This header includes the functions to bind the JSON information to the MbsInfos structure. More...

#include "mbs_binder_public.h"
#include "json.h"

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

int	mbs_json_double (JsonNode node, double val_ptr, char *key, int mission)
	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)
	Link between array (1D) value and the specific key of a Json node or the current 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_inertia (JsonNode bdy_node, MbsInfoBody mbs_info_body, int mission)
	Translate the inertia key of a node from array (3,3) in node to array (6) in info. More...

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

JsonNode *	load_and_create_json (const char mbs_json_filename, int err)

int	mbs_info_json_binder (MbsInfos mbs_infos, JsonNode node, int mission)
	Read or update the information from root node to all MbsInfo. More...

int	mbs_info_body_json_binder (MbsInfoBody mbs_info_body, JsonNode node, int mission)
	Read or update the information from body node to its MbsInfo. More...

int	mbs_info_tree_json_binder (MbsInfos mbs_infos, JsonNode node, int mission)
	Read or update the information from tree node to all MbsInfos. More...

int	mbs_info_bodytree_json_binder (MbsInfos mbs_infos, JsonNode node, int mission)
	Read or update the information in tree->bodies node to MbsInfoBase fields. More...

int	mbs_info_base_json_binder (MbsInfoBase mbs_info_base, JsonNode node, int mission)
	Read or update the information in base node to MbsInfoBase. More...

int	mbs_info_ref_point_json_binder (MbsInfoRefPoint mbs_info_ref_point, JsonNode node, int mission)

int	mbs_info_coordinates_json_binder (double coordinates_pointer, JsonNode node, int mission)

int	mbs_info_point_json_binder (MbsInfoPoint mbs_info_point, JsonNode node, int mission)

int	mbs_info_ball_json_binder (MbsInfoBall mbs_info_ball, JsonNode node, int mission)
	Read or update a ball json node with the infos. More...

int	mbs_info_rod_json_binder (MbsInfoRod mbs_info_rod, JsonNode node, int mission)
	Read or update a rod json node with the infos. More...

int	mbs_info_solid_json_binder (MbsInfoSolid mbs_info_solid, JsonNode node, int mission)
	Read or update a solid cut json node with the infos. More...

int	mbs_info_cuts_json_binder (MbsInfoCuts mbs_info_cuts, JsonNode node, int mission)
	Read or update the cuts list json node with the infos. More...

int	mbs_info_parameter_json_binder (MbsInfoParameter mbs_info_parameter, JsonNode node, int mission)
	Read or update a user model parameter json node with the infos. More...

int	mbs_info_user_model_json_binder (MbsInfoUserModel mbs_info_user_model, JsonNode node, int mission)
	Read or update a user model json node with the infos. More...

int	mbs_info_user_models_json_binder (MbsInfoUserModels mbs_info_user_models, JsonNode node, int mission)
	Read or update the user models list json node with the infos. More...

int	mbs_info_user_IO_json_binder (MbsInfoUserIO mbs_info_user_IO, JsonNode node, int mission)

int	mbs_info_user_IOs_json_binder (MbsInfoUserIOs mbs_info_user_IOs, JsonNode node, int mission)

int	mbs_info_link_json_binder (MbsInfoLink mbs_info_link, JsonNode node, int mission)
	Read or update a link (point to point or 3D) json node with the infos. More...

int	mbs_info_links_json_binder (MbsInfoLinks mbs_info_links, JsonNode node, int mission)
	Read or update a links list json node with the infos. More...

int	mbs_info_links3d_json_binder (MbsInfoLinks mbs_info_links, JsonNode node, int mission)

int	mbs_info_sensor_json_binder (MbsInfoSensor mbs_info_sensor, JsonNode node, int mission)
	Read or update a sensor json node with the infos. More...

int	mbs_info_sensors_json_binder (MbsInfos mbs_info, JsonNode node, int mission)
	Read or update a sensors list json node with the infos. More...

int	mbs_info_extforce_json_binder (MbsInfoExtforce mbs_info_extf, JsonNode node, int mission)
	Read or update a external force json node with the infos. More...

int	mbs_info_extforces_json_binder (MbsInfos mbs_info, JsonNode node, int mission)
	Read or update a external forces list json node with the infos. More...

int	mbs_info_point_list_json_binder (MbsInfoPoint **point_list, JsonNode node, int mission, char body_name, int n_point)
	Link between points array value and all "points" key of a Json object node. More...

int	mbs_info_joint_json_binder (MbsInfoJoint mbs_info_joint, JsonNode node, int mission)
	Read or update the information in joints node to MbsInfoBase, MbsInfoJoints. More...

int	mbs_info_joints_list_json_binder (MbsInfos mbs_infos, JsonNode joints_node, int mission)

int	mbs_body_joint_recursive_linker (MbsInfos mbs_info, int ind_body_joint, int mission, int body_index)

int	mbs_tree_cleaner (MbsInfos *mbs_info, int mission)
	Correct the parents of joints. More...

int	mbs_info_json_linker (MbsInfos *mbs_info, int mission)

int	mbs_json_axis (JsonNode axis_node, int axis_int, int mission)
	Read or update the information in an axis node with an integer. More...

int	mbs_json_joint_nature (JsonNode nature_node, int nature_int, int mission)
	Read or update the information in an joint nature node with an integer. More...

int	mbs_info_init_and_binderJSON (MbsInfos mbs_infos, const char mbs_json_name, int mission)

Detailed Description

This header includes the functions to bind the JSON information to the MbsInfos structure.

Date: Nov 2022 (modification)

Author: Robotran Team

Function Documentation

◆ count_json_elements()

int count_json_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 MBS_INFO_FAILURE.

◆ load_and_create_json()

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

◆ mbs_body_joint_recursive_linker()

int mbs_body_joint_recursive_linker	(	MbsInfos *	mbs_info,
		int *	ind_body_joint,
		int	mission,
		int	body_index
	)

◆ mbs_info_ball_json_binder()

int mbs_info_ball_json_binder	(	MbsInfoBall *	mbs_info_ball,
		JsonNode *	node,
		int	mission
	)

Read or update a ball json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

ball_info	The info of the ball.
ball_node	The json node of the ball (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_base_json_binder()

int mbs_info_base_json_binder	(	MbsInfoBase *	mbs_info_base,
		JsonNode *	base_node,
		int	mission
	)

Read or update the information in base node to MbsInfoBase.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_info_base	The MbsInfo structure.
base_node	The Json node of the base.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

Read or update the information in base node to MbsInfoBase.

◆ mbs_info_body_json_binder()

int mbs_info_body_json_binder	(	MbsInfoBody *	mbs_info_body,
		JsonNode *	node,
		int	mission
	)

Read or update the information from body node to its MbsInfo.

A wanring message is printed if the inertia matrix in Json node is not symmetric.

Parameters

mbs_info_body	The MbsInfo structure of the body.
body_node	The Json node of the body (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns

◆ mbs_info_bodytree_json_binder()

int mbs_info_bodytree_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	node,
		int	mission
	)

Read or update the information in tree->bodies node to MbsInfoBase fields.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
bdies_node	The Json node of the bodies in the tree.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_coordinates_json_binder()

int mbs_info_coordinates_json_binder	(	double *	coordinates_pointer,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_cuts_json_binder()

int mbs_info_cuts_json_binder	(	MbsInfoCuts *	mbs_info_cuts,
		JsonNode *	node,
		int	mission
	)

Read or update the cuts list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_info_cuts	The Info for the cuts
node	The cuts json node (an array).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_extforce_json_binder()

int mbs_info_extforce_json_binder	(	MbsInfoExtforce *	mbs_info_extf,
		JsonNode *	node,
		int	mission
	)

Read or update a external force json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

force_info	The Info for the sensor.
force_node	The sensor json node (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_extforces_json_binder()

int mbs_info_extforces_json_binder	(	MbsInfos *	mbs_info,
		JsonNode *	node,
		int	mission
	)

Read or update a external forces list json node with the infos.

Parameters

mbs_info	The Info for the project.
forces_node	The sensors json node (a JSON_ARRAY).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_init_and_binderJSON()

int mbs_info_init_and_binderJSON	(	MbsInfos *	mbs_infos,
		const char *	mbs_json_name,
		int	mission
	)

◆ mbs_info_joint_json_binder()

int mbs_info_joint_json_binder	(	MbsInfoJoint *	mbs_info_joint,
		JsonNode *	node,
		int	mission
	)

Read or update the information in joints node to MbsInfoBase, MbsInfoJoints.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
joints_node	The Json joints node.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_joints_list_json_binder()

int mbs_info_joints_list_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	joints_node,
		int	mission
	)

◆ mbs_info_json_binder()

int mbs_info_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	node,
		int	mission
	)

Read or update the information from root node to all MbsInfo.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
root_node	The Json node of the base.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_json_linker()

int mbs_info_json_linker	(	MbsInfos *	mbs_info,
		int	mission
	)

◆ mbs_info_link_json_binder()

int mbs_info_link_json_binder	(	MbsInfoLink *	mbs_info_link,
		JsonNode *	node,
		int	mission
	)

Read or update a link (point to point or 3D) json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

link_info	The Info for the link.
link_node	The link json node (an object).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_links3d_json_binder()

int mbs_info_links3d_json_binder	(	MbsInfoLinks *	mbs_info_links,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_links_json_binder()

int mbs_info_links_json_binder	(	MbsInfoLinks *	mbs_info_links,
		JsonNode *	node,
		int	mission
	)

Read or update a links list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

link_info	The Info for the links.
link_node	The links json node (an array).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_parameter_json_binder()

int mbs_info_parameter_json_binder	(	MbsInfoParameter *	mbs_info_parameter,
		JsonNode *	node,
		int	mission
	)

Read or update a user model parameter json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

param_info	The Info for the parameter.
param_node	The node of parameter (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_point_json_binder()

int mbs_info_point_json_binder	(	MbsInfoPoint *	mbs_info_point,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_point_list_json_binder()

int mbs_info_point_list_json_binder	(	MbsInfoPoint ***	point_list,
		JsonNode *	node,
		int	mission,
		char *	body_name,
		int *	n_point
	)

Link between points array value and all "points" key of a Json object node.

Support READER, UPDATER and COUNTER mission.

Parameters

point_list	pointer to the point list array, the array (point_list[0] can be NULL for READER and COUNTER missions. In case of READER mission, the array is allocated, a warning is printed if the pointer was not NULL;
node	The Json node being a JSON_OBJECT containing a "points" key.
mission	The mission, not-implemented mission print a warning but returns success code.
body_name	The name of the body.
n_point	The current size of the point list array. It is set during COUNTER and READER mission. It must matche the JSCON_ARRAY size for UPDATER mision

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_info_ref_point_json_binder()

int mbs_info_ref_point_json_binder	(	MbsInfoRefPoint *	mbs_info_ref_point,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_rod_json_binder()

int mbs_info_rod_json_binder	(	MbsInfoRod *	mbs_info_rod,
		JsonNode *	node,
		int	mission
	)

Read or update a rod json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

rod_info	The info of the rod.
rod_node	The json node of the rod (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_sensor_json_binder()

int mbs_info_sensor_json_binder	(	MbsInfoSensor *	mbs_info_sensor,
		JsonNode *	node,
		int	mission
	)

Read or update a sensor json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

sensor_info	The Info for the sensor.
sensor_node	The sensor json node (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_sensors_json_binder()

int mbs_info_sensors_json_binder	(	MbsInfos *	mbs_info,
		JsonNode *	node,
		int	mission
	)

Read or update a sensors list json node with the infos.

Parameters

mbs_info	The Info for the project.
sensors_node	The sensors json node (a JSON_ARRAY).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_solid_json_binder()

int mbs_info_solid_json_binder	(	MbsInfoSolid *	mbs_info_solid,
		JsonNode *	node,
		int	mission
	)

Read or update a solid cut json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

solid_info	The info of the solid cut.
solid_node	The json node of the solid cut (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_tree_json_binder()

int mbs_info_tree_json_binder	(	MbsInfos *	mbs_infos,
		JsonNode *	node,
		int	mission
	)

Read or update the information from tree node to all MbsInfos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

mbs_infos	The MbsInfo structure.
tree_node	The Json node of the tree.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_user_IO_json_binder()

int mbs_info_user_IO_json_binder	(	MbsInfoUserIO *	mbs_info_user_IO,
		JsonNode *	node,
		int	mission
	)

◆ mbs_info_user_IOs_json_binder()

int mbs_info_user_IOs_json_binder	(	MbsInfoUserIOs *	mbs_info_user_IOs,
		JsonNode *	node,
		int	mission
	)

mbs_strcmp((const char*)cur_node->key, "user_variable"))

◆ mbs_info_user_model_json_binder()

int mbs_info_user_model_json_binder	(	MbsInfoUserModel *	mbs_info_user_model,
		JsonNode *	node,
		int	mission
	)

Read or update a user model json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

um_info	The Info for the user model.
um_node	The node of user model (a JSON_OBJECT).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_info_user_models_json_binder()

int mbs_info_user_models_json_binder	(	MbsInfoUserModels *	mbs_info_user_models,
		JsonNode *	node,
		int	mission
	)

Read or update the user models list json node with the infos.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Parameters

ums_info	The Info for the user models.
ums_node	The node of users models (a JSON_ARRAY).
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_array()

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

Link between array (1D) 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 the array (to be read or set). if the pointer (tab_ptr[0]) is NULL and mission is READER a new array is allocated.
size	The size 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

◆ mbs_json_axis()

int mbs_json_axis	(	JsonNode *	axis_node,
		int *	axis_int,
		int	mission
	)

Read or update the information in an axis node with an integer.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Reading an unknow axis return a MBS_INFO_WARNING (with default value 0). Setting an unknow axis return a MBS_INFO_FAILURE (as no corresponding string is defined).

Parameters

axis_node	The Json axis node.
axis_int	The pointer to the integer corresponding to the axis.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_bool()

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

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.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_json_double()

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

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.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS 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

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_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.

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_inertia()

int mbs_json_inertia	(	JsonNode *	bdy_node,
		MbsInfoBody *	mbs_info_body,
		int	mission
	)

Translate the inertia key of a node from array (3,3) in node to array (6) in info.

Fore READER mission the upper triangle of the inertia matrix is considered. If the matrix was not symmetric warnings are raised.

Parameters

bdy_node	The Json node containing the body.
mbs_info_body	The mbs informations body structure. If its intertia pointer is NULL, it will be allocated for READER mission only.
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, MBS_INFO_WARNING or MBS_INFO_FAILURE

◆ mbs_json_joint_nature()

int mbs_json_joint_nature	(	JsonNode *	nature_node,
		int *	nature_int,
		int	mission
	)

Read or update the information in an joint nature node with an integer.

Non-implemented missions raise a message and return a MBS_INFO_WARNING.

Reading an unknow joint nature return a MBS_INFO_WARNING (with default value 0). Setting an unknow joint nature return a MBS_INFO_FAILURE (as no corresponding string is defined).

Parameters

nature_node	The Json nature node.
nature_int	The pointer to the integer corresponding to the nature.
mission	The mission, implemented are MBS_INFO_READER and MBS_INFO_UPDATER.

Returns: MBS_INFO_SUCCESS, MBS_INFO_WARNING or MBS_INFO_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_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).
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

◆ mbs_tree_cleaner()

int mbs_tree_cleaner	(	MbsInfos *	mbs_info,
		int	mission
	)

Correct the parents of joints.

If a joint (called P) is the parent of a body and at the same time the parent of one (or more) joints (called C) the tree is modified. All joints "C" will have as parent the body origin point.

A failure occurs either if at least one of the followong:

A body has no parent or if multiples bodies have the same joint parent.
A joint is the parent of multiple joint.

Parameters

[in,out]	mbs_info	The multibody system.
[in]	mission	The function only do something with the MBS_INFO_READER value.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

Functions

Detailed Description

Function Documentation

◆ count_json_elements()

◆ load_and_create_json()

◆ mbs_body_joint_recursive_linker()

◆ mbs_info_ball_json_binder()

◆ mbs_info_base_json_binder()

◆ mbs_info_body_json_binder()

◆ mbs_info_bodytree_json_binder()

◆ mbs_info_coordinates_json_binder()

◆ mbs_info_cuts_json_binder()

◆ mbs_info_extforce_json_binder()

◆ mbs_info_extforces_json_binder()

◆ mbs_info_init_and_binderJSON()

◆ mbs_info_joint_json_binder()

◆ mbs_info_joints_list_json_binder()

◆ mbs_info_json_binder()

◆ mbs_info_json_linker()

◆ mbs_info_link_json_binder()

◆ mbs_info_links3d_json_binder()

◆ mbs_info_links_json_binder()

◆ mbs_info_parameter_json_binder()

◆ mbs_info_point_json_binder()

◆ mbs_info_point_list_json_binder()

◆ mbs_info_ref_point_json_binder()

◆ mbs_info_rod_json_binder()

◆ mbs_info_sensor_json_binder()

◆ mbs_info_sensors_json_binder()

◆ mbs_info_solid_json_binder()

◆ mbs_info_tree_json_binder()

◆ mbs_info_user_IO_json_binder()

◆ mbs_info_user_IOs_json_binder()

◆ mbs_info_user_model_json_binder()

◆ mbs_info_user_models_json_binder()

◆ mbs_json_array()

◆ mbs_json_axis()

◆ mbs_json_bool()

◆ mbs_json_double()

◆ mbs_json_get_bool()

◆ mbs_json_get_double()

◆ mbs_json_get_string()

◆ mbs_json_inertia()

◆ mbs_json_joint_nature()

◆ mbs_json_set_bool()

◆ mbs_json_set_double()

◆ mbs_json_set_string()

◆ mbs_json_string()

◆ mbs_json_tab()

◆ mbs_tree_cleaner()