a node. More...

int	mbs_json_string (JsonNode node, char str_ptr, const char key, int mission, int allow_missing)
	Link between string value and the specific key of a Json node. More...

int	mbs_json_get_string (JsonNode node, char *str_ptr)
	Get the node value content a double. More...

int	mbs_json_set_string (JsonNode node, const char string)
	Set a double into a node. More...

int	mbs_json_array (JsonNode node, double tab_ptr, int size, const char *key, int mission, int allow_missing)
	Link an array (1D) value and the specific key of a Json node or the current node. More...

JsonNode *	mbs_json_add_array (JsonNode root_node, double array, int size, const char key, int err)
	Add or replace the array in the specified children of the root node. More...

int	mbs_json_tab (JsonNode node, double *tab_ptr, int size_1, int size_2, const char key, int mission)
	Link between array (2D) value and the specific key of a Json node or the current node. More...

int	mbs_json_bool (JsonNode node, int val_ptr, char *key, int mission, int allow_missing)
	Link between bool value (int) and the specific key of a Json node or the current node. More...

int	mbs_json_get_bool (JsonNode node, int val_ptr)
	Get the node value content a bool as int. More...

int	mbs_json_set_bool (JsonNode *node, int value)
	Set a bool (int) into a node. More...

int	mbs_json_int (JsonNode node, int val_ptr, char *key, int read_write, int allow_missing)
	Link between integer value and the specific key of a Json node or the current node. More...

int	mbs_json_get_int (JsonNode node, int val_ptr)
	Get the node value content an integer. More...

int	mbs_json_set_int (JsonNode *node, int value)
	Set an integer into a node. More...

JsonNode *	mbs_json_save_mbs (MbsData mbs_data, char filename, int flag_q, int flag_qd, int flag_qdd, int flag_mass, int *err)
	Save the speficied status of the mbs in a json configuration node and file. More...

JsonNode *	load_and_create_json (const char mbs_json_filename, int err)

Function Documentation

◆ count_json_array_elements()

int count_json_array_elements ( JsonNode * node )

Counts the number of element in the Json array.

Parameters

[in] node The array node, if this is not a JSON_ARRAY then MBS_INFO_FAILURE is returned.

Returns: The number of element (>=0) or -9 (should be equal to `MBS_INFO_FAILURE.).

◆ count_json_elements()

int count_json_elements ( JsonNode * node )

Counts the number of element in the json node.

Parameters

[in] node The Json node

Returns: The number of element (>=0) or -9 (should be equal to `MBS_INFO_FAILURE.).

◆ load_and_create_json()

JsonNode* load_and_create_json	(	const char *	mbs_json_filename,
		int *	err
	)

◆ mbs_json_add_array()

JsonNode* mbs_json_add_array	(	JsonNode *	root_node,
		double *	array,
		int	size,
		const char *	key,
		int *	err
	)

Add or replace the array in the specified children of the root node.

Parameters

[in,out]	root_node	The json node in which the array must be saved. NULL can be provided, in this case the array node has no parent
[in]	array	The array of double to be saved.
[in]	size	The number of element in the array.
[in]	key	The name of the json array to be created. If a json node already exist with this key on the `root` node, it is freed then replaced by the array. If `root_node` is NULL, key is disregarded.
[in,out]	err	Status code among MBS_INFO_SUCCESS and MBS_INFO_FAILURE. NULL can be provided, error will not be registered.

Returns: A pointer to the json node array or NULL in case of error.

◆ mbs_json_array()

int mbs_json_array	(	JsonNode *	node,
		double **	tab_ptr,
		int *	size,
		const char *	key,
		int	mission,
		int	allow_missing
	)

Link an array (1D) value and the specific key of a Json node or the current node.

Parameters

[in,out]	node	The Json node containing the targeted value.
[in,out]	tab_ptr	The memory adress of the pointer to the array (to be read or set). if the pointer (tab_ptr[0]) is NULL and mission is READER a new array is allocated.
[in,out]	size	The size of the array pointer by tab_ptr (if tab_ptr[0] is not NULL).
[in]	key	The key of the json node to be used (to be read or set), if NULL the `node` is the array.
[in]	mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
[in]	allow_missing	Flag to disable failure (and message) if the key is missing,

Returns: MBS_INFO_SUCCESS, MBS_INFO_FAILURE or MBS_INFO_WARNING if the key is not located.

◆ mbs_json_bool()

int mbs_json_bool	(	JsonNode *	node,
		int *	val_ptr,
		char *	key,
		int	mission,
		int	allow_missing
	)

Link between bool value (int) and the specific key of a Json node or the current node.

Parameters

node	The Json node containing the targeted value.
val_ptr	The memory containing the bool as integer (to be read or set)
key	The key of the json node to be used (to be read or set). If null the `node` is used as target.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
allow_missing	Flag to disable failure (and message) if the key is missing. The return code is MBS_INFO_WARNING.

Returns: MBS_INFO_SUCCESS, MBS_INFO_FAILURE or MBS_INFO_WARNING.

◆ mbs_json_double()

int mbs_json_double	(	JsonNode *	node,
		double *	val_ptr,
		char *	key,
		int	read_write,
		int	allow_missing
	)

Link between double value and the specific key of a Json node or the current node.

Parameters

node	The Json node containing the targeted value.
val_ptr	The memory containing the double (to be read or set)
key	The key of the json node to be used (to be read or set). If null the `node` is used as target.
read_write	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
allow_missing	Flag to disable failure (and message) if the key is missing. The return code is MBS_INFO_WARNING.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE.

◆ mbs_json_get_bool()

int mbs_json_get_bool	(	JsonNode *	node,
		int *	val_ptr
	)

Get the node value content a bool as int.

The function convert the content of the node to double according to the node type. If the node is a JSON_STRING the following value are accepted:

as true: "TRUE", "True", "true"
as false: "FALSE", "False", "false" Other value will generate a MBS_INFO_FAILURE.

Parameters

node	The node to whose value must be read.
val_ptr	The memory where to set the number.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_json_get_double()

int mbs_json_get_double	(	JsonNode *	node,
		double *	val_ptr
	)

Get the node value content a double.

The function convert the content of the node to double according to the node type.

Parameters

[in]	node	The node to whose value must be read.
[out]	val_ptr	The memory where to set the number.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_json_get_int()

int mbs_json_get_int	(	JsonNode *	node,
		int *	val_ptr
	)

Get the node value content an integer.

The function convert the content of the node to integer according to the node type.

Parameters

[in]	node	The node to whose value must be read.
[out]	val_ptr	The memory where to set the number.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_json_get_string()

int mbs_json_get_string	(	JsonNode *	node,
		char **	str_ptr
	)

Get the node value content a double.

The function convert the content of the node to double according to the node type.

If the string pointer is not pointing to NULL, memory is freed before allocating.

Parameters

node	The node to whose value must be read.
str_ptr	The memory adress of the pointer to the string (to be read or set).

Returns: Zero for success, Non-zero value for error.

◆ mbs_json_int()

int mbs_json_int	(	JsonNode *	node,
		int *	val_ptr,
		char *	key,
		int	read_write,
		int	allow_missing
	)

Link between integer value and the specific key of a Json node or the current node.

Parameters

node	The Json node containing the targeted value.
val_ptr	The memory containing the integer (to be read or set)
key	The key of the json node to be used (to be read or set). If null the `node` is used as target.
read_write	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
allow_missing	Flag to disable failure (and message) if the key is missing. The return code is MBS_INFO_WARNING.

Returns: MBS_INFO_SUCCESS, MBS_INFO_FAILURE or MBS_INFO_WARNING

◆ mbs_json_save_mbs()

JsonNode* mbs_json_save_mbs	(	MbsData *	mbs_data,
		char *	filename,
		int	flag_q,
		int	flag_qd,
		int	flag_qdd,
		int	flag_mass,
		int *	err
	)

Save the speficied status of the mbs in a json configuration node and file.

Empty configuration files are not saved to disk, but are returned.

If unable to write the configuration to disk, the json configuration node is returned, but an error is set.

Parameters

[in]	mbs_data	The multibody sytem to be saved
[in]	filename	The name of the configuration file to be created. It contains path and extension. NULL can be provided, no file are created.
[in]	flag_q	Flag to save joint coordinates.
[in]	flag_qd	Flag to save joint velocities.
[in]	flag_qdd	Flag to save joint accelerations.
[in]	flag_mass	Flag to save bodies mass.
[in,out]	err	err Status code among MBS_INFO_SUCCESS, MBS_INFO_FAILURE and MBS_INFO_WARNING. NULL can be provided, error will not be registered.

Returns: A pointer to the json configuration root node if successfully created. NULL is returned in case of configuration creation failure.

◆ mbs_json_set_bool()

int mbs_json_set_bool	(	JsonNode *	node,
		int	value
	)

Set a bool (int) into a node.

The function only accept JSON_BOOL, JSON_NUMBER and JSON_STRING nodes. The function convert the node to a JSON_BOOL.

Parameters

node	The node to whose value must be set.
value	The value to be set.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

◆ mbs_json_set_double()

int mbs_json_set_double	(	JsonNode *	node,
		double	value
	)

Set a double into a node.

The function only accept JSON_NUMBER and JSON_STRING nodes. In case of JSON_STRING an attempt is done to convert the node to JSON_NUMBER.

Parameters

node	The node to whose value must be set.
valule	The value to be set.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

◆ mbs_json_set_int()

int mbs_json_set_int	(	JsonNode *	node,
		int	value
	)

Set an integer into a node.

The function only accept JSON_NUMBER and JSON_STRING nodes. In case of JSON_STRING an attempt is done to convert the node to JSON_NUMBER.

Parameters

node	The node to whose value must be set.
valule	The value to be set.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

◆ mbs_json_set_string()

int mbs_json_set_string	(	JsonNode *	node,
		const char *	string
	)

Set a double into a node.

The function only accept JSON_NUMBER and JSON_STRING nodes. In case of JSON_STRING an attempt is done to convert the node to JSON_NUMBER.

Parameters

node	The node to whose value must be set.
string	The pointer to the string to be read.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_json_string()

int mbs_json_string	(	JsonNode *	node,
		char **	str_ptr,
		const char *	key,
		int	mission,
		int	allow_missing
	)

Link between string value and the specific key of a Json node.

Parameters

node	The Json node containing the targeted value.
str_ptr	The memory adress of the pointer to the string (to be read or set). For MBS_INFO_READER mission, if the pointer pointed by this variable is not NULL the memory is reallocated.
key	The key of the json node to be used (to be read or set).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.
allow_missing	Flag to disable failure (and message) if the key is missing. The return code is MBS_INFO_WARNING.

Returns: MBS_INFO_SUCCESS, MBS_INFO_FAILURE or MBS_INFO_WARNING

◆ mbs_json_tab()

int mbs_json_tab	(	JsonNode *	node,
		double ***	tab_ptr,
		int	size_1,
		int	size_2,
		const char *	key,
		int	mission
	)

Link between array (2D) value and the specific key of a Json node or the current node.

Parameters

node	The Json node containing the targeted value.
tab_ptr	The memory adress of the pointer to pointer to the array (to be read or set). if the pointer (tab_ptr[0]) is NULL and mission is READER a new array is allocated will be allocated but memory is NOT contigous.
size_1	The size along first axis of the array pointer by tab_ptr (if tab_ptr[0] is not NULL).
size_2	The size along second axis of the array pointer by tab_ptr (if tab_ptr[0] is not NULL).
key	The key of the json node to be used (to be read or set), if NULL the `node` is the array.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

Functions

Function Documentation

◆ count_json_array_elements()

◆ count_json_elements()

◆ load_and_create_json()

◆ mbs_json_add_array()

◆ mbs_json_array()

◆ mbs_json_bool()

◆ mbs_json_double()

◆ mbs_json_get_bool()

◆ mbs_json_get_double()

◆ mbs_json_get_int()

◆ mbs_json_get_string()

◆ mbs_json_int()

◆ mbs_json_save_mbs()

◆ mbs_json_set_bool()

◆ mbs_json_set_double()

◆ mbs_json_set_int()

◆ mbs_json_set_string()

◆ mbs_json_string()

◆ mbs_json_tab()