Integration loop DR recording

include/trick/DRAscii.hh

@@ -69,7 +69,7 @@ namespace Trick {
              @code <my_drg> = trick.DRAscii("<in_name>") @endcode
              @copydoc Trick::DataRecordGroup::DataRecordGroup(string in_name)
              */
-            DRAscii( std::string in_name, Trick::DR_Type dr_type = Trick::DR_Type::DR_Type_Ascii ) ;
+            DRAscii( std::string in_name, bool register_group = true, Trick::DR_Type dr_type = Trick::DR_Type::DR_Type_Ascii ) ;
 
             /**
              @copybrief Trick::DataRecordGroup::format_specific_header

include/trick/DRHDF5.hh

@@ -95,7 +95,7 @@ GROUP "/" {
              @code <my_drg> = trick.DRHDF5("<in_name>") @endcode
              @copydoc Trick::DataRecordGroup::DataRecordGroup(string in_name)
              */
-            DRHDF5( std::string in_name, Trick::DR_Type dr_type = Trick::DR_Type::DR_Type_HDF5) ;
+            DRHDF5( std::string in_name, bool register_group = true, Trick::DR_Type dr_type = Trick::DR_Type::DR_Type_HDF5) ;
 
             /**
              @copybrief Trick::DataRecordGroup::format_specific_header

include/trick/IntegrationJobDataRecordGroup.hh

@@ -0,0 +1,209 @@
+/*******************************************************************************
+
+ PURPOSE:
+ (DataRecordGroup class tailored to log all the intermediate_steps of the integration loop.)
+
+ PROGRAMMERS:
+ (((Thomas Brain) (Metecs) (May 2024) (--)))
+
+ *******************************************************************************/
+
+#ifndef INTEGRATIONJOBDATARECORDGROUP_HH
+#define INTEGRATIONJOBDATARECORDGROUP_HH
+
+#include "trick/DRAscii.hh"
+#include "trick/DRBinary.hh"
+#ifdef HDF5
+#include "trick/DRHDF5.hh"
+#endif
+#include "trick/IntegLoopScheduler.hh"
+#include "trick/message_proto.h"
+#include "trick/message_type.h"
+
+#ifdef SWIG
+%feature("compactdefaultargs","0") ;
+%define INTEG_DR_SHADOW(TYPE)
+%feature("shadow") Trick::TYPE::TYPE(const std::string & in_name, Trick::IntegLoopScheduler & integSchedulerPtrIn) %{
+    def __init__(self, *args):
+        this = $action(*args)
+        try: self.this.append(this)
+        except: self.this = this
+        this.own(0)
+        self.this.own(0)
+%}
+%enddef
+#endif
+
+#ifdef SWIG
+INTEG_DR_SHADOW(Trick::IntegJobDRBinary)
+INTEG_DR_SHADOW(Trick::IntegJobDRAscii)
+#ifdef HDF5
+INTEG_DR_SHADOW(Trick::IntegJobDRHDF5)
+#endif
+#endif
+
+namespace Trick
+{
+
+template<typename T> class IntegrationJobDataRecordGroupBase : public T
+{
+public:
+#ifndef SWIG
+    IntegrationJobDataRecordGroupBase() : T() {
+
+    }
+#endif
+
+    IntegrationJobDataRecordGroupBase(const std::string & in_name,
+                                     Trick::IntegLoopScheduler & integSchedulerRefIn)
+        : T(in_name, false), integSchedulerPtr(&integSchedulerRefIn)
+    {
+        T::set_job_class("integration");
+        if(dynamic_cast<DRBinary *>(this) != nullptr)
+        {
+            T::register_group_with_mm(this, "Trick::IntegJobDRBinary");        
+        } else if(dynamic_cast<DRAscii *>(this) != nullptr)
+        {
+            T::register_group_with_mm(this, "Trick::IntegJobDRAscii");        
+        }
+        #ifdef HDF5
+        else if(dynamic_cast<DRHDF5 *>(this) != nullptr)
+        {
+            T::register_group_with_mm(this, "Trick::IntegJobDRHDF5");
+        }
+        #endif
+    }
+
+    virtual ~IntegrationJobDataRecordGroupBase() = default;
+
+    virtual int init(bool is_restart = false) override
+    {
+         if(integSchedulerPtr == nullptr)
+        {
+            message_publish(
+                    MSG_ERROR,
+                    "DataRecordGroup ERROR: IntegLoopScheduler pointer is NULL for group %s\n",
+                    T::group_name.c_str());
+            return -1;
+        }
+        if(!is_restart) {
+            integSchedulerPtr->add_sim_object(*this);
+        }
+        if(integSchedulerPtr->integ_ptr != nullptr && T::write_job->sup_class_data == nullptr) {
+            setIntegrator(*(integSchedulerPtr->integ_ptr));
+        }
+        if(T::write_job->sup_class_data == nullptr)
+        {
+            message_publish(
+                    MSG_ERROR,
+                    "DataRecordGroup ERROR: Integrator pointer is NULL for group %s\n",
+                    T::group_name.c_str());
+            return -1;
+        }
+        if(!is_restart)
+        {        
+            T::max_num *= MaxSteps;
+        }
+        return T::init(is_restart);
+    }
+
+    virtual int data_record(double in_time) override
+    {
+        double integTime = integPtr->time_0;
+        double currLogTime;
+        if(integPtr->intermediate_step == 0 && std::abs(in_time - integPtr->time) < 1.0e-12)
+        {
+            currLogTime = in_time;
+        }
+        else
+        {
+            currLogTime = integTime + (integPtr->intermediate_step * (integPtr->dt / MaxSteps));
+        }
+
+        // Check if we want to log every integration cycle
+        T::data_record(currLogTime);
+        return integPtr->intermediate_step;
+    }
+
+    virtual void setMaxSteps(const int MaxStepsIn)
+    {
+        MaxSteps = MaxStepsIn;
+    }
+
+    virtual void setIntegrator(Trick::Integrator & integIn)
+    {
+        integPtr = &integIn;        
+        Integrator_type integ_type = integIn.get_Integrator_type();
+        switch(integ_type)
+        {
+            case Euler:
+                MaxSteps = 1;
+                break;
+            case Euler_Cromer:
+                MaxSteps = 1;
+                break;
+            case Nystrom_Lear_2:
+                MaxSteps = 2;
+                break;
+            case Runge_Kutta_2:
+                MaxSteps = 2;
+                break;
+            case Modified_Midpoint_4:
+                MaxSteps = 3;
+                break;
+            case Runge_Kutta_4:
+                MaxSteps = 4;
+                break;
+            case Runge_Kutta_Gill_4:
+                MaxSteps = 4;
+                break;
+            case Runge_Kutta_Fehlberg_45:
+                MaxSteps = 6;
+                break;
+            case Runge_Kutta_Fehlberg_78:
+                MaxSteps = 12;
+                break;
+            case ABM_Method:
+                MaxSteps = 4;
+                break;
+            case User_Defined:
+                MaxSteps = 1;
+                break;
+            default:
+                MaxSteps = 1;
+                break;
+        }
+        T::write_job->sup_class_data = &integPtr;
+    }
+
+    Trick::IntegLoopScheduler * integSchedulerPtr{};
+
+protected:
+    Trick::Integrator * integPtr{};
+    int MaxSteps{4};
+};
+
+#ifdef SWIG
+%template (IntegJobDRBinary) IntegrationJobDataRecordGroupBase<DRBinary>;
+// %trick_cast_as(IntegJobDRBinary, IntegJobDRBinary)
+%template (IntegJobDRAscii) IntegrationJobDataRecordGroupBase<DRAscii>;
+// %trick_cast_as(IntegJobDRAscii, IntegJobDRAscii)
+#ifdef HDF5
+%template (IntegJobDRHDF5) IntegrationJobDataRecordGroupBase<DRHDF5>;
+// %trick_cast_as(IntegJobDRHDF5, IntegJobDRHDF5)
+#endif
+#endif
+
+typedef IntegrationJobDataRecordGroupBase<DRBinary> IntegJobDRBinary;
+typedef IntegrationJobDataRecordGroupBase<DRAscii> IntegJobDRAscii;
+#ifdef HDF5
+typedef IntegrationJobDataRecordGroupBase<DRHDF5> IntegJobDRHDF5;
+#endif
+
+} // namespace Trick
+
+#ifdef SWIG
+%feature("compactdefaultargs","1") ;
+#endif
+
+#endif /* INTEGRATIONJOBDATARECORDGROUP_HH */

include/trick/files_to_ICG.hh

@@ -83,6 +83,7 @@
 #include "trick/DRAscii.hh"
 #include "trick/DRBinary.hh"
 #include "trick/DRHDF5.hh"
+#include "trick/IntegrationJobDataRecordGroup.hh"
 #include "trick/DebugPause.hh"
 #include "trick/EchoJobs.hh"
 #include "trick/FrameLog.hh"

test/SIM_test_multidt/RUN_test/input.py

@@ -1,6 +1,7 @@
 
 # Data recording test
-drg0 = trick.DRBinary("Ball")
+drg0 = trick.IntegJobDRBinary("Ball", my_integ_loop.integ_sched)
+drg0.thisown = 0
 for param in [ 'position' , 'velocity' , 'acceleration' , 'external_force' ] :
     for index in range(0,2) :
         var = "ball.output_" + param + "[" + str(index) + "]"
@@ -45,5 +46,5 @@
 read = 300.0
 trick.add_read(read , """trick.checkpoint("chkpnt_300.0")""")
 
-trick.exec_set_terminate_time(300.0)
+trick.exec_set_terminate_time(30.0)
 

trick_source/sim_services/DataRecord/DRAscii.cpp

@@ -18,12 +18,14 @@
 #include "trick/message_type.h"
 #include "trick/bitfield_proto.h"
 
-Trick::DRAscii::DRAscii( std::string in_name, Trick::DR_Type dr_type ) : Trick::DataRecordGroup( in_name, dr_type ) {
+Trick::DRAscii::DRAscii( std::string in_name, bool register_group, Trick::DR_Type dr_type ) : Trick::DataRecordGroup( in_name, dr_type ) {
 
     ascii_float_format = "%20.8g" ;
     ascii_double_format = "%20.16g" ;
     delimiter = ",";
-    register_group_with_mm(this, "Trick::DRAscii") ;
+    if ( register_group ) {
+        register_group_with_mm(this, "Trick::DRAscii") ;
+    }
 }
 
 int Trick::DRAscii::format_specific_header( std::fstream & out_st ) {

trick_source/sim_services/DataRecord/DRHDF5.cpp

@@ -16,8 +16,10 @@
 #include "trick/message_proto.h"
 #include "trick/bitfield_proto.h"
 
-Trick::DRHDF5::DRHDF5( std::string in_name, Trick::DR_Type dr_type ) : Trick::DataRecordGroup(in_name, dr_type) {
-    register_group_with_mm(this, "Trick::DRHDF5") ;
+Trick::DRHDF5::DRHDF5( std::string in_name, bool register_group, Trick::DR_Type dr_type ) : Trick::DataRecordGroup(in_name, dr_type) {
+    if ( register_group ) {
+        register_group_with_mm(this, "Trick::DRHDF5") ;
+    }
 }
 
 int Trick::DRHDF5::format_specific_header( std::fstream & out_stream ) {

trick_source/trick_swig/sim_services.i

@@ -57,6 +57,7 @@
 #ifdef HDF5
 #include "trick/DRHDF5.hh"
 #endif
+#include "trick/IntegrationJobDataRecordGroup.hh"
 #include "trick/DataRecordDispatcher.hh"
 #include "trick/data_record_proto.h"
 #include "trick/DebugPause.hh"