robomaster_sim to work with Coppelia 4.6

robomaster_sim.patch

This patch makes robomaster_sim work with Coppelia 4.6 

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03c1ab6..be6e2cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,7 @@ IF (WIN32)
 
 ELSE()
     set(CMAKE_CXX_STANDARD 17)
-    add_compile_options(-fPIC -Wall -Wextra  -Werror -Wno-unused-parameter -Wno-deprecated-declarations -Wno-missing-field-initializers )  # -Wno-c99-extensions
+    add_compile_options(-fPIC -Wall -Wextra -Wno-unused-parameter -Wno-deprecated-declarations -Wno-missing-field-initializers )  # -Wno-c99-extensions
 ENDIF()
 
 option(USE_OPENCV "use OpenCV for vision" OFF)
@@ -147,23 +147,24 @@ endif()
 
 add_subdirectory(coppeliaSim_plugin)
 
-target_include_directories(simExtRobomaster PRIVATE ${OpenCV_INCLUDE_DIRS})
-target_link_libraries(simExtRobomaster
+target_include_directories(simRobomaster PRIVATE ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(simRobomaster
+  PRIVATE
   robomaster
   spdlog::spdlog
   ${Boost_LIBRARIES}
 )
 
 if (USE_OPENCV)
- target_link_libraries(simExtRobomaster ${OpenCV_LIBS}) 
-endif() 
-  
+ target_link_libraries(simRobomaster ${OpenCV_LIBS})
+endif()
+
 
 IF (WIN32)
-  target_compile_options(simExtRobomaster PUBLIC
+  target_compile_options(simRobomaster PUBLIC
   )
 ELSE()
-  target_compile_options(simExtRobomaster PUBLIC
+  target_compile_options(simRobomaster PUBLIC
   "-Wno-reorder-ctor"
   "-Wno-sign-compare"
   "-Wno-delete-non-abstract-non-virtual-dtor"
diff --git a/coppeliaSim_plugin/CMakeLists.txt b/coppeliaSim_plugin/CMakeLists.txt
index c1ab878..a86f49f 100644
--- a/coppeliaSim_plugin/CMakeLists.txt
+++ b/coppeliaSim_plugin/CMakeLists.txt
@@ -8,13 +8,6 @@ set(CMAKE_MACOSX_RPATH 1)
         set(COPPELIASIM_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../include)
     endif()
 endif()
-if(NOT LIBPLUGIN_DIR)
-    if(DEFINED ENV{COPPELIASIM_ROOT_DIR})
-        set(LIBPLUGIN_DIR $ENV{COPPELIASIM_ROOT_DIR}/programming/libPlugin)
-    else()
-        set(LIBPLUGIN_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../libPlugin)
-    endif()
-endif()
 
 
 set(MODEL_FOLDER $ENV{COPPELIASIM_ROOT_DIR}/models/robots/mobile)
@@ -22,10 +15,9 @@ set(MODEL_SENSOR_FOLDER $ENV{COPPELIASIM_ROOT_DIR}/models/components/sensors)
 
 list(APPEND CMAKE_MODULE_PATH
     ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules
-    ${COPPELIASIM_INCLUDE_DIR}/cmake
-    ${LIBPLUGIN_DIR}/cmake)
+    ${COPPELIASIM_INCLUDE_DIR}/cmake)
 
-find_package(CoppeliaSim 4 REQUIRED)
+find_package(CoppeliaSim 4.5.1.7 REQUIRED)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR}/generated)
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/external)
@@ -34,7 +26,7 @@ coppeliasim_generate_stubs(${CMAKE_CURRENT_BINARY_DIR}/generated XML_FILE ${CMAK
 
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h ESCAPE_QUOTES)
 
-coppeliasim_add_plugin(simExtRobomaster SOURCES plugin.cpp coppeliasim_robot.cpp)
+coppeliasim_add_plugin(simRobomaster SOURCES plugin.cpp coppeliasim_robot.cpp)
 
 install(FILES ../models/RoboMasterEP.ttm ../models/RoboMasterS1.ttm  DESTINATION ${MODEL_FOLDER})
 install(FILES ../models/RoboMasterDistanceSensor.ttm DESTINATION ${MODEL_SENSOR_FOLDER})
diff --git a/coppeliaSim_plugin/callbacks.xml b/coppeliaSim_plugin/callbacks.xml
index 4971768..4bd887c 100644
--- a/coppeliaSim_plugin/callbacks.xml
+++ b/coppeliaSim_plugin/callbacks.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <?xml-stylesheet type="text/xsl" href="callbacks.xsl"?>
 
-<plugin name="Robomaster" author="jerome@idsia.ch">
+<plugin name="simRobomaster" author="jerome@idsia.ch">
     <description></description>
 
     <command name="create">
@@ -802,7 +802,7 @@
         <params>
             <param name="handle" type="int">
               <description>The RoboMaster controller handle</description>
-            </param> 
+            </param>
            <param name="name" type="string">
               <description>TThe name of the model (without the leading "/")</description>
             </param>
@@ -817,7 +817,7 @@
         <params>
             <param name="handle" type="int">
               <description>The RoboMaster controller handle</description>
-            </param> 
+            </param>
            <param name="min_width" type="float" default="0.5">
               <description>Minimal visible horizontal portion of the object to be detectable</description>
             </param>
@@ -835,7 +835,7 @@
         <params>
             <param name="handle" type="int">
               <description>The RoboMaster controller handle</description>
-            </param> 
+            </param>
            <param name="mask" type="int">
               <description>A bit mask: set to 0 to disable vision, to 2 to detect people, or to 128 to detect robots</description>
             </param>
@@ -847,7 +847,7 @@
         <params>
             <param name="handle" type="int">
               <description>The RoboMaster controller handle</description>
-            </param> 
+            </param>
         </params>
         <return>
            <param name="bounding_boxes" type="table" item-type="CS_BoundingBox">
@@ -861,7 +861,7 @@
         <params>
             <param name="handle" type="int">
               <description>The RoboMaster controller handle</description>
-            </param> 
+            </param>
         </params>
         <return>
            <param name="bounding_boxes" type="table" item-type="CS_BoundingBox">
diff --git a/coppeliaSim_plugin/plugin.cpp b/coppeliaSim_plugin/plugin.cpp
index 954e0e0..299e18a 100644
--- a/coppeliaSim_plugin/plugin.cpp
+++ b/coppeliaSim_plugin/plugin.cpp
@@ -213,7 +213,7 @@ static int add_robot(int cs_handle, std::string serial_number,
   std::string gyro_signal = "gyro#" + std::to_string(gyro_handle);
   int accelerometer_handle = get_handle(accelerometer_name, cs_handle);
   std::string accelerometer_signal = "accelerometer#" + std::to_string(accelerometer_handle);
-  
+
   _robots.emplace(handle, std::make_unique<CoppeliaSimRobot>(
                               cs_handle,
                               wheel_handles, chassis_led_handles, enable_arm,
@@ -249,7 +249,7 @@ std::string action_name(int action_handle) {
 
 class Plugin : public sim::Plugin {
  public:
-  void onStart() {
+  void onInit() {
     if (!registerScriptStuff())
       throw std::runtime_error("script stuff initialization failed");
 
@@ -692,5 +692,5 @@ class Plugin : public sim::Plugin {
   // }
 };
 
-SIM_PLUGIN(PLUGIN_NAME, PLUGIN_VERSION, Plugin)
+SIM_PLUGIN(Plugin)
 #include "stubsPlusPlus.cpp"
diff --git a/coppeliaSim_plugin/simRobomaster.lua b/coppeliaSim_plugin/simRobomaster.lua
index 3f51fb3..23b386f 100644
--- a/coppeliaSim_plugin/simRobomaster.lua
+++ b/coppeliaSim_plugin/simRobomaster.lua
@@ -1,4 +1,5 @@
-local simRobomaster={}
+local simRobomaster = loadPlugin 'simRobomaster';
+(require 'simRobomaster-typecheck')(simRobomaster)
 
 function simRobomaster.wait_for_completed(robot_handle, action_handle)
     local savedLockLevel=sim.setThreadAutomaticSwitch(false) -- forbid automatic switches