feat: support with plugin build

2026-05-21 12:46:25 +08:00 · 2026-05-21 12:46:25 +08:00 · 0ec592a2be
parent d877661507
commit 0ec592a2be
8 changed files with 219 additions and 159 deletions
--- a/.gitignore
+++ b/.gitignore
@ -70,4 +70,6 @@ Testing/

 # user
 **/CMakeUserPresets.json
-/test_package/bin
+/test_package/test_package
+*.exe
+_tmp_install
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.21)
+cmake_minimum_required(VERSION 3.23)
 project(webots_controller LANGUAGES C CXX)

 option(WEBOTS_CONTROLLER_NO_PLUGINS "Disable runtime plugin loading (dlopen/LoadLibrary paths)." ON)
--- a/conanfile.py
+++ b/conanfile.py
@ -1,7 +1,7 @@
 from conan import ConanFile
 from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
 from conan.tools.files import copy
-
+from conan.tools.microsoft import is_msvc

 class WebotsControllerConan(ConanFile):
    name = "webots-controller"
@ -26,6 +26,18 @@ class WebotsControllerConan(ConanFile):
        if self.settings.os == "Windows":
            del self.options.fPIC

+    def configure(self):
+        # plugins use dlopen therefore ABI need to be match (same compiler type and compiler version)
+        if self.options.get_safe("no_plugins", True):
+            return
+
+        if self.settings.os == "Windows" and is_msvc(self):
+            raise ValueError("Official windows webots is build under msys2 mingw(gcc), rather than MSVC.")
+
+    def requirements(self):
+        # self.requires("stb/cci.20240531")
+        pass
+
    def layout(self):
        cmake_layout(self)

@ -34,7 +46,7 @@ class WebotsControllerConan(ConanFile):
        deps.generate()

        tc = CMakeToolchain(self)
-        tc.variables["BUILD_SHARED_LIBS"] = bool(self.options.shared)
+        # tc.variables["BUILD_SHARED_LIBS"] = bool(self.options.shared)
        tc.variables["WEBOTS_CONTROLLER_NO_PLUGINS"] = bool(self.options.no_plugins)
        tc.generate()

@ -50,4 +62,4 @@ class WebotsControllerConan(ConanFile):

    def package_info(self):
        self.cpp_info.libs = ["webots_cpp_controller", "webots_controller"]
-        self.cpp_info.includedirs = ["include/controller/cpp", "include/controller/c"]
+        self.cpp_info.includedirs = ["include", "include/controller/cpp", "include/controller/c"]
--- a/lefthook.yml
+++ b/lefthook.yml
@ -0,0 +1,13 @@
+pre-commit:
+  commands:
+    cmake-format:
+      glob: "{**/CMakeLists.txt,**/*.cmake}"
+      run: uvx --with pyyaml --from cmakelang cmake-format -i {staged_files}
+      stage_fixed: true
+    # clang-format:
+    #   run: uvx run-clang-format -i ./src ./include ./tests
+    #   stage_fixed: true
+# post-checkout:
+#   commands:
+#     inkr-skill-sync:
+#       run: uvx --from git+https://github.com/existedinnettw/inkr-harness-tools.git inkr-skill-sync .local .agents --recursive
--- a/src/controller/c/CMakeLists.txt
+++ b/src/controller/c/CMakeLists.txt
@ -2,78 +2,77 @@ set(WEBOTS_HEADERS_ROOT "${CMAKE_SOURCE_DIR}/include/controller/c")
 set(WEBOTS_INCLUDE_ROOT "${CMAKE_SOURCE_DIR}/include")
 set(WEBOTS_STB_DIR "${CMAKE_SOURCE_DIR}/src/stb")

+file(GLOB_RECURSE WEBOTS_CONTROLLER_C_PUBLIC_HEADERS CONFIGURE_DEPENDS
+     "${WEBOTS_HEADERS_ROOT}/webots/*.h")
+file(GLOB_RECURSE WEBOTS_CONTROLLER_PLUGIN_PUBLIC_HEADERS CONFIGURE_DEPENDS
+     "${WEBOTS_INCLUDE_ROOT}/plugins/*.h")
+
 if(NOT EXISTS "${WEBOTS_HEADERS_ROOT}/webots")
-  message(FATAL_ERROR "Missing required repo path: ${WEBOTS_HEADERS_ROOT}/webots")
+  message(
+    FATAL_ERROR "Missing required repo path: ${WEBOTS_HEADERS_ROOT}/webots")
 endif()

 if(NOT EXISTS "${WEBOTS_STB_DIR}/stb_image.h")
-  message(FATAL_ERROR "Missing required repo path: ${WEBOTS_STB_DIR}/stb_image.h")
+  message(
+    FATAL_ERROR "Missing required repo path: ${WEBOTS_STB_DIR}/stb_image.h")
 endif()

 set(WEBOTS_CONTROLLER_C_CORE_SOURCES
-  abstract_camera.c
-  accelerometer.c
-  altimeter.c
-  ansi_codes.c
-  base64.c
-  brake.c
-  camera.c
-  compass.c
-  connector.c
-  console.c
-  default_robot_window.c
-  device.c
-  display.c
-  distance_sensor.c
-  emitter.c
-  file.c
-  g_image.c
-  g_pipe.c
-  gps.c
-  gyro.c
-  image.c
-  inertial_unit.c
-  joystick.c
-  keyboard.c
-  led.c
-  lidar.c
-  light_sensor.c
-  microphone.c
-  motion.c
-  motor.c
-  mouse.c
-  node.c
-  pen.c
-  percent.c
-  position_sensor.c
-  radar.c
-  range_finder.c
-  receiver.c
-  request.c
-  robot.c
-  scheduler.c
-  sha1.c
-  skin.c
-  speaker.c
-  string.c
-  supervisor.c
-  system.c
-  tcp_client.c
-  touch_sensor.c
-  vacuum_gripper.c
-)
+    abstract_camera.c
+    accelerometer.c
+    altimeter.c
+    ansi_codes.c
+    base64.c
+    brake.c
+    camera.c
+    compass.c
+    connector.c
+    console.c
+    default_robot_window.c
+    device.c
+    display.c
+    distance_sensor.c
+    emitter.c
+    file.c
+    g_image.c
+    g_pipe.c
+    gps.c
+    gyro.c
+    image.c
+    inertial_unit.c
+    joystick.c
+    keyboard.c
+    led.c
+    lidar.c
+    light_sensor.c
+    microphone.c
+    motion.c
+    motor.c
+    mouse.c
+    node.c
+    pen.c
+    percent.c
+    position_sensor.c
+    radar.c
+    range_finder.c
+    receiver.c
+    request.c
+    robot.c
+    scheduler.c
+    sha1.c
+    skin.c
+    speaker.c
+    string.c
+    supervisor.c
+    system.c
+    tcp_client.c
+    touch_sensor.c
+    vacuum_gripper.c)

-set(WEBOTS_CONTROLLER_C_PLUGIN_SOURCES
-  dynamic_library.c
-  html_robot_window.c
-  radio.c
-  remote_control.c
-  robot_window.c
-)
+set(WEBOTS_CONTROLLER_C_PLUGIN_SOURCES dynamic_library.c html_robot_window.c
+                                       radio.c remote_control.c robot_window.c)

-set(WEBOTS_CONTROLLER_C_STUB_SOURCES
-  no_plugins_stubs.c
-)
+set(WEBOTS_CONTROLLER_C_STUB_SOURCES no_plugins_stubs.c)

 set(WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_CORE_SOURCES})
 if(WEBOTS_CONTROLLER_NO_PLUGINS)
@ -82,27 +81,48 @@ else()
  list(APPEND WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_PLUGIN_SOURCES})
 endif()

-# add_library without STATIC/SHARED follows BUILD_SHARED_LIBS automatically in cmake.
+# add_library without STATIC/SHARED follows BUILD_SHARED_LIBS automatically in
+# cmake.
 add_library(webots_controller ${WEBOTS_CONTROLLER_C_SOURCES})
 add_library(webots-controller::webots_controller ALIAS webots_controller)

+target_sources(
+  webots_controller
+  PUBLIC FILE_SET
+         webots_c_headers
+         TYPE
+         HEADERS
+         BASE_DIRS
+         "${WEBOTS_HEADERS_ROOT}"
+         FILES
+         ${WEBOTS_CONTROLLER_C_PUBLIC_HEADERS}
+         FILE_SET
+         webots_plugin_headers
+         TYPE
+         HEADERS
+         BASE_DIRS
+         "${WEBOTS_INCLUDE_ROOT}"
+         FILES
+         ${WEBOTS_CONTROLLER_PLUGIN_PUBLIC_HEADERS})
+
 if(WIN32)
-  set_target_properties(webots_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+  set_target_properties(webots_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS
+                                                     ON)
  target_link_libraries(webots_controller PRIVATE ws2_32)
 endif()

-target_include_directories(webots_controller
-  PUBLIC
-    $<BUILD_INTERFACE:${WEBOTS_HEADERS_ROOT}>
-    $<INSTALL_INTERFACE:include/controller/c>
-  PRIVATE
-    ${WEBOTS_STB_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(
+  webots_controller
+  PUBLIC $<BUILD_INTERFACE:${WEBOTS_INCLUDE_ROOT}>
+         $<BUILD_INTERFACE:${WEBOTS_HEADERS_ROOT}> $<INSTALL_INTERFACE:include>
+         $<INSTALL_INTERFACE:include/controller/c>
+  PRIVATE ${WEBOTS_STB_DIR} ${CMAKE_CURRENT_SOURCE_DIR})

-target_compile_definitions(webots_controller PRIVATE LIBCONTROLLER_VERSION="R2025a")
+target_compile_definitions(webots_controller
+                           PRIVATE LIBCONTROLLER_VERSION="R2025a")
 if(WEBOTS_CONTROLLER_NO_PLUGINS)
-  target_compile_definitions(webots_controller PUBLIC WEBOTS_CONTROLLER_NO_PLUGINS=1)
+  target_compile_definitions(webots_controller
+                             PUBLIC WEBOTS_CONTROLLER_NO_PLUGINS=1)
 endif()

 if(UNIX)
@ -115,5 +135,8 @@ if(UNIX)
  endif()
 endif()

-install(TARGETS webots_controller)
-install(DIRECTORY "${WEBOTS_HEADERS_ROOT}/webots" DESTINATION "include/controller/c")
+install(
+  TARGETS webots_controller FILE_SET webots_c_headers
+  DESTINATION "include/controller/c"
+  FILE_SET webots_plugin_headers
+  DESTINATION "include")
--- a/src/controller/cpp/CMakeLists.txt
+++ b/src/controller/cpp/CMakeLists.txt
@ -1,58 +1,71 @@
 set(WEBOTS_CONTROLLER_CPP_SOURCES
-  Accelerometer.cpp
-  Altimeter.cpp
-  Brake.cpp
-  Camera.cpp
-  Compass.cpp
-  Connector.cpp
-  Device.cpp
-  Display.cpp
-  DistanceSensor.cpp
-  Emitter.cpp
-  Field.cpp
-  GPS.cpp
-  Gyro.cpp
-  InertialUnit.cpp
-  Joystick.cpp
-  Keyboard.cpp
-  LED.cpp
-  Lidar.cpp
-  LightSensor.cpp
-  Motion.cpp
-  Motor.cpp
-  Mouse.cpp
-  Node.cpp
-  Pen.cpp
-  PositionSensor.cpp
-  Proto.cpp
-  Radar.cpp
-  RangeFinder.cpp
-  Receiver.cpp
-  Robot.cpp
-  Skin.cpp
-  Speaker.cpp
-  Supervisor.cpp
-  TouchSensor.cpp
-  VacuumGripper.cpp
-)
+    Accelerometer.cpp
+    Altimeter.cpp
+    Brake.cpp
+    Camera.cpp
+    Compass.cpp
+    Connector.cpp
+    Device.cpp
+    Display.cpp
+    DistanceSensor.cpp
+    Emitter.cpp
+    Field.cpp
+    GPS.cpp
+    Gyro.cpp
+    InertialUnit.cpp
+    Joystick.cpp
+    Keyboard.cpp
+    LED.cpp
+    Lidar.cpp
+    LightSensor.cpp
+    Motion.cpp
+    Motor.cpp
+    Mouse.cpp
+    Node.cpp
+    Pen.cpp
+    PositionSensor.cpp
+    Proto.cpp
+    Radar.cpp
+    RangeFinder.cpp
+    Receiver.cpp
+    Robot.cpp
+    Skin.cpp
+    Speaker.cpp
+    Supervisor.cpp
+    TouchSensor.cpp
+    VacuumGripper.cpp)
+
+file(GLOB_RECURSE WEBOTS_CONTROLLER_CPP_PUBLIC_HEADERS CONFIGURE_DEPENDS
+     "${CMAKE_SOURCE_DIR}/include/controller/cpp/webots/*.hpp")

 add_library(webots_cpp_controller ${WEBOTS_CONTROLLER_CPP_SOURCES})
-add_library(webots-controller::webots_cpp_controller ALIAS webots_cpp_controller)
+add_library(webots-controller::webots_cpp_controller ALIAS
+            webots_cpp_controller)
+
+target_sources(
+  webots_cpp_controller
+  PUBLIC FILE_SET
+         webots_cpp_headers
+         TYPE
+         HEADERS
+         BASE_DIRS
+         "${CMAKE_SOURCE_DIR}/include/controller/cpp"
+         FILES
+         ${WEBOTS_CONTROLLER_CPP_PUBLIC_HEADERS})

 if(WIN32)
-  set_target_properties(webots_cpp_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+  set_target_properties(webots_cpp_controller
+                        PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()

-target_include_directories(webots_cpp_controller
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include/controller/cpp>
-    $<INSTALL_INTERFACE:include/controller/cpp>
-)
+target_include_directories(
+  webots_cpp_controller
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include/controller/cpp>
+         $<INSTALL_INTERFACE:include/controller/cpp>)

-target_link_libraries(webots_cpp_controller
-  PUBLIC
-    webots_controller
-)
+target_link_libraries(webots_cpp_controller PUBLIC webots_controller)

-install(TARGETS webots_cpp_controller)
-install(DIRECTORY "${CMAKE_SOURCE_DIR}/include/controller/cpp/webots" DESTINATION "include/controller/cpp")
+install(
+  TARGETS webots_cpp_controller
+          # `include "../../c/webots/types.h"` in `Robot.hpp`
+          FILE_SET webots_cpp_headers DESTINATION "include/controller/cpp")
--- a/test_package/CMakeLists.txt
+++ b/test_package/CMakeLists.txt
@ -20,38 +20,35 @@ if(WIN32 AND DEFINED ENV{MINGW_HOME})
  list(APPEND _extra_runtime_dirs "$ENV{MINGW_HOME}/bin")
 endif()

-# Webots controllers rely on seeing shared deps in the same directory as the executable.
-install(TARGETS test_package
-  RUNTIME_DEPENDENCY_SET test_package_runtime_deps
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
+# Webots controllers rely on seeing shared deps in the same directory as the
+# executable. Destination therefore change to "."
+install(
+  TARGETS test_package RUNTIME_DEPENDENCY_SET test_package_runtime_deps
+  RUNTIME DESTINATION .
+  LIBRARY DESTINATION .
+  ARCHIVE DESTINATION .)

 if(WIN32)
-  set(_runtime_dep_pre_excludes
-    "^api-ms-win-.*"
-    "^ext-ms-.*")
-  set(_runtime_dep_post_excludes
-    ".*/system32/.*"
-    ".*/Windows/.*"
-    ".*/SysWOW64/.*")
+  set(_runtime_dep_pre_excludes "^api-ms-win-.*" "^ext-ms-.*")
+  set(_runtime_dep_post_excludes ".*/system32/.*" ".*/Windows/.*"
+                                 ".*/SysWOW64/.*")
 else()
  set(_runtime_dep_pre_excludes
-    [[libc\.so\..*]]
-    [[libgcc_s\.so\..*]]
-    [[libm\.so\..*]]
-    [[libstdc\+\+\.so\..*]]
-    [[ld-linux-x86-64\.so\..*]])
-  set(_runtime_dep_post_excludes
-    [[^/lib.*]]
-    [[^/usr/lib.*]])
+      [[libc\.so\..*]] [[libgcc_s\.so\..*]] [[libm\.so\..*]]
+      [[libstdc\+\+\.so\..*]] [[ld-linux-x86-64\.so\..*]])
+  set(_runtime_dep_post_excludes [[^/lib.*]] [[^/usr/lib.*]])
 endif()

 install(
-  RUNTIME_DEPENDENCY_SET test_package_runtime_deps
-  PRE_EXCLUDE_REGEXES ${_runtime_dep_pre_excludes}
-  POST_EXCLUDE_REGEXES ${_runtime_dep_post_excludes}
+  RUNTIME_DEPENDENCY_SET
+  test_package_runtime_deps
+  PRE_EXCLUDE_REGEXES
+  ${_runtime_dep_pre_excludes}
+  POST_EXCLUDE_REGEXES
+  ${_runtime_dep_post_excludes}
  DIRECTORIES
-    ${CONAN_RUNTIME_LIB_DIRS}
-    ${CMAKE_SYSROOT}/lib
-    ${_extra_runtime_dirs})
+  ${CONAN_RUNTIME_LIB_DIRS}
+  ${CMAKE_SYSROOT}/lib
+  ${_extra_runtime_dirs}
+  DESTINATION
+  .)
--- a/test_package/conanfile.py
+++ b/test_package/conanfile.py
@ -25,6 +25,6 @@ class TestPackageConan(ConanFile):
        cmake = CMake(self)
        cmake.install()
        if can_run(self):
-            exe = os.path.join(self.source_folder, "bin", "test_package")
+            exe = os.path.join(self.source_folder, "test_package")
            self.run(exe, env="conanrun")