Feature extern controllers launcher (#5629)

* Create webots_controller.c * Update webots_controller.c * Update allocations to malloc * add consts * cleanup + remove const of env variable * Add controller launcher to makefile * ignore webots-controller executable * Add clean and copy to makefile * ignore executable * Move launcher to controller folder * Update .gitignore * Clean webots makefile * Improve string handling * fix gitignore * Add to tests * initialize chars * fix end of line * cleanup * Add matlab compatibility + fix memory * Add missing options * cleanup * Fix matlab and start runtime.ini * Add pseudocode * runtime ini paths * parse env variables + cleanup * Cleanup * add memory free + cleanup * fix source error * fscanf width limit * fix sprintf * fix sprintf * Update webots_controller.c * fix realloc check * Fix comment + multiple variable in runtime ini * Improve robustness * Add windows support * Update webots_controller.c * Fix memory runtime ini line * Fix paths on Windows * clang format * Documentation * cleanup * options * doc * update msg in webots console * Update use cases to launcher * typo * Add new example * WEBOTS HOME * Add snap information * simplify command * Add matlab section * Example webots_home * indent * indent * indent * Update running-extern-robot-controllers.md * Revert "indent" This reverts commit 94fd79e. * example fix * indent * Remove warnings on macOS and add launcher to distrib * new macOS distrib locaiton * execve * Replace system by spawnvpe on windows * python space robustness * Fix runtime ini * restrict process.h to windows * replace execve by execvp * Improve java * cleanup * Cleanup + changelog * Add func description * Fix compilation * Add current relative path to controller + change working dir * Fix java no path * cleanup + fix matlab * Simplify controller path * Cleanup * fix double free * fix double free * Remove duplicate free * Update scripts/packaging/files_core.txt Co-authored-by: Olivier Michel <[email protected]> * Update docs/guide/running-extern-robot-controllers.md Co-authored-by: Olivier Michel <[email protected]> * Update src/controller/launcher/webots_controller.c Co-authored-by: Olivier Michel <[email protected]> * Apply suggestions from code review Co-authored-by: ad-daniel <[email protected]> * one line per sentence doc * occurence to occurrence * simplify realloc * static func and var + fix free * Update src/controller/launcher/webots_controller.c Co-authored-by: Olivier Michel <[email protected]> * Update src/controller/launcher/webots_controller.c Co-authored-by: Olivier Michel <[email protected]> * Update src/controller/launcher/webots_controller.c Co-authored-by: Olivier Michel <[email protected]> * Apply suggestions from code review Co-authored-by: Olivier Michel <[email protected]> * fix clang format * cleanup * clean doc * fix free realloc * minor * test * Update example doc * add carriage return in doc * fix doc * fix doc * More carriage returns in help msg * Duplicate string and change realloc order * Add forward slash compatibility on Windows * Add python unbuffered * Add robustness against spaces in robot name * Improve multiple controllers error msg * doc * Enhance comments in code * Update src/controller/launcher/webots_controller.c Co-authored-by: Olivier Michel <[email protected]> --------- Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: ad-daniel <[email protected]>
cyberbotics · Feb 3, 2023 · 699328c · 699328c
1 parent d8ce5db
commit 699328c
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Showing 11 changed files with 1,042 additions and 163 deletions.
diff --git a/.gitignore b/.gitignore
@@ -65,6 +65,7 @@ Thumbs.db
 /.clang-format
 /msys64
 /webots
+/webots-controller
 /webots.lnk
 /webots_debug_output.txt
 /util

diff --git a/docs/guide/running-extern-robot-controllers.md b/docs/guide/running-extern-robot-controllers.md
diff --git a/docs/reference/changelog-r2023.md b/docs/reference/changelog-r2023.md
@@ -2,6 +2,8 @@
 
 ## Webots R2023b
 Released on ??
+  - New Features
+    - Added a new launcher to simplify the start of extern controllers ([#5629](https://github.com/cyberbotics/webots/pull/5629)).
   - Cleanup
     - Deprecated the C and MATLAB API functions `wb_supervisor_node_enable/disable_contact_point_tracking` in favor of `wb_supervisor_node_enable/disable_contact_points_tracking` to be more consistent with other APIs ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
   - Enhancements

diff --git a/scripts/packaging/files_core.txt b/scripts/packaging/files_core.txt
@@ -293,6 +293,7 @@ src/controller/matlab/
 src/controller/matlab/mgenerate.py
 
 webots [exe,linux] # on Windows, we create a shortcut in setup.iss, on macOS, we create it in mac_distro.py
+webots-controller [linux]
 bin/webots-bin [linux]
 bin/qt.conf [linux]
 
@@ -468,6 +469,7 @@ Contents/Frameworks/QtXml.framework/Versions/A/Resources/Info.plist [mac]
 Contents/Info.plist [mac]
 Contents/MacOS/ [mac]
 Contents/MacOS/webots [exe,mac]
+Contents/MacOS/webots-controller [exe,mac]
 Contents/Resources/ [mac]
 Contents/Resources/qt.conf [mac]
 Contents/Resources/webots.rsrc [mac]

diff --git a/src/controller/Makefile b/src/controller/Makefile
@@ -29,6 +29,11 @@ release debug profile clean:
 	@echo "# Java controller library ("$@")"
 	@echo "#"
 	@+make -s -C java $@
+	@echo "#"	
 	@echo "# Matlab controller library ("$@")"
 	@echo "#"
 	@+make -s -C matlab $@
+	@echo "#"	
+	@echo "# Controller launcher ("$@")"
+	@echo "#"
+	@+make -s -C launcher $@
diff --git a/src/controller/launcher/Makefile b/src/controller/launcher/Makefile
@@ -0,0 +1,48 @@
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+ifeq ($(WEBOTS_HOME),)
+WEBOTS_HOME_PATH = ../../..
+else
+null :=
+space := $(null) $(null)
+WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
+endif
+
+default:
+	@echo "Type one of the following (OSTYPE is \""$(OSTYPE)"\"):"
+	@echo "  make debug                 for debug (with gdb symbols)"
+	@echo "  make profile               for profiling (with gprof information)"
+	@echo "  make release               for final release"
+	@echo "  make clean                 remove build directory"
+
+include $(WEBOTS_HOME_PATH)/resources/Makefile.include
+
+ifeq ($(OSTYPE),windows)
+CONTROLLER_LAUNCHER = $(WEBOTS_HOME_PATH)/msys64/mingw64/bin/webots-controller.exe
+else ifeq ($(OSTYPE),darwin)
+CONTROLLER_LAUNCHER = $(WEBOTS_HOME_PATH)/Contents/MacOS/webots-controller
+else
+CONTROLLER_LAUNCHER = $(WEBOTS_HOME_PATH)/webots-controller
+endif
+
+.PHONY: release debug profile
+
+release debug profile: $(CONTROLLER_LAUNCHER)
+
+$(CONTROLLER_LAUNCHER): webots_controller.c
+	@echo "# compiling" $<
+	@gcc $(CFLAGS) webots_controller.c -o $@
+
+FILES_TO_REMOVE += $(CONTROLLER_LAUNCHER)