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Sync libcontroller master #853

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merged 1 commit into from
Oct 2, 2023
Merged

Sync libcontroller master #853

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4 changes: 2 additions & 2 deletions webots_ros2_driver/webots/lib/controller/python/controller/receiver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,8 +91,8 @@ def signal_strength(self) -> float:
return wb.wb_receiver_get_signal_strength(self._tag)

@property
def emitter_direction(self):
return wb.wb_receiver_get_emitter_direction(self._tag)
def emitter_direction(self) -> List[float]:
return wb.wb_receiver_get_emitter_direction(self._tag)[:3]

@property
def channel(self) -> int:
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44 changes: 25 additions & 19 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 @@ -169,54 +169,60 @@ static bool get_webots_home() {
// Gets and stores the path to the latest installed version of Matlab on the system.
static bool get_matlab_path() {
struct dirent *directory_entry; // Pointer for directory entry

#ifdef __APPLE__
const char *matlab_directory = "/Applications/";
const char *matlab_version_wc = "MATLAB_R20";
#else
const char *matlab_version_wc = "R20";
#ifdef _WIN32
const char *matlab_exec_suffix = "/bin/matlab";
#elif _WIN32
const char *matlab_directory = "C:\\Program Files\\MATLAB\\";
const char *matlab_version_wc = "R20";
const char *matlab_exec_suffix = "\\bin\\matlab.exe";
#else // __linux__
#elif __linux__
const char *matlab_directory = "/usr/local/MATLAB/";
const char *matlab_version_wc = "R20";
const char *matlab_exec_suffix = "/bin/matlab";
#endif
#else
#error "OS not supported!"
#endif

DIR *directory = opendir(matlab_directory);
#ifndef __APPLE__
if (directory == NULL) {
fprintf(stderr, "No installation of MATLAB available.\n");
#ifdef __APPLE__
fprintf(stderr, "Could not open Applications folder to search for MATLAB installation. Please specify it manually using "
"the option '--matlab-path'.\n");
#else
fprintf(stderr, "No installation of MATLAB found. Please specify it manually using the option '--matlab-path'.\n");
#endif
return false;
}
#endif

// Get latest available Matlab version
char *latest_version = NULL;
while ((directory_entry = readdir(directory)) != NULL) {
const size_t directory_name_size = strlen(directory_entry->d_name) + 1;
if (strncmp(matlab_version_wc, directory_entry->d_name, strlen(matlab_version_wc)) == 0) {
if (!latest_version)
if (!latest_version) {
latest_version = malloc(directory_name_size);
else if (strcmp(latest_version, directory_entry->d_name) < 0)
memset(latest_version, '\0', directory_name_size);
strncpy(latest_version, directory_entry->d_name, directory_name_size);
strncpy(latest_version, directory_entry->d_name, directory_name_size);
} else if (strcmp(latest_version, directory_entry->d_name) < 0) {
char *tmp = realloc(latest_version, directory_name_size);
if (tmp)
latest_version = tmp;
strncpy(latest_version, directory_entry->d_name, directory_name_size);
}
}
}
closedir(directory);
if (!latest_version) {
fprintf(stderr, "No installation of MATLAB available.\n");
fprintf(stderr, "No installation of MATLAB found. Please specify it manually using the option '--matlab-path'.\n");
return false;
}

#ifdef __APPLE__
const size_t matlab_path_size = snprintf(NULL, 0, "%s%s", matlab_directory, latest_version) + 1;
matlab_path = malloc(matlab_path_size);
sprintf(matlab_path, "%s%s", matlab_directory, latest_version);
#else
const size_t matlab_path_size = snprintf(NULL, 0, "%s%s%s", matlab_directory, latest_version, matlab_exec_suffix) + 1;
matlab_path = malloc(matlab_path_size);
sprintf(matlab_path, "%s%s%s", matlab_directory, latest_version, matlab_exec_suffix);
#endif
printf("Using the latest available MATLAB instance: %s\n", matlab_path);

free(latest_version);
return true;
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