Fixed compilation on macOS (#5289)

* Fixed compilation, echo output on macOS

* Fixed echo -e

* Set JAVA_HOME automatically

* remove codesign from Makefile.include

* Update Makefile

* Update Makefile

* Compiles fixes for arm64

* Fixed compilation on arm64

* Update changelog-r2022.md

* Update changelog-r2022.md

* Got rid of aseba

* Removed aseba dependency

* Removed aseba documentation

* removed python brew

* Fixed mac distro on arm64

Co-authored-by: Yannick Goumaz <[email protected]>

Author: omichel

.gitmodules

@@ -1,12 +1,6 @@
 [submodule "src/glm"]
 	path = src/glm
 	url = https://github.com/g-truc/glm.git
-[submodule "projects/robots/mobsya/thymio/libraries/dashel-src"]
-	path = projects/robots/mobsya/thymio/libraries/dashel-src
-	url = https://github.com/aseba-community/dashel.git
-[submodule "projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba"]
-	path = projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba
-	url = https://github.com/aseba-community/aseba.git
 [submodule "src/stb"]
 	path = src/stb
 	url = https://github.com/nothings/stb.git

Makefile

@@ -164,15 +164,15 @@ install:
 
 help:
 	@+echo
-	@+echo -e "\033[32;1mWebots Makefile targets:\033[0m"
+	@+$(ECHO) "\033[32;1mWebots Makefile targets:\033[0m"
 	@+echo
-	@+echo -e "\033[33;1mmake -j$(THREADS) release\033[0m\t# compile with maximum optimization (default)"
-	@+echo -e "\033[33;1mmake -j$(THREADS) debug\033[0m  \t# compile with gdb debugging symbols"
-	@+echo -e "\033[33;1mmake -j$(THREADS) profile\033[0m\t# compile with gprof profiling information"
-	@+echo -e "\033[33;1mmake -j$(THREADS) distrib\033[0m\t# compile in release mode & create distribution package"
-	@+echo -e "\033[33;1mmake -j$(THREADS) clean\033[0m  \t# clean-up the compilation output"
-	@+echo -e "\033[33;1mmake -j$(THREADS) cleanse\033[0m\t# deep clean-up (dependencies are also removed)"
-	@+echo -e "\033[33;1mmake help\033[0m\t\t# display this message and exit"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) release\033[0m\t# compile with maximum optimization (default)"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) debug\033[0m  \t# compile with gdb debugging symbols"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) profile\033[0m\t# compile with gprof profiling information"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) distrib\033[0m\t# compile in release mode & create distribution package"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) clean\033[0m  \t# clean-up the compilation output"
+	@+$(ECHO) "\033[33;1mmake -j$(THREADS) cleanse\033[0m\t# deep clean-up (dependencies are also removed)"
+	@+$(ECHO) "\033[33;1mmake help\033[0m\t\t# display this message and exit"
 	@+echo
-	@+echo -e "\033[32;1mNote:\033[0m You seem to have a processor with $(NUMBER_OF_PROCESSORS) virtual cores,"
-	@+echo -e "      hence the \033[33;1m-j$(THREADS)\033[0m option to speed-up the compilation."
+	@+$(ECHO) "\033[32;1mNote:\033[0m You seem to have a processor with $(NUMBER_OF_PROCESSORS) virtual cores,"
+	@+$(ECHO) "      hence the \033[33;1m-j$(THREADS)\033[0m option to speed-up the compilation."

docs/guide/images/robots/thymio2/aseba_target_selection.png

@@ -9,8 +9,6 @@ More information about the Thymio II is available from its official [website](ht
 
 Webots contains an accurate model of the Thymio II robot.
 Almost all the Thymio II devices have been modeled and calibrated.
-Moreover Aseba studio and VPL for Thymio II can be connected on the simulated model allowing you to program the simulated robot using Aseba.
-Many Aseba examples are working directly with the simulated robot.
 Finally several objects related to the Thymio II are available, including a pen which can draw on any 3D object.
 
 ### Thymio II Model
@@ -67,8 +65,8 @@ Thymio2 {
   SFVec3f    translation     0 0 0
   SFRotation rotation        0 0 1 0
   SFString   name            "Thymio II"
-  SFString   controller      "thymio2_aseba"
-  MFString   controllerArgs  "port=33333"
+  SFString   controller      "thymio2_demo"
+  MFString   controllerArgs  []
   SFString   customData      ""
   SFBool     supervisor      FALSE
   SFBool     synchronization TRUE
@@ -89,31 +87,8 @@ Thymio2 {
 
 - `bodySlot`: Extends the robot with new nodes in the body slot.
 
-### Connect Aseba to the Thymio II Model
+### Robot Window
 
-The default controller of the Thymio II PROTO is the `thymio2_demo` controller.
-It should be changed to `thymio2_aseba` to allow the connection to Aseba programming environment.
-However, most world files including the Thymio II robot are already configured to use `thymio2_aseba` as a controller for the Thymio II robot.
-Technically, `thymio2_aseba` creates a TCP/IP server on which Aseba can be connected, and it wraps the Aseba API with the Webots API.
-
-Here is how to proceed to connect Aseba to the Thymio II model in Webots.
-Make sure that the simulation is running (the controller has started) and that the controller of the Thymio II robot is `thymio2_aseba`.
-You can check this from the Webots scene tree, by opening the Thymio2 node.
-Aseba Studio or VPL for Thymio II can then be started.
-From the Aseba target selection dialog (see the [figure](#aseba-studio-and-vpl-target-selection-dialog).), select the `Network TCP/IP` option with the following parameters: `Host = localhost` and `Port = 33333`.
-Then just click on the `Connect` button.
-
-In case of a simulation containing several Thymio II, the TCP/IP port of the `thymio2_aseba` controller should be unique for each robot instance.
-This value can be modified by editing the `Thymio2::controllerArgs` field.
-
-%figure "Aseba Studio and VPL target selection dialog"
-
-![aseba_target_selection.png](images/robots/thymio2/aseba_target_selection.png)
-
-%end
-
-The Thymio II window (see the [figure](#thymio-ii-robot-window)) can help you to raise some events easily.
-These events are mainly useful when using the VPL for Thymio II software.
 To open the Thymio II window, select the "Show Robot Window" option in the robot [context menu](the-3d-window.md#context-menu).
 
 %figure "Thymio II robot window"

docs/guide/thymio2.md

@@ -6,8 +6,4 @@
 /python38
 /python39
 /python310
-/python37_brew
-/python38_brew
-/python39_brew
-/python310_brew
 /*.so.*

lib/controller/.gitignore

@@ -38,11 +38,11 @@ endif
 PYTHON_COMMAND ?= python3
 ifeq (, $(ROS_DISTRO))
 release debug profile clean:
-	@echo "# \033[0;33mROS not installed or 'ROS_DISTRO' not defined\033[0m"
+	@$(ECHO) "# \033[0;33mROS not installed or 'ROS_DISTRO' not defined\033[0m"
 else
 ifeq (2, $(ROS_VERSION))
 release debug profile clean:
-	@echo "# \033[0;33mROS_DISTRO should not be a ROS2 distribution\033[0m"
+	@$(ECHO) "# \033[0;33mROS_DISTRO should not be a ROS2 distribution\033[0m"
 else
 CXX_SOURCES = $(wildcard *.cpp)
 CXX_SOURCES += $(wildcard highlevel/*.cpp)

projects/default/controllers/ros/Makefile

@@ -64,10 +64,10 @@ LIB += -L"$(WEBOTS_CONTROLLER_LIB_PATH)" -lCppController -lCppCar -lCppDriver
 # rules
 ifeq ($(SWIG_EXISTS),)
 all release debug profile:
-	@echo -e "# \033[0;33mSWIG not installed, skipping Java API\033[0m"
+	@$(ECHO) "# \033[0;33mSWIG not installed, skipping Java API\033[0m"
 else ifeq ($(JAVA_HOME),)
 all release debug profile:
-	@echo -e "# \033[0;33mJava not installed or 'JAVA_HOME' not set, skipping Java API\033[0m"
+	@$(ECHO) "# \033[0;33mJava not installed or 'JAVA_HOME' not set, skipping Java API\033[0m"
 else
 all release debug profile: $(JAR) $(LIBRARY)
 

projects/default/libraries/vehicle/java/Makefile

@@ -14,7 +14,6 @@
 
 LIBRARIES=robotis/darwin-op/libraries.Makefile \
 	neuronics/ipr/libraries.Makefile \
-	mobsya/thymio/libraries.Makefile \
 	kuka/youbot/libraries.Makefile
 
 CONTROLLERS=\
@@ -96,8 +95,6 @@ robotis/darwin-op/controllers.Makefile robotis/darwin-op/plugins/robot_windows.M
 
 neuronics/ipr/controllers.Makefile: neuronics/ipr/libraries.Makefile
 
-mobsya/thymio/controllers.Makefile: mobsya/thymio/libraries.Makefile
-
 kuka/youbot/controllers.Makefile: kuka/youbot/libraries.Makefile
 
 %.Makefile:

projects/robots/Makefile

@@ -13,18 +13,6 @@
 # limitations under the License.
 TARGETS = thymio2_demo.Makefile
 
-ifneq (,$(wildcard ../libraries/dashel/dashel/dashel.h))
-ADD_THYMIO2_ASEBA = 1
-endif
-
-ifeq ($(MAKECMDGOALS),clean)
-ADD_THYMIO2_ASEBA = 1
-endif
-
-ifdef ADD_THYMIO2_ASEBA
-TARGETS += thymio2_aseba.Makefile
-endif
-
 .PHONY: release debug profile clean
 
 release debug profile clean: $(TARGETS)