feat: implement core functionality and stubs for webots controller

.gitignore

@@ -67,3 +67,7 @@ vcpkg_installed/
 # test output & cache
 Testing/
 .cache/
+
+# user
+/CMakeUserPresets.json
+

CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.21)
+project(webots_controller VERSION 0.1.0 LANGUAGES C)
+
+option(WEBOTS_CONTROLLER_NO_PLUGINS "Disable runtime plugin loading (dlopen/LoadLibrary paths)." ON)
+
+add_subdirectory(src/controller)

README.md

@@ -1,2 +1,16 @@
 # webots-controller
-Non official webots controller pack
+
+Unofficial Conan package for Webots controller sources.
+
+## Options
+
+- `no_plugins` (default: `True`): disables runtime plugin loading paths (`dlopen` / `LoadLibrary`) by compiling stub implementations for robot window and remote control plugin entry points.
+
+By default, headers are read from `./include/controller/c` and stb from `./src/stb`, matching this repo layout.
+
+## Example
+
+```bash
+conan create . \
+  -o webots-controller/*:no_plugins=True
+```

conanfile.py

@@ -0,0 +1,52 @@
+from conan import ConanFile
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import copy
+
+
+class WebotsControllerConan(ConanFile):
+    name = "webots-controller"
+    version = "0.1.0"
+    package_type = "library"
+
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "no_plugins": [True, False],
+    }
+    default_options = {
+        "shared": True,
+        "fPIC": True,
+        "no_plugins": True,
+    }
+
+    exports_sources = "CMakeLists.txt", "src/*", "LICENSE", "README.md"
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def layout(self):
+        cmake_layout(self)
+
+    def generate(self):
+        deps = CMakeDeps(self)
+        deps.generate()
+
+        tc = CMakeToolchain(self)
+        tc.variables["BUILD_SHARED_LIBS"] = bool(self.options.shared)
+        tc.variables["WEBOTS_CONTROLLER_NO_PLUGINS"] = bool(self.options.no_plugins)
+        tc.generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        cmake = CMake(self)
+        cmake.install()
+        copy(self, "LICENSE", src=self.source_folder, dst=f"{self.package_folder}/licenses")
+
+    def package_info(self):
+        self.cpp_info.libs = ["webots_controller"]

src/controller/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(c)

src/controller/c/CMakeLists.txt

@@ -0,0 +1,116 @@
+set(WEBOTS_HEADERS_ROOT "${CMAKE_SOURCE_DIR}/include/controller/c")
+set(WEBOTS_INCLUDE_ROOT "${CMAKE_SOURCE_DIR}/include")
+set(WEBOTS_STB_DIR "${CMAKE_SOURCE_DIR}/src/stb")
+
+if(NOT EXISTS "${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")
+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
+)
+
+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_SOURCES ${WEBOTS_CONTROLLER_C_CORE_SOURCES})
+if(WEBOTS_CONTROLLER_NO_PLUGINS)
+  list(APPEND WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_STUB_SOURCES})
+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(webots_controller ${WEBOTS_CONTROLLER_C_SOURCES})
+add_library(webots-controller::webots_controller ALIAS webots_controller)
+
+if(WIN32)
+  set_target_properties(webots_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endif()
+
+target_include_directories(webots_controller
+  PRIVATE
+    ${WEBOTS_HEADERS_ROOT}
+    ${WEBOTS_INCLUDE_ROOT}
+    ${WEBOTS_STB_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_compile_definitions(webots_controller PRIVATE LIBCONTROLLER_VERSION="custom")
+if(WEBOTS_CONTROLLER_NO_PLUGINS)
+  target_compile_definitions(webots_controller PUBLIC WEBOTS_CONTROLLER_NO_PLUGINS=1)
+endif()
+
+if(UNIX)
+  target_link_libraries(webots_controller PRIVATE m)
+  if(NOT APPLE)
+    target_link_libraries(webots_controller PRIVATE pthread rt)
+    if(NOT WEBOTS_CONTROLLER_NO_PLUGINS)
+      target_link_libraries(webots_controller PRIVATE dl)
+    endif()
+  endif()
+endif()
+
+install(TARGETS webots_controller)

src/controller/c/no_plugins_stubs.c

@@ -0,0 +1,110 @@
+#include <stdbool.h>
+
+#include "html_robot_window_private.h"
+#include "remote_control_private.h"
+#include "robot_window_private.h"
+
+#include <stddef.h>
+
+void robot_window_init(const char *library_name) {
+  (void)library_name;
+}
+
+bool robot_window_is_initialized() {
+  return false;
+}
+
+const char *robot_window_get_last_error() {
+  return "plugins disabled";
+}
+
+void robot_window_pre_update_gui() {
+}
+
+void robot_window_update_gui() {
+}
+
+void robot_window_read_sensors() {
+}
+
+void robot_window_write_actuators() {
+}
+
+void robot_window_cleanup() {
+}
+
+void robot_window_show() {
+}
+
+void *wb_robot_window_custom_function(void *args) {
+  (void)args;
+  return NULL;
+}
+
+bool wb_robot_window_load_library(const char *name) {
+  (void)name;
+  return false;
+}
+
+void html_robot_window_init() {
+}
+
+void html_robot_window_step(int step) {
+  (void)step;
+}
+
+void html_robot_window_cleanup() {
+}
+
+void remote_control_init(const char *library_name) {
+  (void)library_name;
+}
+
+void remote_control_cleanup() {
+}
+
+bool remote_control_is_initialized() {
+  return false;
+}
+
+const char *remote_control_get_last_error() {
+  return "plugins disabled";
+}
+
+bool remote_control_start(const char *args) {
+  (void)args;
+  return false;
+}
+
+void remote_control_stop() {
+}
+
+void remote_control_stop_actuators() {
+}
+
+bool remote_control_has_failed() {
+  return false;
+}
+
+void remote_control_step(int duration) {
+  (void)duration;
+}
+
+WbRequest *remote_control_handle_messages(WbRequest *r) {
+  return r;
+}
+
+void remote_control_handle_one_message(WbRequest *r, WbDeviceTag tag) {
+  (void)r;
+  (void)tag;
+}
+
+bool remote_control_is_function_defined(const char *function_name) {
+  (void)function_name;
+  return false;
+}
+
+void *wb_remote_control_custom_function(void *arg) {
+  (void)arg;
+  return NULL;
+}