#include "mbs_loader.h"
#include "mbs_binder_public.h"
#include "mbs_binder_private.h"
#include "mbs_load_libraries.h"
#include "mbs_xml_binder_private.h"
#include "useful_functions.h"
#include "mbs_path.h"
#include "mbs_message.h"
#include "mbs_check.h"
#include "mbs_errors_names.h"
#include "mbs_define.h"
#include "mbs_project_interface.h"
#include <errno.h>
#include <string.h>

Macros
#define	MSG_ERR ">> LOAD>> "

#define	MSG_PRE " >> "

Functions
MbsData *	mbs_load (const char *mbs_filename)
	Load the data from the given multibody file. More...

MbsData *	mbs_load_with_loader (const char mbs_filename, MbsLoader mbs_loader)
	Load the data from the given multibody file using the provided MbsLoader. More...

MbsData *	mbs_load_with_config_name (const char mbs_filename, const char config_name)
	Load the data from the given multibody file and configuration filename. More...

MbsData *	mbs_load_with_config_filepath (const char mbs_filename, const char config_filepath)
	Load the data from the given multibody file and configuration filename. More...

MbsData *	mbs_load_with_exec (const char mbs_filename, const char exe_filepath)
	Load the multibody file using executable filepath to find project path. More...

MbsData *	mbs_load_from_path (const char mbs_filename, const char prj_path)
	Load the multibody file considering the provided project path. More...

void	mbs_print_full_loader (const char mbs_filename, const char prj_path, const char exe_path, const char config_path, const char config_name, const char symbolicLib_name, const char symbolicLib_path, const char userfctLib_name, const char userfctLib_path, int load_symb_user, int verbose, MbsLoader loader)

MbsData *	mbs_full_loader (const char mbs_filename, const char prj_path, const char exe_filepath, const char config_path, const char config_name, const char symbolicLib_name, const char symbolicLib_path, const char userfctLib_name, const char userfctLib_path, int load_symb_user, int verbose, MbsLoader loader)
	Fully configurable loading function. More...

MbsData *	mbs_loader_load (const char mbs_filepath, MbsLoader mbs_loader)
	Load the data with the specified loader. More...

MbsLoadOptions *	mbs_new_load_options ()
	Create a new structure with options for the loading. More...

int	mbs_print_load_options (MbsLoadOptions opts, const char indentation)
	Print the provided loader options. More...

void	mbs_delete_load_options (MbsLoadOptions *opts)
	Free the memory associated to the given MbsLoadOptions. More...

MbsLoader *	mbs_new_loader ()
	Create a new structure loader used for the loading with options. More...

int	mbs_print_loader (MbsLoader loader, const char indentation)
	Print the provided loader. More...

void	mbs_delete_loader (MbsLoader *loader)
	Free the memory associated to the given MbsLoader. More...

void	mbs_set_symb_fun_null (MbsData *s)
	Set the pointer to project symbolic functions to NULL. More...

void	mbs_set_user_fun_null (MbsData *s)
	Set the pointer to project user functions to NULL. More...

MbsDp *	mbs_new_dp (MbsData *mbs_data)
	Allocate and initialize a MbsDp structure in MbsData::mbs_dp. More...

void	mbs_delete_dp (MbsDp *mbs_dp)
	free a MbsDp structure. More...

int	mbs_set_user_IO (UserIoInfo *ioInfo, double val)

UserIoInfo *	mbs_new_user_IO_info ()
	Allocate an empty UserIoInfo structure. More...

UserIoInfo *	mbs_create_user_IO_info (MbsInfos mbs_infos, MbsData s)
	Fill the user io information for the MbsData structure. More...

void	mbs_delete_user_IO_info (UserIoInfo *ioInfo)

int *	MDS_translate_q (int *q_mds, int nq, int nj)
	return a (nj sized) vector (starting at index 1) of integer which is a copy of the provided (nq sized) vector (starting at index 0) with all value incremented by 1. If nj is greater than nq, the unused value are set to 0. More...

MbsData *	mbs_info_to_data (MbsLoader mbs_loader, MbsData s)
	Retrieve a MbsData structure from the given MbsInfos. More...

MbsData *	mbs_new_data ()
	Allocate an MbsData structure with default field values (NULL, 0). More...

void	mbs_delete_data (MbsData *s)
	Free the memory used by the given MbsData structure. More...

Macro Definition Documentation

◆ MSG_ERR

#define MSG_ERR ">> LOAD>> "

◆ MSG_PRE

#define MSG_PRE " >> "

Function Documentation

◆ mbs_create_user_IO_info()

UserIoInfo* mbs_create_user_IO_info	(	MbsInfos *	mbs_infos,
		MbsData *	s
	)

Fill the user io information for the MbsData structure.

Set errno to 0 at starting, set it if an error is encoutered.

Parameters

[in]	mbs_infos
[in]	s

Returns: NULL in case of error. The pointer to the structure otherwhise.

◆ mbs_delete_data()

void mbs_delete_data ( MbsData * s )

Free the memory used by the given MbsData structure.

Parameters

s	the structure to be freed.

◆ mbs_delete_dp()

void mbs_delete_dp ( MbsDp * mbs_dp )

free a MbsDp structure.

Parameters

[in,out] mbs_dp the MbsDp instance.

Returns: NULL

◆ mbs_delete_load_options()

void mbs_delete_load_options ( MbsLoadOptions * opts )

Free the memory associated to the given MbsLoadOptions.

! For the moment, does not free the char* fields !

Parameters

opts	the MbsLoadOptions to delete

◆ mbs_delete_loader()

void mbs_delete_loader ( MbsLoader * loader )

Free the memory associated to the given MbsLoader.

Parameters

opts	the MbsLoader to delete

◆ mbs_delete_user_IO_info()

void mbs_delete_user_IO_info ( UserIoInfo * ioInfo )

◆ mbs_full_loader()

MbsData* mbs_full_loader	(	const char *	mbs_filename,
		const char *	prj_path,
		const char *	exe_path,
		const char *	config_path,
		const char *	config_name,
		const char *	symbolicLib_name,
		const char *	symbolicLib_path,
		const char *	userfctLib_name,
		const char *	userfctLib_path,
		int	load_symb_user,
		int	verbose,
		MbsLoader *	loader
	)

Fully configurable loading function.

This function is for advanced usage, allowing to pass multiple, or partial datas.

Globally this function is called by all simple loading function providing the unique parameter set by the user and setting other to NULL/default values.

All, except prj_path and exe_path, paths will be cleaned. It means they can start with "PRJPATH" to refer the project path. This project path is either:

specified in argument prj_path;
specified in the options of the argument loader;
determined by locating "dataR" or "workR" folder in the argument exe_path;
determined by locating "dataR" or "workR" folder from current working directory.

Set pointers to NULL to use default behavior.

Set negative integers values to use default behavior.

A path/name cannot be specified in the provided loader and in the arguments.

Parameters

[in]	mbs_filename	The name of the mbs file to be loaded WITH EXTENSION. Specifying "dataR" folder is no more required (but still accepted).
[in]	prj_path	The project path (contains the dataR folder) or NULL.
[in]	exe_path	The executable filepath or NULL.
[in]	config_path	The path to the directory of the configuration file. If NULL is provided the configuration file is supposed to be next to the mbs file. It cannot be NON-NULL if `config_name` is NULL.
[in]	config_name	The name of the configuration file WITH EXTENSION or NULL. It must be defined if `config_path` is specified.
[in]	symbolicLib_name	The base name of the symbolic library to load or NULL. The prefix/suffix/extension related to the operating system will be added automatically.
[in]	symbolicLib_path	The directory containing the symbolic library or NULL.
[in]	userfctLib_name	The base name of the user function library to load or NULL. The prefix/suffix/extension related to the operating system will be added automatically.
[in]	userfctLib_path	The directory containing the user function library or NULL.
[in]	load_symb_user	Any of the valid enumeration to specify which project function libraries to be loaded (invalid value will result in default behavior).
[in]	verbose	Verbosity of the loading procedure.
[in,out]	loader	The pointer to a specified loader, or NULL. IT will be completed with the value provided in the other arguments.

Returns: The loaded multibody system or NULL.

◆ mbs_info_to_data()

MbsData* mbs_info_to_data	(	MbsLoader *	mbs_loader,
		MbsData *	s
	)

Retrieve a MbsData structure from the given MbsInfos.

Parameters

[in]	mbs_loader	The loader structure. It contains the MbsInfos structure already filled to be used to fill the MbsData structure and the content of the optional json configuration file.
[in,out]	s	the MbsData structure that will be completed according to the MbsInfos structure.

Returns: NULL in case or error or the argument s in case of success.

◆ mbs_load()

MbsData* mbs_load ( const char * mbs_filename )

Load the data from the given multibody file.

The memory of a new MbsData is allocated.

Use default behavior to determine project path, libraries...

Parameters

[in] mbs_filename path to the file to load including filename and extension.

Returns: The loaded multibody system or NULL.

◆ mbs_load_from_path()

MbsData* mbs_load_from_path	(	const char *	mbs_filename,
		const char *	prj_path
	)

Load the multibody file considering the provided project path.

Parameters

[in]	mbs_filename	path to the file to load including filename and extension.
[in]	prj_path	Path to the project folder.

Returns: The loaded multibody system or NULL.

◆ mbs_load_with_config_filepath()

MbsData* mbs_load_with_config_filepath	(	const char *	mbs_filename,
		const char *	config_filepath
	)

Load the data from the given multibody file and configuration filename.

Parameters

[in]	mbs_filename	Path to the file to load including filename and extension.
[in]	config_filepath	Path and filename of the configuration file to consider (with extension).

Returns: The loaded multibody system or NULL.

◆ mbs_load_with_config_name()

MbsData* mbs_load_with_config_name	(	const char *	mbs_filename,
		const char *	config_name
	)

Load the data from the given multibody file and configuration filename.

The configuration file must be located next to the multibody file.

Parameters

[in]	mbs_filename	Path to the file to load including filename and extension.
[in]	config_filename	Name of the configuration file (with extension).

Returns: The loaded multibody system or NULL.

◆ mbs_load_with_exec()

MbsData* mbs_load_with_exec	(	const char *	mbs_filename,
		const char *	exe_filepath
	)

Load the multibody file using executable filepath to find project path.

Parameters

[in]	mbs_filename	path to the file to load including filename and extension.
[in]	exe_filepath	Executable path used to determine project path.

Returns: The loaded multibody system or NULL.

◆ mbs_load_with_loader()

MbsData* mbs_load_with_loader	(	const char *	mbs_filename,
		MbsLoader *	mbs_loader
	)

Load the data from the given multibody file using the provided MbsLoader.

Parameters

[in]	mbs_filename	path to the file to load including filename and extension.
[in,out]	mbs_loader	options for loading. The non-assigned fields will be filled.

Returns: The loaded multibody system or NULL.

◆ mbs_loader_load()

MbsData* mbs_loader_load	(	const char *	mbs_filepath,
		MbsLoader *	mbs_loader
	)

Load the data with the specified loader.

The memory of a new MbsData is allocated.

Parameters

[in]	mbs_filepath	Full path and file WITH EXTENSION to the multibody file.
[in,out]	mbs_loader	options for loading.

Returns: A fully loaded MbsData strucutre or NULL ptr in case of failure.

◆ mbs_new_data()

MbsData* mbs_new_data ( )

Allocate an MbsData structure with default field values (NULL, 0).

Returns: the allocated structure.

◆ mbs_new_dp()

MbsDp* mbs_new_dp ( MbsData * mbs_data )

Allocate and initialize a MbsDp structure in MbsData::mbs_dp.

Parameters

[in] mbs_data the MbsData instance.

Returns: A pointer to an allocated and initialize MbsDp structure.

◆ mbs_new_load_options()

MbsLoadOptions* mbs_new_load_options ( )

Create a new structure with options for the loading.

The memory of a new MbsLoadOptions is allocated. The options mainly consist in char variables that can contain name and path for separate libraries.

◆ mbs_new_loader()

MbsLoader* mbs_new_loader ( )

Create a new structure loader used for the loading with options.

The memory of a new MbsLoader and its options is allocated. The memory for the "mds" field is not allocated (left to the user if needed)

◆ mbs_new_user_IO_info()

UserIoInfo* mbs_new_user_IO_info ( )

Allocate an empty UserIoInfo structure.

Set errno in case of error.

Returns: Memory adress of the allocated memory or NULL in case of error.

◆ mbs_print_full_loader()

void mbs_print_full_loader	(	const char *	mbs_filename,
		const char *	prj_path,
		const char *	exe_path,
		const char *	config_path,
		const char *	config_name,
		const char *	symbolicLib_name,
		const char *	symbolicLib_path,
		const char *	userfctLib_name,
		const char *	userfctLib_path,
		int	load_symb_user,
		int	verbose,
		MbsLoader *	loader
	)

◆ mbs_print_load_options()

int mbs_print_load_options	(	MbsLoadOptions *	opts,
		const char *	indentation
	)

Print the provided loader options.

Parameters

[in]	opts	The pointer to the options.
[in]	indentation	The indentation of all prints, except pointer adress.

Returns: MBS_INFO_WARNING for NULL ptr or MBS_INFO_SUCCESS.

◆ mbs_print_loader()

int mbs_print_loader	(	MbsLoader *	loader,
		const char *	indentation
	)

Print the provided loader.

Parameters

[in]	loader	The pointer to the MbsLoader.
[in]	indentation	The indentation of all prints, except pointer adress.

Returns: MBS_INFO_WARNING for NULL ptr or MBS_INFO_SUCCESS.

◆ mbs_set_symb_fun_null()

void mbs_set_symb_fun_null ( MbsData * s )

Set the pointer to project symbolic functions to NULL.

Parameters

[in,out] fct the MbsData instance containing the pointer of functions

◆ mbs_set_user_fun_null()

void mbs_set_user_fun_null ( MbsData * s )

Set the pointer to project user functions to NULL.

Parameters

[in,out] fct the MbsData instance containing the pointer of functions

◆ mbs_set_user_IO()

int mbs_set_user_IO	(	UserIoInfo *	ioInfo,
		double	val
	)

Set the all user IO values.

Set errno in case of failure.

As it is one-time called function, last of the one called on user IO before being simulation starting, all pointers, sizes (and others stuffs) of the IO are checked.

Parameters

[in,out]	ioInfo	The information structure about user IO.
[in]	val	The value to be set in all values of all user IO.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE

◆ MDS_translate_q()

int* MDS_translate_q	(	int *	q_mds,
		int	nq,
		int	nj
	)

return a (nj sized) vector (starting at index 1) of integer which is a copy of the provided (nq sized) vector (starting at index 0) with all value incremented by 1. If nj is greater than nq, the unused value are set to 0.

Parameters

[in]	q_mds	the original (nq sized) vector of integers, starting at index 0
[in]	nq	the size of the q_mds vector
[in]	nj	the size of the returned (starting at index 1) vector (0 element not taken into account)

Returns: requested vector (element 0 receives nj: the size without this element)

Macros

Functions

Macro Definition Documentation

◆ MSG_ERR

◆ MSG_PRE

Function Documentation

◆ mbs_create_user_IO_info()

◆ mbs_delete_data()

◆ mbs_delete_dp()

◆ mbs_delete_load_options()

◆ mbs_delete_loader()

◆ mbs_delete_user_IO_info()

◆ mbs_full_loader()

◆ mbs_info_to_data()

◆ mbs_load()

◆ mbs_load_from_path()

◆ mbs_load_with_config_filepath()

◆ mbs_load_with_config_name()

◆ mbs_load_with_exec()

◆ mbs_load_with_loader()

◆ mbs_loader_load()

◆ mbs_new_data()

◆ mbs_new_dp()

◆ mbs_new_load_options()

◆ mbs_new_loader()

◆ mbs_new_user_IO_info()

◆ mbs_print_full_loader()

◆ mbs_print_load_options()

◆ mbs_print_loader()

◆ mbs_set_symb_fun_null()

◆ mbs_set_user_fun_null()

◆ mbs_set_user_IO()

◆ MDS_translate_q()