Simplify tmp directory computation for extern controllers (#6002)

* reorganize and comment system.c

* Simplify tmp dir computation

* comments

* Update system.c

* fix cpp check error

* fix cppcheck ubuntu

* clang format 11

* Fixed cppcheck

* print clang format info

* Force version 11

* pip uninstall

* remove initial version

* fix

* Fixed clang format

* fix macOS

* Update tests_sources.yml

* Update tests_sources.yml

* install cf macOS

* fix c-f

* install llvm instead

* install c-f 14 on macOS

* fix cf install

* Update latest script and cleanup

* Update changelog-r2023.md

---------

Co-authored-by: Olivier Michel <[email protected]>

Author: ygoumaz

.github/workflows/tests_sources.yml

@@ -34,20 +34,20 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-11, windows-2019]
+        os: [ubuntu-22.04, macos-11, windows-2019]
         python: [3.9]
         include:
-          - os: ubuntu-20.04
-            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+          - os: ubuntu-22.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
           - os: macos-11
-            DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.10 cppcheck $USER/local-cppcheck; brew install [email protected]; brew install clang-format@11; ln /usr/local/bin/clang-format-11 /usr/local/bin/clang-format"
+            DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.10 cppcheck $USER/local-cppcheck; brew install [email protected]; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install [email protected]"
           - os: windows-2019
-            DEPENDENCIES_INSTALLATION: "choco install -y cppcheck --version=2.10 || true; choco uninstall -y llvm; choco install -y llvm --version=13.0.1; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
+            DEPENDENCIES_INSTALLATION: "choco install -y cppcheck --version=2.10 || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
     steps:
     - name: OS check
-      if: (matrix.os == 'ubuntu-20.04' && matrix.python == '3.9') || github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      if: (matrix.os == 'ubuntu-22.04' && matrix.python == '3.9') || github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       run: |
         echo "::set-output name=job_needed::true"
       id: os_check

.github/workflows/tests_sources_with_latest_cppcheck.yml

@@ -30,20 +30,20 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-11, windows-2019]
+        os: [ubuntu-22.04, macos-11, windows-2019]
         python: [3.9]
         include:
-          - os: ubuntu-20.04
-            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+          - os: ubuntu-22.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
           - os: macos-11
-            DEPENDENCIES_INSTALLATION: "brew install clang-format@11 cppcheck; ln /usr/local/bin/clang-format-11 /usr/local/bin/clang-format"
+            DEPENDENCIES_INSTALLATION: "brew install cppcheck; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install [email protected]"
           - os: windows-2019
-            DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=13.0.1; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
+            DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
     steps:
     - name: OS check
-      if: (matrix.os == 'ubuntu-20.04' && matrix.python == '3.9') || github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      if: (matrix.os == 'ubuntu-22.04' && matrix.python == '3.9') || github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
       run: |
         echo "::set-output name=job_needed::true"
       id: os_check

docs/reference/changelog-r2023.md

@@ -49,6 +49,7 @@ Released on ??
     - Fixed bug causing Webots to hang when requesting multiple poses while pose-tracking multiple nodes ([#5952](https://github.com/cyberbotics/webots/pull/5952)).
     - Fixed physics state updates of [Solid](solid.md) nodes added to a descendant [`Joint.endPoint`](joint.md) during simulation ([#5961](https://github.com/cyberbotics/webots/pull/5961)).
     - Fixed unwanted altitude change when reaching a target waypoint in `mavic2pro_patrol.c` ([#5981](https://github.com/cyberbotics/webots/pull/5981)).
+    - Fixed the extern controller connection to a target Webots instance when a snap one is running. ([#6002](https://github.com/cyberbotics/webots/pull/6002)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

projects/default/controllers/ros/highlevel/RosControl.cpp

@@ -36,5 +36,7 @@ namespace highlevel {
     mLastUpdate = ros::Time::now();
   }
 
-  void RosControl::write() { mWebotsHW->write(); }
+  void RosControl::write() {
+    mWebotsHW->write();
+  }
 }  // namespace highlevel

projects/robots/epfl/lis/controllers/blimp/js.h

@@ -467,25 +467,53 @@ class jsJoystick {
 #endif
   }
 
-  ~jsJoystick() { close(); }
+  ~jsJoystick() {
+    close();
+  }
 
-  int getNumAxes() const { return num_axes; }
-  int notWorking() const { return error; }
-  void setError() { error = JS_TRUE; }
+  int getNumAxes() const {
+    return num_axes;
+  }
+  int notWorking() const {
+    return error;
+  }
+  void setError() {
+    error = JS_TRUE;
+  }
 
-  float getDeadBand(int axis) const { return dead_band[axis]; }
-  void setDeadBand(int axis, float db) { dead_band[axis] = db; }
+  float getDeadBand(int axis) const {
+    return dead_band[axis];
+  }
+  void setDeadBand(int axis, float db) {
+    dead_band[axis] = db;
+  }
 
-  float getSaturation(int axis) const { return saturate[axis]; }
-  void setSaturation(int axis, float st) { saturate[axis] = st; }
+  float getSaturation(int axis) const {
+    return saturate[axis];
+  }
+  void setSaturation(int axis, float st) {
+    saturate[axis] = st;
+  }
 
-  void setMinRange(float *axes) { memcpy(min, axes, num_axes * sizeof(float)); }
-  void setMaxRange(float *axes) { memcpy(max, axes, num_axes * sizeof(float)); }
-  void setCenter(float *axes) { memcpy(center, axes, num_axes * sizeof(float)); }
+  void setMinRange(float *axes) {
+    memcpy(min, axes, num_axes * sizeof(float));
+  }
+  void setMaxRange(float *axes) {
+    memcpy(max, axes, num_axes * sizeof(float));
+  }
+  void setCenter(float *axes) {
+    memcpy(center, axes, num_axes * sizeof(float));
+  }
 
-  void getMinRange(float *axes) { memcpy(axes, min, num_axes * sizeof(float)); }
-  void getMaxRange(float *axes) { memcpy(axes, max, num_axes * sizeof(float)); }
-  void getCenter(float *axes) { memcpy(axes, center, num_axes * sizeof(float)); }
+  void getMinRange(float *axes) {
+    memcpy(axes, min, num_axes * sizeof(float));
+  }
+  void getMaxRange(float *axes) {
+    memcpy(axes, max, num_axes * sizeof(float));
+  }
+  void getCenter(float *axes) {
+    memcpy(axes, center, num_axes * sizeof(float));
+  }
 
   void read(int *buttons, float *axes) {
     if (error) {

src/controller/c/system.c

@@ -84,40 +84,43 @@ const char *wbu_system_short_path(const char *path) {
 #endif
 }
 
+// path to the 'webots-%d' folder computed by Webots instance
+// intern controllers only
+const char *wbu_system_webots_instance_path(bool refresh) {
+  static const char *WEBOTS_INSTANCE_PATH = NULL;
+  if (WEBOTS_INSTANCE_PATH && !refresh)
+    return WEBOTS_INSTANCE_PATH;
+  WEBOTS_INSTANCE_PATH = getenv("WEBOTS_INSTANCE_PATH");
+  if (WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0])
+    return WEBOTS_INSTANCE_PATH;
+  return NULL;
+}
+
+// compute the path to the tmp directory
+// extern controllers only
 const char *wbu_system_tmpdir() {
   static char *tmpdir = NULL;
   if (tmpdir)
     return tmpdir;
-  // if WEBOTS_TMPDIR environment variable is defined, use it for the tmpdir
-  const char *WEBOTS_TMPDIR = getenv("WEBOTS_TMPDIR");
-  if (WEBOTS_TMPDIR && WEBOTS_TMPDIR[0]) {
-    tmpdir = (char *)WEBOTS_TMPDIR;
-    return tmpdir;
-  }
 #ifdef _WIN32
   const char *LOCALAPPDATA = getenv("LOCALAPPDATA");
   assert(LOCALAPPDATA && LOCALAPPDATA[0]);
   const size_t len = strlen(LOCALAPPDATA) + 6;  // adding "\\Temp"
   tmpdir = malloc(len);
   snprintf(tmpdir, len, "%s\\Temp", LOCALAPPDATA);
 #elif defined(__linux__)
-  // if the ~/.WEBOTS_TMPDIR directory exists and contains some webots-* files,
-  // use it as the tmpdir, otherwise fallback to /tmp
-  const char *HOME = getenv("HOME");
-  if (HOME && HOME[0]) {
-    const size_t len = strlen(HOME) + strlen("/snap/webots/common/tmp") + 1;
-    char *path = malloc(len);
-    snprintf(path, len, "%s/snap/webots/common/tmp", HOME);
-    DIR *dir = opendir(path);
-    if (dir) {
-      struct dirent *entry;
-      while ((entry = readdir(dir))) {
-        if (strncmp(entry->d_name, "webots-", 7) == 0) {
-          tmpdir = path;
-          break;
-        }
+  // choose between snap or default tmp path
+  const char *WEBOTS_HOME = getenv("WEBOTS_HOME");
+  if (WEBOTS_HOME && WEBOTS_HOME[0]) {
+    // if WEBOTS_HOME environment variable contains snap path, use snap tmp folder
+    if (strstr(WEBOTS_HOME, "/snap/webots") != NULL) {
+      const char *HOME = getenv("HOME");
+      if (HOME && HOME[0]) {
+        const size_t len = strlen(HOME) + strlen("/snap/webots/common/tmp") + 1;
+        char *path = malloc(len);
+        snprintf(path, len, "%s/snap/webots/common/tmp", HOME);
+        tmpdir = path;
       }
-      closedir(dir);
     }
   }
   if (tmpdir == NULL)
@@ -131,13 +134,3 @@ const char *wbu_system_tmpdir() {
 #endif
   return tmpdir;
 }
-
-const char *wbu_system_webots_instance_path(bool refresh) {
-  static const char *WEBOTS_INSTANCE_PATH = NULL;
-  if (WEBOTS_INSTANCE_PATH && !refresh)
-    return WEBOTS_INSTANCE_PATH;
-  WEBOTS_INSTANCE_PATH = getenv("WEBOTS_INSTANCE_PATH");
-  if (WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0])
-    return WEBOTS_INSTANCE_PATH;
-  return NULL;
-}

src/webots/core/WbSysInfo.hpp

@@ -29,9 +29,13 @@ namespace WbSysInfo {
 #ifdef __linux__
   const QString &linuxCpuModelName();
   bool isRootUser();
-  inline bool isSnap() { return qgetenv("SNAP_NAME") == "webots"; }
+  inline bool isSnap() {
+    return qgetenv("SNAP_NAME") == "webots";
+  }
 #else
-  inline bool isSnap() { return false; }
+  inline bool isSnap() {
+    return false;
+  }
 #endif
   QString environmentVariable(const QString &name);
   void setEnvironmentVariable(const QString &name, const QString &value);

src/webots/gui/WbNewControllerWizard.hpp

@@ -92,7 +92,9 @@ class WbLanguageWizardPage : public QWizardPage {
 #endif
       return WbNewControllerWizard::NAME;
   }
-  void setButtonGroup(const QButtonGroup *buttonGroup) { mButtonGroup = buttonGroup; }
+  void setButtonGroup(const QButtonGroup *buttonGroup) {
+    mButtonGroup = buttonGroup;
+  }
 
 private:
   const QButtonGroup *mButtonGroup;

src/webots/maths/WbMathsUtilities.hpp

@@ -32,8 +32,12 @@ namespace WbMathsUtilities {
   bool isPowerOf2(unsigned int n);
   unsigned int nextPowerOf2(unsigned int n);
   int round(double n);
-  inline double discretize(double value, double resolution) { return ((int)(value / resolution + 0.5)) * resolution; }
-  inline double discretize(float value, float resolution) { return ((int)(value / resolution + 0.5f)) * resolution; }
+  inline double discretize(double value, double resolution) {
+    return ((int)(value / resolution + 0.5)) * resolution;
+  }
+  inline double discretize(float value, float resolution) {
+    return ((int)(value / resolution + 0.5f)) * resolution;
+  }
 
   // performs two Graham scan and returns the indices of points in the convex hull
   int twoStepsConvexHull(const QVector<WbVector2> &points, QVector<int> &hullIndices);

src/webots/nodes/WbAbstractCamera.cpp

@@ -98,7 +98,7 @@ WbAbstractCamera::WbAbstractCamera(const QString &modelName, WbTokenizer *tokeni
   init();
 }
 
-WbAbstractCamera::WbAbstractCamera(const WbAbstractCamera &other) : WbRenderingDevice(other) {
+WbAbstractCamera::WbAbstractCamera(const WbAbstractCamera &other) : WbRenderingDevice(other), mInvisibleNodes() {
   init();
 }