feat: add cpp controller build support

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.21)
-project(webots_controller VERSION 0.1.0 LANGUAGES C)
+project(webots_controller VERSION 0.1.0 LANGUAGES C CXX)
 
 option(WEBOTS_CONTROLLER_NO_PLUGINS "Disable runtime plugin loading (dlopen/LoadLibrary paths)." ON)
 

conanfile.py

@@ -49,4 +49,4 @@ class WebotsControllerConan(ConanFile):
         copy(self, "LICENSE", src=self.source_folder, dst=f"{self.package_folder}/licenses")
 
     def package_info(self):
-        self.cpp_info.libs = ["webots_controller"]
+        self.cpp_info.libs = ["webots_cpp_controller", "webots_controller"]

src/controller/CMakeLists.txt

@@ -1 +1,2 @@
 add_subdirectory(c)
+add_subdirectory(cpp)

src/controller/cpp/CMakeLists.txt

@@ -0,0 +1,57 @@
+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
+)
+
+add_library(webots_cpp_controller ${WEBOTS_CONTROLLER_CPP_SOURCES})
+add_library(webots-controller::webots_cpp_controller ALIAS webots_cpp_controller)
+
+if(WIN32)
+  set_target_properties(webots_cpp_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endif()
+
+target_include_directories(webots_cpp_controller
+  PRIVATE
+    ${CMAKE_SOURCE_DIR}/include/controller/c
+    ${CMAKE_SOURCE_DIR}/include/controller/cpp
+)
+
+target_link_libraries(webots_cpp_controller
+  PUBLIC
+    webots_controller
+)
+
+install(TARGETS webots_cpp_controller)

test_package/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package CXX)
+
+find_package(webots-controller REQUIRED CONFIG)
+
+add_executable(test_package test_package.cpp)
+target_link_libraries(test_package PRIVATE Webots::CppController Webots::Controller)
+
+if(POLICY CMP0207)
+  cmake_policy(SET CMP0207 NEW)
+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)
+
+if(WIN32)
+  # for single-config generators.
+  set(_runtime_dependency_directories)
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" _conan_build_type)
+  set(_webots_bin_dirs_var "webots-controller_BIN_DIRS_${_conan_build_type}")
+  if(DEFINED ${_webots_bin_dirs_var})
+    list(APPEND _runtime_dependency_directories ${${_webots_bin_dirs_var}})
+  endif()
+  if(DEFINED ENV{MINGW_HOME})
+    list(APPEND _runtime_dependency_directories "$ENV{MINGW_HOME}/bin")
+  endif()
+  install(
+    RUNTIME_DEPENDENCY_SET test_package_runtime_deps
+    DIRECTORIES ${_runtime_dependency_directories}
+    PRE_EXCLUDE_REGEXES
+      "^api-ms-win-.*"
+      "^ext-ms-.*"
+    POST_EXCLUDE_REGEXES
+      ".*/system32/.*"
+      ".*/Windows/.*"
+      ".*/SysWOW64/.*"
+    DESTINATION bin)
+else()
+  install(
+    RUNTIME_DEPENDENCY_SET test_package_runtime_deps
+    DESTINATION bin)
+endif()

test_package/conanfile.py

@@ -0,0 +1,28 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import CMake, cmake_layout
+import os
+
+
+class TestPackageConan(ConanFile):
+    test_type = "explicit"
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        cmake = CMake(self)
+        cmake.install()
+        if can_run(self):
+            exe = os.path.join(self.source_folder, "bin", "test_package")
+            self.run(exe, env="conanrun")

test_package/test_package.cpp

@@ -0,0 +1,12 @@
+#include <webots/Robot.hpp>
+#include <webots/robot.h>
+#include <iostream>
+
+int main() {
+  auto cpp_symbol = &webots::Robot::getBasicTimeStep;
+  auto c_symbol = &wb_robot_get_time;
+  (void)cpp_symbol;
+  (void)c_symbol;
+  std::cout << "Success!" << std::endl;
+  return 0;
+}