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Sync libcontroller develop #851

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Sep 27, 2023
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Sync libcontroller develop #851

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46 changes: 33 additions & 13 deletions webots_ros2_driver/webots/src/controller/launcher/webots_controller.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@ static char *controller;
static char *controller_path;
static char *controller_extension;
static char *matlab_path;
static char *matlab_args;
static char *current_path;
static int nb_controller_arguments;
static int next_argument_index;
Expand Down Expand Up @@ -185,7 +186,7 @@ static bool get_matlab_path() {
DIR *directory = opendir(matlab_directory);
#ifndef __APPLE__
if (directory == NULL) {
fprintf(stderr, "No installation of Matlab available.\n");
fprintf(stderr, "No installation of MATLAB available.\n");
return false;
}
#endif
Expand All @@ -203,7 +204,7 @@ static bool get_matlab_path() {
}
closedir(directory);
if (!latest_version) {
fprintf(stderr, "No installation of Matlab available.\n");
fprintf(stderr, "No installation of MATLAB available.\n");
return false;
}

Expand Down Expand Up @@ -233,11 +234,12 @@ static void print_options() {
"connect.\n 1234 is used by default, as it is the default port for Webots.\n This setting allows you to connect to a "
"specific instance of Webots if\n there are multiple instances running on the target machine.\n The port of a Webots "
"instance can be set at its launch.\n\n --robot-name=<robot-name>\n Target a specific robot by specifying its name in "
"case multiple robots wait\n for an extern controller in the Webots instance.\n\n --matlab-path=<matlab-path>\n For "
"MATLAB controllers, this option allows to specify the path to the\n executable of a specific MATLAB version.\n By "
"default, the launcher checks in the default MATLAB installation folder.\n See "
"https://cyberbotics.com/doc/guide/running-extern-robot-controllers#running-a-matlab-extern-controller\n for more "
"information.\n\n --stdout-redirect\n Redirect the stdout of the controller to the Webots console.\n\n "
"case multiple robots wait\n for an extern controller in the Webots instance.\n\n --interactive\n Launch MATLAB "
"in interactive debugging mode.\n See https://cyberbotics.com/doc/guide/matlab#using-the-matlab-desktop for\n more "
"information.\n\n --matlab-path=<matlab-path>\n For MATLAB controllers, this option allows to specify the path to the "
"\n executable of a specific MATLAB version.\n By default, the launcher checks in the default MATLAB installation "
"folder.\n See https://cyberbotics.com/doc/guide/running-extern-robot-controllers#running-a-matlab-extern-controller\n"
" for more information.\n\n --stdout-redirect\n Redirect the stdout of the controller to the Webots console.\n\n "
"--stderr-redirect\n Redirect the stderr of the controller to the Webots console.\n\n");
}

Expand All @@ -250,6 +252,7 @@ static bool parse_options(int nb_arguments, char **arguments) {

controller = NULL;
matlab_path = NULL;
matlab_args = NULL;
char *protocol = NULL;
char *ip_address = NULL;
char *port = NULL;
Expand All @@ -273,6 +276,14 @@ static bool parse_options(int nb_arguments, char **arguments) {
const size_t robot_name_size = strlen(arguments[i] + 13) + 1;
robot_name = malloc(robot_name_size);
memcpy(robot_name, arguments[i] + 13, robot_name_size);
} else if (strncmp(arguments[i], "--interactive", 13) == 0) {
#ifdef _WIN32
matlab_args = malloc(strlen("-wait -r") + 1);
sprintf(matlab_args, "-wait -r");
#else
matlab_args = malloc(strlen("-r") + 1);
sprintf(matlab_args, "-r");
#endif
} else if (strncmp(arguments[i], "--matlab-path=", 14) == 0) {
const size_t matlab_path_size = strlen(arguments[i] + 14) + 1;
matlab_path = malloc(matlab_path_size);
Expand Down Expand Up @@ -344,11 +355,12 @@ static bool parse_options(int nb_arguments, char **arguments) {

// Show resulting target options to user
const char *location = strncmp(protocol, "tcp", 3) == 0 ? "remote" : "local";
printf("The started controller targets a %s instance (%s protocol) of Webots with port number %s.", location, protocol, port);
strncmp(protocol, "tcp", 3) == 0 ? printf(" The IP address of the remote Webots instance is '%s'. ", ip_address) :
printf(" ");
robot_name ? printf("Targeting robot '%s'.\n\n", robot_name) :
printf("Targeting the only robot waiting for an extern controller.\n\n");
printf("\nThe started controller targets a %s instance (%s protocol) of Webots with port number %s.", location, protocol,
port);
strncmp(protocol, "tcp", 3) == 0 ? printf(" The IP address of the remote Webots instance is '%s'.\n", ip_address) :
printf("\n");
robot_name ? printf("Targeting robot '%s'.\n", robot_name) :
printf("Targeting the only robot waiting for an extern controller.\n");

free(protocol);
free(ip_address);
Expand Down Expand Up @@ -723,6 +735,7 @@ static char **add_controller_arguments(char **argv, char **controller_argv, size
static void free_memory() {
free(WEBOTS_HOME);
free(matlab_path);
free(matlab_args);
free(current_path);
free(controller);

Expand Down Expand Up @@ -885,6 +898,13 @@ int main(int argc, char **argv) {
if (!matlab_path && !get_matlab_path())
return -1;

if (!matlab_args) {
matlab_args = malloc(strlen("-batch") + 1);
sprintf(matlab_args, "-batch");
} else {
printf("Running MATLAB in interactive mode...\n");
}

#ifdef _WIN32
const char *launcher_path = "\\lib\\controller\\matlab";
#elif defined __APPLE__
Expand All @@ -902,7 +922,7 @@ int main(int argc, char **argv) {
char **new_argv = NULL;
new_argv = add_single_argument(new_argv, &current_size, matlab_path);
new_argv = add_single_argument(new_argv, &current_size, matlab_command);
new_argv = add_single_argument(new_argv, &current_size, "-batch");
new_argv = add_single_argument(new_argv, &current_size, matlab_args);
new_argv = add_single_argument(new_argv, &current_size, "launcher");
if (nb_controller_arguments)
new_argv = add_controller_arguments(new_argv, argv, &current_size, true);
Expand Down