Decouple MATLAB Functions Test from Controller.def (#6752)

* test matlab functions against controller headers

* fix MATLAB capitalization

* fix typo

* print stderr on subprocess failure

Author: CoolSpy3

include/controller/c/webots/supervisor.h

@@ -224,10 +224,10 @@ void wb_supervisor_simulation_revert() WB_DEPRECATED;               // please us
 void wb_supervisor_load_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_load() instead
 bool wb_supervisor_save_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_save() instead
 
-// deprecated since Webots 8.6.0, plesae use wb_supervisor_field_remove_mf_item() instead
+// deprecated since Webots 8.6.0, please use wb_supervisor_field_remove_mf() instead
 void wb_supervisor_field_remove_mf_node(WbFieldRef field, int position) WB_DEPRECATED;
 
-// deprecated since Webots 8.0.0, plesae use wb_supervisor_simulation_reset_physics() instead
+// deprecated since Webots 8.0.0, please use wb_supervisor_simulation_reset_physics() instead
 void wb_supervisor_simulation_physics_reset() WB_DEPRECATED;
 
 // deprecated since Webots 8.4.0 please use wb_supervisor_movie_is_ready and wb_supervisor_movie_failed

tests/sources/test_matlab_functions.py

@@ -14,54 +14,88 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Test that all the required Matlab functions are defined."""
+"""Test that all the required MATLAB functions are defined."""
 import unittest
+import glob
 import os
+import re
+import subprocess
 import sys
+
 WEBOTS_HOME = os.path.normpath(os.environ['WEBOTS_HOME'])
 sys.path.append(os.path.join(WEBOTS_HOME, 'src', 'controller', 'matlab'))
 import mgenerate  # noqa: E402
 
 
 class TestMatlabFunctions(unittest.TestCase):
-    """Unit test for checking that all the required Matlab functions are defined."""
+    """Unit test for checking that all the required MATLAB functions are defined."""
 
     def setUp(self):
         if sys.version_info[0] >= 3:
             mgenerate.UPDATE = False
             mgenerate.main()
-            """Get all the required function."""
+            """Get all the required functions."""
             skippedLines = [
-                'wbr',
-                'microphone',
-                'remote_control',
-                'robot',
-                'wb_device_get_type',
-                'wb_node_get_name',
-                'wbu_string',
-                'lookup_table_size',
-                'EXPORTS'
+                # Patterns
+                '.*_H',  # Header Guards
+                '.*_',  # Some comments use the ..._* pattern to refer to a group of functions ;
+                        # grep will filter the *, but no function should end with _
+                'wb_camera_image_get_.*',  # The MATLAB API exposes the image data as a multidimensional array,
+                                           # so these functions are not needed
+                'wb_(microphone|radio)_.*',  # Experimental Node Types
+                'wb_remote_control_.*', 'wbr_.*',  # Remote Control Plugin
+                'wb_robot_.*',  # Many robot functions are used internally by the C API (e.x. wb_robot_mutex_*)
+                '.*_lookup_table_size',  # MATLAB lets you get the size of an array, so these functions are not needed
+                'wbu_string_.*',  # String manipulation functions are not needed
+
+                # Specific Functions
+
+                # Non-Function Macros
+                'WB_ALLOW_MIXING_C_AND_CPP_API',
+                'WB_DEPRECATED',
+                'WB_MATLAB_LOADLIBRARY',
+                'WB_USING_C(PP)?_API',
+
+                # These functions are used internally by the MATLAB API
+                'wb_camera_recognition_get_object',
+                'wb_lidar_get_point',
+                'wb_mouse_get_state_pointer',
+                'wb_radar_get_target',
+
+                'wb_device_get_type',  # Deprecated since 8.0.0
+                'wb_node_get_name',  # C API Only
+
+                # Not Yet Implemented
+                'wbu_system_tmpdir',
+                'wbu_system_webots_instance_path',
             ]
             self.functions = []
-            filename = os.path.join(WEBOTS_HOME, 'src', 'controller', 'c', 'Controller.def')
-            self.assertTrue(
-                os.path.isfile(filename),
-                msg='Missing "%s" file.' % filename
-            )
-            with open(filename) as file:
-                for line in file:
-                    if not any(skippedLine in line for skippedLine in skippedLines) and not line[3:].isupper():
-                        self.functions.append(line.replace('\n', ''))
+
+            symbolSearch = subprocess.run([
+                # Search for webots definitions
+                'grep', '-Ehio', r'\bwb_\w+\b',
+                # In the controller headers
+                *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', '*.h')),
+                *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', 'utils', '*.h'))
+                ], capture_output=True, text=True)
+            if symbolSearch.returncode != 0:
+                self.fail(f'Failed to generate function list:\n{symbolSearch.stdout}\n{symbolSearch.stderr}')
+
+            for line in symbolSearch.stdout.splitlines():
+                if not any(re.match(f'^{skippedLine}$', line) for skippedLine in skippedLines) and line not in self.functions:
+                    self.functions.append(line)
 
     @unittest.skipIf(sys.version_info[0] < 3, "not supported by Python 2.7")
     def test_matlab_function_exists(self):
         """Test that the function file exists."""
-        for function in self.functions:
-            filename = os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m')
-            self.assertTrue(
-                os.path.isfile(filename),
-                msg='Missing "%s" file.' % filename
-            )
+        expectedFiles = (os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m')
+                         for function in self.functions)
+        missingFiles = [file for file in expectedFiles if not os.path.isfile(file)]
+
+        self.assertTrue(
+            not missingFiles,
+            msg='Missing files: %s' % ', '.join(missingFiles)
+        )
 
 
 if __name__ == '__main__':