#include <stdlib.h>
#include <string.h>
#include "mbs_1D_array.h"
#include "mbs_data.h"
#include "mbs_define.h"
#include "set_output.h"
#include "auto_output.h"
#include "mbs_message.h"

Macros
#define	MSG_ERR ">> BUFFERS>> "

#define	MSG_PRE " >> "

Functions
int	set_output_to_mbs (MbsData *mbs_data, int verbosity)
	Set the address of this buffers in MbsData to expose memory + synchronize verbosity. More...

int	set_mbs_to_output (MbsData *mbs_data)
	Set the value of this buffers from MbsData to use another module memory. More...

void	reset_flag_output ()
	reset the flag_output to 0. Useful when running several simulation in a row with different save2file settings. More...

void	init_set_output (int max_nb_curves)
	initialize the static auto_output structure More...

int	define_output_vector (char *label, int size)
	set needed information to handle the specified vector name in the auto_output structure. More...

void	free_set_output ()
	release memory of auto_output More...

int	set_output (double value, char *label)
	function called by the user to output the time evolution of a value More...

int	set_output_vector (double vector, char label)
	function called by the user to output the time evolution of a whole vector. More...

int	set_output_vector_from_id (double vector, char label, int output_id)
	function called by the user to output the time evolution of a whole vector. It is very similar to set_output_vector, with the output_id (starting at zero) of the vector that is known This allow to run the set_output function faster. By calling this function with an unknown vector (i.e. output_id = -1, the function will search for the correct index by itself - slower) More...

int	set_output_partial_vector_from_id (double vector, char label, int output_id, int start, int number)
	Set part of a vector into a buffer (from its id). More...

int	set_output_value (double value, int val_index, char *label)
	function called by the user to output the time evolution of a value in a vector. More...

int	set_output_value_from_id (double value, int val_index, char *label, int output_id)

double	get_output_value (int index)
	get the output value corresponding to the requested index More...

char *	get_output_label (int index)
	get the output label corresponding to the requested index More...

char *	get_output_vector_label (int index)
	get the output vector label corresponding to the requested index More...

int	get_output_vector_size (int index)
	get the output vector size corresponding to the requested index More...

int	get_output_nb ()
	get the number of user inputs More...

int	get_output_vector_nb ()
	get the number of user vector inputs More...

int	get_output_nb_new ()
	get the number of new user inputs More...

double *	get_output_vector_ptr (int index)
	get the pointer to the output vector at the requested index More...

void	set_output_nb_new (int nb)
	set the number of new user inputs More...

int	mbs_disable_indices_save (int **indices)
	Disable the indices to save. More...

int	mbs_resize_indices_save (int **indices, int size)
	Resize the indice to be saved. More...

int	mbs_set_indices_save (int *target, int size, int indices)
	Resize the targeted array to set the provided indices to be saved. More...

Variables
static AutoOutput *	auto_output

int	flag_output = 0
	1 if init_set_output was called, 0 otherwise More...

int	flag_warning_output_raised = 0
	1 if a warning message has already been raised, 0 otherwise More...

int	set_output_verbose = 1
	1 if we want to print messages, 1 is the default. (0 no messages) More...

Detailed Description

Define functions called by the user to output his own variables.

Date: 20/12/2023

Author: Robotran Team

Macro Definition Documentation

◆ MSG_ERR

#define MSG_ERR ">> BUFFERS>> "

◆ MSG_PRE

#define MSG_PRE " >> "

Function Documentation

◆ define_output_vector()

int define_output_vector	(	char *	label,
		int	size
	)

set needed information to handle the specified vector name in the auto_output structure.

In the default MBsysC behavior, if the vector definition fails, the current module will stop.

If you redirected the mbs_error_msg() via mbs_set_error_msg_fct_ptr() to a function that does not stop the process you are responsible to set MbsData::flag_stop to 1 to prevent further execution.

Parameters

[in]	label	the label of the vector
[in]	size	the number of element to save in the vector (or the size of the saved vector)

Returns: The status, negative in case of error.

◆ free_set_output()

void free_set_output ( )

release memory of auto_output

◆ get_output_label()

char* get_output_label ( int index )

get the output label corresponding to the requested index

Parameters

[in] index requested index

Returns: requested label or "no_output" if there is no output for the requested index

◆ get_output_nb()

int get_output_nb ( )

get the number of user inputs

Returns: number of user inputs

◆ get_output_nb_new()

int get_output_nb_new ( )

get the number of new user inputs

Returns: number of new user inputs

◆ get_output_value()

double get_output_value ( int index )

get the output value corresponding to the requested index

Parameters

[in] index requested index

Returns: requested value or -1 if there is no output for the requested index

◆ get_output_vector_label()

char* get_output_vector_label ( int index )

get the output vector label corresponding to the requested index

Parameters

[in] index requested index

Returns: requested vector label or "no_output" if there is no output for the requested index

◆ get_output_vector_nb()

int get_output_vector_nb ( )

get the number of user vector inputs

Returns: number of user vector inputs

◆ get_output_vector_ptr()

double* get_output_vector_ptr ( int index )

get the pointer to the output vector at the requested index

Parameters

[in] index requested index

Returns: requested vector pointer for the requested index or NULL.

◆ get_output_vector_size()

int get_output_vector_size ( int index )

get the output vector size corresponding to the requested index

Parameters

[in] index requested index

Returns: requested vector size for the requested index or -1 in case of error.

◆ init_set_output()

void init_set_output ( int max_nb_curves )

initialize the static auto_output structure

◆ mbs_disable_indices_save()

int mbs_disable_indices_save ( int ** indices )

Disable the indices to save.

This function mainly free the array pointer in the provided pointer, and redirect it to NULL. It has been devolopped for easy disabling of specific automatic outputs (ie: q, qd, qdd...).

Parameters

[in,out] indices Pointer to the pointer of the array to be freed. The pointer target is set to NULL after freeing.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_resize_indices_save()

int mbs_resize_indices_save	(	int **	indices,
		int	size
	)

Resize the indice to be saved.

This function mainly free the array pointer in the provided pointer, and allocate a new one. It has been devolopped for easy resizing of specific automatic outputs (ie: q, qd, qdd...).

It can be used to disable incides too.

Parameters

[in,out]	indices	Pointer to the pointer of the array to be resized. The common part of both array contains the same index value. The exceeding part contains random value as realloc does not initialize new memory.
[in]	size	The new size of the array, a null size results in disabeling the indices (see `mbs_disable_indices_save()`).

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ mbs_set_indices_save()

int mbs_set_indices_save	(	int **	target,
		int	size,
		int *	indices
	)

Resize the targeted array to set the provided indices to be saved.

This function mainly free the array pointer in the provided pointer, allocate a new one and fill it with the provided indies. It has been devlopped for easy resizing of specific automatic outputs (ie: q, qd, qdd...).

It can be used to disable incides too (if both size and indices are zero/NULL).

Parameters

[in,out]	target	Pointer to the pointer of the array to be filled. The array targeted can be of arbitrary size (even NULL) as it will be resized. but the target value cannot be NULL.
[in]	size	The number of element in the indices array. If the size is zero, and `indices` is NULL, the targeted array is free.
[in]	indices	The array (nor is Â´i_vec1`) containing the indices to be set in the target. If the pointer is NULL, and the `size` is zero, the targeted array is free.

Returns: MBS_INFO_SUCCESS or MBS_INFO_FAILURE.

◆ reset_flag_output()

void reset_flag_output ( )

reset the flag_output to 0. Useful when running several simulation in a row with different save2file settings.

◆ set_mbs_to_output()

int set_mbs_to_output ( MbsData * mbs_data )

Set the value of this buffers from MbsData to use another module memory.

◆ set_output()

int set_output	(	double	value,
		char *	label
	)

function called by the user to output the time evolution of a value

If the output fails, a warning message is raised. If you want to stop the computation set MbsData::flag_stop to 1.

Parameters

[in]	value	current value to output
[in]	label	label of the value

Returns: The status, negative in case of error.

◆ set_output_nb_new()

void set_output_nb_new ( int nb )

set the number of new user inputs

Parameters

[in] nb number of new outputs to set

◆ set_output_partial_vector_from_id()

int set_output_partial_vector_from_id	(	double *	vector,
		char *	label,
		int	output_id,
		int	start,
		int	number
	)

Set part of a vector into a buffer (from its id).

The behavior is the same as set_output_vector_from_id() except that only the specified number of values are saved stating at the specified index. The starting index refer to the buffer indexing. The values are taken from the beginning of the provided array.

In the default MBsysC behavior, if the function fails, the current module will stop.

Parameters

[in]	vector	Pointer to the vector with values to be send to buffer.
[in]	label	Current output label, NULL can be provided (no coherence check).
[in]	output_id	Index of the output vector, starting at zero (if not known, -1).
[in]	start	Index in the buffer array to start to save the provided vector. The value must be strictly positive and fit in the buffer size. The first index is 0.
[in]	number	Number of value to be saved from the vector to the buffer. If this number exceed the size of the `vector`, an undefined behavior occurs. If start + number exceed the buffer size, an error is raised.

Returns: The status, negative in case of error.

◆ set_output_to_mbs()

int set_output_to_mbs	(	MbsData *	mbs_data,
		int	verbosity
	)

Set the address of this buffers in MbsData to expose memory + synchronize verbosity.

◆ set_output_value()

int set_output_value	(	double	value,
		int	val_index,
		char *	label
	)

function called by the user to output the time evolution of a value in a vector.

Parameters

[in]	value	current output value
[in]	val_index	index of the value in the saved vector, first index is 1
[in]	label	current output label

Returns: The status, negative in case of error.

◆ set_output_value_from_id()

int set_output_value_from_id	(	double	value,
		int	val_index,
		char *	label,
		int	output_id
	)

◆ set_output_vector()

int set_output_vector	(	double *	vector,
		char *	label
	)

function called by the user to output the time evolution of a whole vector.

In the default MBsysC behavior, if the function fails, the current module will stop.

If you redirected the mbs_error_msg() via mbs_set_error_msg_fct_ptr() to a function that does not stop the process you can set MbsData::flag_stop to 1 to prevent further computation. If you let it continue, the vector is not saved.

Parameters

[in]	vector	pointer to the current outputs vector
[in]	label	current output label

Returns: The status, negative in case of error.

◆ set_output_vector_from_id()

int set_output_vector_from_id	(	double *	vector,
		char *	label,
		int	output_id
	)

function called by the user to output the time evolution of a whole vector. It is very similar to set_output_vector, with the output_id (starting at zero) of the vector that is known This allow to run the set_output function faster. By calling this function with an unknown vector (i.e. output_id = -1, the function will search for the correct index by itself - slower)

In the default MBsysC behavior, if the function fails, the current module will stop.

If you redirected the mbs_error_msg() via mbs_set_error_msg_fct_ptr() to a function that does not stop the process you can set MbsData::flag_stop to 1 to prevent further computation. If you let it continue, the vector is not saved.

Parameters

[in]	vector	pointer to the current outputs vector
[in]	label	current output label (NULL if not known)
[in]	output_id	id of the output vector, starting at zero (if not known, -1)

Returns: The status, negative in case of error.

Variable Documentation

◆ auto_output

AutoOutput* auto_output

static

◆ flag_output

int flag_output = 0

1 if init_set_output was called, 0 otherwise

◆ flag_warning_output_raised

int flag_warning_output_raised = 0

1 if a warning message has already been raised, 0 otherwise

◆ set_output_verbose

int set_output_verbose = 1

1 if we want to print messages, 1 is the default. (0 no messages)

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MSG_ERR

◆ MSG_PRE

Function Documentation

◆ define_output_vector()

◆ free_set_output()

◆ get_output_label()

◆ get_output_nb()

◆ get_output_nb_new()

◆ get_output_value()

◆ get_output_vector_label()

◆ get_output_vector_nb()

◆ get_output_vector_ptr()

◆ get_output_vector_size()

◆ init_set_output()

◆ mbs_disable_indices_save()

◆ mbs_resize_indices_save()

◆ mbs_set_indices_save()

◆ reset_flag_output()

◆ set_mbs_to_output()

◆ set_output()

◆ set_output_nb_new()

◆ set_output_partial_vector_from_id()

◆ set_output_to_mbs()

◆ set_output_value()

◆ set_output_value_from_id()

◆ set_output_vector()

◆ set_output_vector_from_id()

Variable Documentation

◆ auto_output

◆ flag_output

◆ flag_warning_output_raised

◆ set_output_verbose