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Fix runtime.ini path section header name #1440

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10 commits merged into from
Mar 11, 2020
Merged

Fix runtime.ini path section header name #1440

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004d336
Edit runtime.ini path section header name + update doc
Mar 9, 2020
744dec0
Modify src files to support new syntax
Mar 9, 2020
5c36616
Fix documentation check
Mar 9, 2020
9e2e9da
Update docs/guide/controller-programming.md
Mar 10, 2020
d742560
Update docs/guide/controller-programming.md
Mar 10, 2020
e59ada0
Simplify QString conditions + lowercase
Mar 10, 2020
db586b3
Add ini deprecation warning
Mar 10, 2020
e4bcdac
Fix format
Mar 11, 2020
8208b50
Finally
Mar 11, 2020
8c82161
Remove double controller warning
Mar 11, 2020
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15 changes: 9 additions & 6 deletions docs/guide/controller-programming.md
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Expand Up @@ -480,14 +480,17 @@ Environment variables in this file can contain references to other environment v
They will be automatically replaced by the actual value already existing in the environment.
The Webots "runtime.ini" supports 7 sections:

- `[environment variables with relative paths]`
- `[environment variables with paths]`

This section should contain only environment variables with relative paths.
Paths must be separated by the colon symbol ':' and the separator between
directories is the slash symbol '/'. Variables declared in this section will be
This section should only contain environment variables with either relative or
absolute paths. Paths must be separated using the colon symbol ':' and directory components
must be separated using the slash symbol '/'. Variables declared in this section will be
added on every platform. On Windows, colons will be replaced by semicolon and
slash will be replaced by backslash according to the Windows syntax.

**NOTE**: The legacy form of this section was ```[environment variables with relative path]```.
You are encouraged to follow the new notation, though the backward compability is kept.
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- `[environment variables]`

Environment variables defined in this section will also be added to the
Expand Down Expand Up @@ -523,7 +526,7 @@ Here is an example of a typical runtime.ini file.
```ini
; typical runtime.ini

[environment variables with relative paths]
[environment variables with paths]
WEBOTS_LIBRARY_PATH = lib:$(WEBOTS_LIBRARY_PATH):../../library

[environment variables]
Expand Down Expand Up @@ -559,7 +562,7 @@ In the example above, the resulting command issued by Webots will be: `/opt/loca
```ini
; runtime.ini for a Java controller on Windows

[environment variables with relative paths]
[environment variables with paths]
CLASSPATH = ../lib/MyLibrary.jar
JAVA_LIBRARY_PATH = ../lib

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2 changes: 1 addition & 1 deletion projects/languages/ros/controllers/ros_python/runtime.ini
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@@ -1,4 +1,4 @@
[environment variables with relative paths]
[environment variables with paths]
PYTHONPATH=python/site-packages:kinetic/dist-packages

[environment variables]
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2 changes: 1 addition & 1 deletion projects/robots/saeon/controllers/vehicle_driver_altino/runtime.ini
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@@ -1,3 +1,3 @@
[environment variables with relative paths]
[environment variables with paths]

WEBOTS_LIBRARY_PATH=$(WEBOTS_HOME)/projects/automobile/libraries/car:$(WEBOTS_HOME)/projects/automobile/libraries/driver:$(WEBOTS_HOME)/projects/automobile/libraries/CppCar:$(WEBOTS_HOME)/projects/automobile/libraries/CppDriver:$(WEBOTS_HOME)/projects/automobile/libraries/python:$(WEBOTS_LIBRARY_PATH)
2 changes: 1 addition & 1 deletion projects/robots/universal_robots/controllers/universal_robots_ros/runtime.ini
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@@ -1,4 +1,4 @@
[environment variables with relative paths]
[environment variables with paths]
PYTHONPATH=$(WEBOTS_HOME)/projects/languages/ros/controllers/ros_python/python/site-packages:$(WEBOTS_HOME)/projects/languages/ros/controllers/ros_python/kinetic/dist-packages

[environment variables]
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2 changes: 1 addition & 1 deletion projects/samples/robotbenchmark/highway_driving/controllers/highway_driving/runtime.ini
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@@ -1,4 +1,4 @@
[environment variables with relative paths]
[environment variables with paths]

AUTOMOBILE_LIBRARIES_PATH=$(WEBOTS_HOME)/projects/vehicles/libraries
WEBOTS_LIBRARY_PATH=$(AUTOMOBILE_LIBRARIES_PATH)/python:$(AUTOMOBILE_LIBRARIES_PATH)/CppCar:$(AUTOMOBILE_LIBRARIES_PATH)/CppDriver:$(AUTOMOBILE_LIBRARIES_PATH)/driver:$(AUTOMOBILE_LIBRARIES_PATH)/car:$(WEBOTS_LIBRARY_PATH)
2 changes: 1 addition & 1 deletion projects/samples/robotbenchmark/humanoid_marathon/controllers/marathon/runtime.ini
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@@ -1,4 +1,4 @@
[environment variables with relative paths]
[environment variables with paths]

ROBOTIS_PATH=$(WEBOTS_HOME)/projects/robots/robotis/darwin-op
WEBOTS_LIBRARY_PATH=$(ROBOTIS_PATH)/libraries/python:$(ROBOTIS_PATH)/libraries/python27:$(ROBOTIS_PATH)/libraries/python35:$(ROBOTIS_PATH)/libraries/python36:$(ROBOTIS_PATH)/libraries/python37:$(ROBOTIS_PATH)/libraries/robotis-op2:$(ROBOTIS_PATH)/libraries/managers:$(WEBOTS_LIBRARY_PATH)
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2 changes: 1 addition & 1 deletion projects/samples/robotbenchmark/inverted_pendulum/controllers/inverted_pendulum/runtime.ini
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@@ -1,3 +1,3 @@
[environment variables with relative paths]
[environment variables with paths]

FIREJAIL_PATH=$(WEBOTS_HOME)/projects/robots/gctronic/e-puck/plugins/remote_controls/e-puck_bluetooth/libe-puck_bluetooth.so
10 changes: 6 additions & 4 deletions src/webots/control/WbController.cpp
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Expand Up @@ -251,9 +251,10 @@ void WbController::start() {
warn(tr("Environment variables from runtime.ini could not be loaded: the file contains illegal definitions."));
else {
for (int i = 0; i < iniParser.size(); ++i) {
if (iniParser.sectionAt(i).compare("environment variables with relative paths") != 0 &&
iniParser.sectionAt(i).compare("environment variables for Linux") != 0 &&
iniParser.sectionAt(i).compare("environment variables for Linux 64") != 0)
if ((iniParser.sectionAt(i).compare("environment variables with relative paths") ||
iniParser.sectionAt(i).compare("environment variables with paths")) &&
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iniParser.sectionAt(i).compare("environment variables for Linux") &&
iniParser.sectionAt(i).compare("environment variables for Linux 64"))
continue;

if (iniParser.keyAt(i) == ("WEBOTS_LIBRARY_PATH") || iniParser.keyAt(i) == ("FIREJAIL_PATH")) {
Expand Down Expand Up @@ -368,7 +369,8 @@ void WbController::setProcessEnvironment() {
for (int i = 0; i < iniParser.size(); ++i) {
const QString &value = iniParser.resolvedValueAt(i, env);
iniParser.setValue(i, value);
if (!iniParser.sectionAt(i).compare("environment variables with relative paths", Qt::CaseInsensitive))
if (!iniParser.sectionAt(i).compare("environment variables with relative paths", Qt::CaseInsensitive) ||
!iniParser.sectionAt(i).compare("environment variables with paths", Qt::CaseInsensitive))
addPathEnvironmentVariable(env, iniParser.keyAt(i), iniParser.valueAt(i), true);
if (!iniParser.sectionAt(i).compare("environment variables", Qt::CaseInsensitive))
addEnvironmentVariable(env, iniParser.keyAt(i), iniParser.valueAt(i));
Expand Down
3 changes: 2 additions & 1 deletion src/webots/core/WbIniParser.cpp
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Expand Up @@ -68,7 +68,8 @@ void WbIniParser::setValue(int index, QString newValue) {

QString WbIniParser::resolvedValueAt(int index, const QStringList &environment) const {
QString value = valueAt(index);
if (!sectionAt(index).compare("environment variables with relative paths", Qt::CaseInsensitive)) {
if (!sectionAt(index).compare("environment variables with relative paths", Qt::CaseInsensitive) ||
!sectionAt(index).compare("environment variables with paths", Qt::CaseInsensitive)) {
#ifdef _WIN32
QString newWindowsValue = value;
newWindowsValue.replace(':', ';');
Expand Down
2 changes: 1 addition & 1 deletion tests/api/controllers/runtime_config_file/runtime.ini
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@@ -1,4 +1,4 @@
[environment variables with relative paths]
[environment variables with paths]
TEST_RELATIVE_PATHS=test1/test2:test3

[environment variables]
Expand Down