1 files changed, 39 insertions, 13 deletions

diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp
index cf6ed91..967513e 100644
--- a/LocomotorPrimitives.cpp
+++ b/LocomotorPrimitives.cpp
@@ -20,11 +20,13 @@
 #define NO_SIM		0
 
 static const std::string MODEL_NAME = "LocomotorPrimitives";
-static const double INTEGRATOR_ACCURACY = 1.0e-3;
+static const double INTEGRATOR_ACCURACY = 1.0e-6;
 
 static Logger &logger = Logger::getInstance();
 static LocomotorPrimitivesManager *manager = NULL;
 
+static bool yes = false;
+
 static void signal_handler(int signr)
 {
 	switch (signr) {
@@ -46,7 +48,8 @@ static void constructModel(OpenSim::Model &model, OpenSim::Storage actData)
 	control->setActuators(model.updActuators());
 	if (control->checkControls() != 0) {
 		logger.err("Control data for some muscles in the model is missing. Press ENTER to continue, ^-C to quit.");
-		std::cin.get();
+		if (!yes)
+			std::cin.get();
 	}
 	model.addController(control);
 
@@ -84,19 +87,19 @@ static void constructModel(OpenSim::Model &model, OpenSim::Storage actData)
 	logger.log("Finished constructing model\n");
 }
 
-void simulateModel(OpenSim::Model &model, const double initial_time,
-		   const double final_time, double fixed_step_size,
-		   std::string output_dir)
+int simulateModel(OpenSim::Model &model, const double initial_time,
+		  const double final_time, double fixed_step_size,
+		  std::string output_dir)
 {
 	if (NO_SIM) {
 		logger.log("Skipping simulation as per NO_SIM=%d\n", NO_SIM);
-		return;
+		return 1;
 	}
 
 	std::string cwd = OpenSim::IO::getCwd();
 	if (OpenSim::IO::chDir(output_dir) != 0) {
 		logger.err("Failed to change to output directory %s", output_dir.c_str());
-		return;
+		return 1;
 	}
 
 	logger.log("Simulating model %s\n", MODEL_NAME.c_str());
@@ -104,6 +107,13 @@ void simulateModel(OpenSim::Model &model, const double initial_time,
 	logger.log("+ Initializing system\n");
 	SimTK::State &si = model.initSystem();
 
+	if (!model.isValidSystem()) {
+		logger.err("Loaded invalid model. Press ENTER to quit");
+		if (!yes)
+			std::cin.get();
+		return 1;
+	}
+
 //	std::cout << "=== MODEL SUMMARY ===" << std::endl;
 //	model.printDetailedInfo(si, std::cout);
 //	std::cout << "=== END MODEL SUMMARY ===" << std::endl << std::endl;
@@ -126,6 +136,7 @@ void simulateModel(OpenSim::Model &model, const double initial_time,
 		manager->integrate(si);
 	} catch (...) {
 		logger.log("Got exception during integration\n");
+		return 1;
 	}
 
 	// Save the model states from forward integration
@@ -151,6 +162,8 @@ void simulateModel(OpenSim::Model &model, const double initial_time,
 	// TODO
 
 	logger.log("Finished simulating model\n");
+
+	return 0;
 }
 
 static void usage()
@@ -160,6 +173,7 @@ static void usage()
 		  << "  -m FILE  specify .osim to use as model" << std::endl
 		  << "  -o DIR   set output directory to DIR (default: current directory)" << std::endl
 		  << "  -s N     set fixed step size for integrator to N (default: dynamic)" << std::endl
+		  << "  -y       don't prompt for any input on errors and finishing" << std::endl
 		  << "  -h       show this help and exit" << std::endl;
 }
 
@@ -189,6 +203,9 @@ int main(int argc, char **argv)
 		case 's':
 			fixed_step_size = strtod(argv[++i], NULL);
 			break;
+		case 'y':
+			yes = true;
+			break;
 		case 'h':
 			usage();
 			exit(0);
@@ -215,7 +232,7 @@ int main(int argc, char **argv)
 	saction.sa_flags = SA_RESTART;
 	sigaction(SIGINT, &saction, NULL);
 
-	logger.log("Starting simulation %s with model file %s, actuation data file %s\n, fixed step size: %f\n", MODEL_NAME.c_str(), model_file.c_str(), data_file.c_str(), fixed_step_size);
+	logger.log("Starting simulation %s with model file %s, actuation data file %s, fixed step size: %f\n", MODEL_NAME.c_str(), model_file.c_str(), data_file.c_str(), fixed_step_size);
 
 	try {
 		// Create an OpenSim model and set its name
@@ -225,23 +242,32 @@ int main(int argc, char **argv)
 		osimModel.setUseVisualizer(false);
 
 		constructModel(osimModel, actData);
-		simulateModel(osimModel, initial_time, final_time, fixed_step_size, output_dir);
+		if (simulateModel(osimModel, initial_time, final_time, fixed_step_size, output_dir)) {
+			logger.err("Something went wrong during simulation. Press ENTER to quit");
+			if (!yes)
+				std::cin.get();
+			return 1;
+		}
 	} catch (OpenSim::Exception ex) {
 		logger.err("Exception: %s. Press ENTER to quit", ex.getMessage());
-		std::cin.get();
+		if (!yes)
+			std::cin.get();
 		return 1;
 	} catch (std::exception ex) {
 		logger.err("Exception: %s. Press ENTER to quit", ex.what());
-		std::cin.get();
+		if (!yes)
+			std::cin.get();
 		return 1;
 	} catch (...) {
 		logger.err("Unrecognized Exception. Press ENTER to quit");
-		std::cin.get();
+		if (!yes)
+			std::cin.get();
 		return 1;
 	}
 
 	logger.log("Total runtime = %fms\n", 1.e3 * (clock() - ts_start) / CLOCKS_PER_SEC);
 	logger.log("Simulation %s completed successfully. Press ENTER to quit", MODEL_NAME.c_str());
-	std::cin.get();
+	if (!yes)
+		std::cin.get();
 	return 0;
 }