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Merge pull request #945 from cyberbotics/sync-master-ac8a68382ac8a748…
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…910852f5c5c0074e96d82418

Sync libcontroller master
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@omichel
omichel authored Jul 22, 2024
2 parents f137797 + b140929 commit 4448c16
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Showing 55 changed files with 290 additions and 285 deletions.
2 changes: 1 addition & 1 deletion ...er/webots/include/controller/c/webots/plugins/robot_window/generic_robot_window/generic.h
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Expand Up @@ -29,7 +29,7 @@ extern "C" {
#endif

void wbu_generic_robot_window_parse_device_command(char *token, char *tokens);
bool wbu_generic_robot_window_parse_device_control_command(char *first_token, char *tokens);
bool wbu_generic_robot_window_parse_device_control_command(const char *first_token, char *tokens);
bool wbu_generic_robot_window_handle_messages(const char *message);
void wbu_generic_robot_window_init();
void wbu_generic_robot_window_update();
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2 changes: 1 addition & 1 deletion webots_ros2_driver/webots/include/controller/c/webots/utils/string.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ extern "C" {
#endif

char *wbu_string_strsep(char **stringp, const char *delim);
char *wbu_string_replace(char *value, char *before, char *after);
char *wbu_string_replace(char *value, const char *before, const char *after);

#ifdef __cplusplus
}
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2 changes: 1 addition & 1 deletion webots_ros2_driver/webots/projects/default/libraries/vehicle/c/car/src/car.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ void wbu_car_init() {
// Parse vehicle caracteristics from the beginning of the data string
char engine_type;
int engine_sound_length;
char *sub_data_string = (char *)wb_robot_get_custom_data();
const char *sub_data_string = wb_robot_get_custom_data();
i = sscanf(sub_data_string, "%lf %lf %lf %lf %lf %lf %lf %c %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %d %d",
&instance->wheelbase, &instance->track_front, &instance->track_rear, &instance->front_wheel_radius,
&instance->rear_wheel_radius, &instance->brake_coefficient, &instance->defaultDampingConstant, &engine_type,
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1 change: 1 addition & 0 deletions webots_ros2_driver/webots/projects/default/libraries/vehicle/c/driver/src/driver.c
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Expand Up @@ -448,6 +448,7 @@ static void update_engine_sound() {
}
if (rpm < instance->car->engine_min_rpm)
rpm = instance->car->engine_min_rpm;
// cppcheck-suppress variableScope
double pitch = rpm / instance->car->engine_sound_rpm_reference;
if (stop_sound)
wb_speaker_stop(instance->engine_speaker, instance->car->engine_sound);
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8 changes: 4 additions & 4 deletions webots_ros2_driver/webots/projects/default/libraries/vehicle/java/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -88,10 +88,10 @@ $(WRAPPER_OBJECT): $(WRAPPER)
@$(CXX) $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"

$(WRAPPER_OBJECT_ARM64): $(WRAPPER)
@$(CXX) -target arm64-apple-macos11 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
@$(CXX) -target arm64-apple-macos12 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"

$(WRAPPER_OBJECT_X86_64): $(WRAPPER)
@$(CXX) -target x86_64-apple-macos11 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
@$(CXX) -target x86_64-apple-macos12 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"

%.so: $(WRAPPER_OBJECT)
@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java
Expand All @@ -102,8 +102,8 @@ $(WRAPPER_OBJECT_X86_64): $(WRAPPER)
@$(CXX) -shared -mwindows -Wl,--add-stdcall-alias -Wl,--enable-auto-import -O -lm $< $(LIB) -o "$@"

%.jnilib: $(WRAPPER_OBJECT_ARM64) $(WRAPPER_OBJECT_X86_64)
@$(CXX) -target arm64-apple-macos11 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_ARM64) $(LIB) -o lib$(MODULE_NAME)-arm64.jnilib
@$(CXX) -target x86_64-apple-macos11 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_X86_64) $(LIB) -o lib$(MODULE_NAME)-x86_64.jnilib
@$(CXX) -target arm64-apple-macos12 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_ARM64) $(LIB) -o lib$(MODULE_NAME)-arm64.jnilib
@$(CXX) -target x86_64-apple-macos12 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_X86_64) $(LIB) -o lib$(MODULE_NAME)-x86_64.jnilib
@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java
@lipo -create -output "$@" lib$(MODULE_NAME)-arm64.jnilib lib$(MODULE_NAME)-x86_64.jnilib
@codesign -s - "$@"
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36 changes: 18 additions & 18 deletions webots_ros2_driver/webots/resources/Makefile.include
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Original file line number Diff line number Diff line change
Expand Up @@ -210,15 +210,15 @@ endif
ifneq ($(C_SOURCES)$(CXX_SOURCES),)
ifdef BUILD_EXECUTABLE
MAIN_TARGET = $(NAME)$(EXE_EXTENSION)
X86_64_LINKER = -target x86_64-apple-macos11
ARM64_LINKER = -target arm64-apple-macos11
X86_64_LINKER = -target x86_64-apple-macos12
ARM64_LINKER = -target arm64-apple-macos12
else
ifdef BUILD_STATIC_LIBRARY
MAIN_TARGET ?= $(LIB_PREFIX)$(NAME)$(STATIC_LIB_EXTENSION)
else
MAIN_TARGET ?= $(LIB_PREFIX)$(NAME)$(SHARED_LIB_EXTENSION)
X86_64_LINKER = -target x86_64-apple-macos11
ARM64_LINKER = -target arm64-apple-macos11
X86_64_LINKER = -target x86_64-apple-macos12
ARM64_LINKER = -target arm64-apple-macos12
endif
endif
endif
Expand Down Expand Up @@ -321,8 +321,8 @@ endif

ifeq ($(OSTYPE),darwin)
ifdef NO_FAT_BINARY
WBCFLAGS += -target $(PROCESSOR)-apple-macos11
DYNAMIC_LINK_FLAGS += -target $(PROCESSOR)-apple-macos11
WBCFLAGS += -target $(PROCESSOR)-apple-macos12
DYNAMIC_LINK_FLAGS += -target $(PROCESSOR)-apple-macos12
endif
WBCFLAGS += -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION)
DYNAMIC_LINK_FLAGS += -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION)
Expand Down Expand Up @@ -355,7 +355,7 @@ ifdef USE_CXX
endif
endif
ifeq ($(OSTYPE),darwin)
WBCFLAGS += -stdlib=libc++
WBCXXFLAGS += -stdlib=libc++
DYNAMIC_LINK_FLAGS += -stdlib=libc++
endif
else
Expand Down Expand Up @@ -600,15 +600,15 @@ $(BUILD_GOAL_DIR)/%.d:%.c

$(BUILD_GOAL_DIR)/%.d:%.cc
@echo "# updating" $(notdir $@)
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(CFLAGS -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.cc=.o))) > $@
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.cc=.o))) > $@

$(BUILD_GOAL_DIR)/%.d:%.c++
@echo "# updating" $(notdir $@)
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(CFLAGS) -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.c++=.o))) > $@
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.c++=.o))) > $@

$(BUILD_GOAL_DIR)/%.d:%.cpp
@echo "# updating" $(notdir $@)
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(CFLAGS) -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.cpp=.o))) > $@
$(SILENT)$(CXX) $(INCLUDE) $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) -MM $< -MT $(addprefix $(BUILD_GOAL_DIR)/,$(notdir $(<:.cpp=.o))) > $@

# dependencies
ifdef GOAL
Expand All @@ -627,35 +627,35 @@ $(BUILD_GOAL_DIR)/%.o:%.c

$(BUILD_GOAL_DIR)/x86_64/%.o:%.c
@echo "# compiling" $(notdir $<) "(x86_64)"
$(SILENT)$(CC) -c -target x86_64-apple-macos11 $(WBCFLAGS) $(CFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CC) -c -target x86_64-apple-macos12 $(WBCFLAGS) $(CFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/arm64/%.o:%.c
@echo "# compiling" $(notdir $<) "(arm64)"
$(SILENT)$(CC) -c -target arm64-apple-macos11 $(WBCFLAGS) $(CFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CC) -c -target arm64-apple-macos12 $(WBCFLAGS) $(CFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/%.o:%.cc
@echo "# compiling" $(notdir $<)
$(SILENT)$(CXX) -c $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CXX) -c $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/%.o:%.c++
@echo "# compiling" $(notdir $<)
$(SILENT)$(CXX) -c $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CXX) -c $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/%.o:%.cpp
@echo "# compiling" $(notdir $<)
$(SILENT)$(CXX) -c $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CXX) -c $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/x86_64/%.o:%.cpp
@echo "# compiling" $(notdir $<) "(x86_64)"
$(SILENT)$(CXX) -c -target x86_64-apple-macos11 $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CXX) -c -target x86_64-apple-macos12 $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR)/arm64/%.o:%.cpp
@echo "# compiling" $(notdir $<) "(arm64)"
$(SILENT)$(CXX) -c -target arm64-apple-macos11 $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@
$(SILENT)$(CXX) -c -target arm64-apple-macos12 $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $@

$(BUILD_GOAL_DIR_EMCC)/%.o:%.cpp
@echo "# compiling with emcc " $(notdir $<)
$(SILENT)emcc -O3 -c $(WBCFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $(@)
$(SILENT)emcc -O3 -c $(WBCFLAGS) $(WBCXXFLAGS) $(CFLAGS) $(CXXFLAGS) $(INCLUDE) $< -o $(@)

###-----------------------------------------------------------------------------
### How to clean up the directory
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4 changes: 2 additions & 2 deletions webots_ros2_driver/webots/resources/Makefile.os.include
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,8 @@ endif

ifeq ($(OSTYPE),darwin)

SUPPORTED_SDK = 11 12
MACOSX_MIN_SDK_VERSION = 11
SUPPORTED_SDK = 12 13 14
MACOSX_MIN_SDK_VERSION = 12
ECHO = echo
# cf. https://stackoverflow.com/a/30225756/2210777
MACOSX_SDK_PATH = $(shell xcrun --sdk macosx --show-sdk-path)
Expand Down
4 changes: 2 additions & 2 deletions webots_ros2_driver/webots/resources/projects/libraries/generic_robot_window/generic.c
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Expand Up @@ -207,12 +207,12 @@ void wbu_generic_robot_window_parse_device_command(char *token, char *tokens) {
};
}

bool wbu_generic_robot_window_parse_device_control_command(char *first_token, char *tokens) {
bool wbu_generic_robot_window_parse_device_control_command(const char *first_token, char *tokens) {
if (strcmp(first_token, "device-control-mode") != 0)
return false;
WbNodeType type = WB_NODE_NO_NODE;

char *token = NULL;
const char *token = NULL;
while ((token = wbu_string_strsep(&tokens, ":"))) {
if (type == WB_NODE_NO_NODE) {
type = stringToDeviceType(token);
Expand Down
10 changes: 5 additions & 5 deletions webots_ros2_driver/webots/src/controller/c/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ LIBCONTROLLER_VERSION := "$(shell cat $(WEBOTS_HOME_PATH)/resources/version.txt)
endif

ifeq ($(OSTYPE),darwin)
CFLAGS = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -fpascal-strings -Wno-deprecated-declarations -I/Developer/Headers/FlatCarbon -Wall -fno-common -D LIBCONTROLLER_VERSION='$(LIBCONTROLLER_VERSION)'
CFLAGS = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -fpascal-strings -Wno-deprecated-declarations -Wno-single-bit-bitfield-constant-conversion -I/Developer/Headers/FlatCarbon -Wall -fno-common -D LIBCONTROLLER_VERSION='$(LIBCONTROLLER_VERSION)'
INCLUDE = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include
LD_FLAGS = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -dynamiclib -install_name @rpath/Contents/lib/controller/libController.dylib -compatibility_version 1.0 -current_version 1.0.0
SHARED_LIBS = -lz
Expand Down Expand Up @@ -155,12 +155,12 @@ $(TARGET): $(OBJDIR)/x86_64/libController.dylib $(OBJDIR)/arm64/libController.dy

$(OBJDIR)/x86_64/libController.dylib: $(X86_64_OBJECTS)
@echo "# linking "$@" (x86_64)"
@$(CC) $(LD_FLAGS) -target x86_64-apple-macos11 -o $@ $(X86_64_OBJECTS) $(SHARED_LIBS)
@$(CC) $(LD_FLAGS) -target x86_64-apple-macos12 -o $@ $(X86_64_OBJECTS) $(SHARED_LIBS)
@chmod a-x $@

$(OBJDIR)/arm64/libController.dylib: $(ARM64_OBJECTS)
@echo "# linking "$@" (arm64)"
@$(CC) $(LD_FLAGS) -target arm64-apple-macos11 -o $@ $(ARM64_OBJECTS) $(SHARED_LIBS)
@$(CC) $(LD_FLAGS) -target arm64-apple-macos12 -o $@ $(ARM64_OBJECTS) $(SHARED_LIBS)
@chmod a-x $@

endif
Expand All @@ -180,11 +180,11 @@ $(OBJDIR)/%.o:%.c

$(OBJDIR)/arm64/%o:%c
@echo "# compiling "$<" (arm64)"
@$(CC) -c -target arm64-apple-macos11 $(CFLAGS) $(EXTRA_CFLAGS) $(INCLUDE) $< -o $(OBJDIR)/arm64/$(notdir $@)
@$(CC) -c -target arm64-apple-macos12 $(CFLAGS) $(EXTRA_CFLAGS) $(INCLUDE) $< -o $(OBJDIR)/arm64/$(notdir $@)

$(OBJDIR)/x86_64/%o:%c
@echo "# compiling "$<" (x86_64)"
@$(CC) -c -target x86_64-apple-macos11 $(CFLAGS) $(EXTRA_CFLAGS) $(INCLUDE) $< -o $(OBJDIR)/x86_64/$(notdir $@)
@$(CC) -c -target x86_64-apple-macos12 $(CFLAGS) $(EXTRA_CFLAGS) $(INCLUDE) $< -o $(OBJDIR)/x86_64/$(notdir $@)

$(OBJDIR)/%.d:%.c
@echo "# updating "$(notdir $@)
Expand Down
20 changes: 10 additions & 10 deletions webots_ros2_driver/webots/src/controller/c/abstract_camera.c
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Original file line number Diff line number Diff line change
Expand Up @@ -120,50 +120,50 @@ void wb_abstract_camera_enable(WbDevice *d, int sampling_period) {
robot_mutex_unlock();
}

int wb_abstract_camera_get_sampling_period(WbDevice *d) {
int wb_abstract_camera_get_sampling_period(const WbDevice *d) {
int sampling_period = 0;
robot_mutex_lock();
AbstractCamera *ac = d->pdata;
const AbstractCamera *ac = d->pdata;
if (ac)
sampling_period = ac->sampling_period;
robot_mutex_unlock();
return sampling_period;
}

int wb_abstract_camera_get_height(WbDevice *d) {
int wb_abstract_camera_get_height(const WbDevice *d) {
int result = -1;
robot_mutex_lock();
AbstractCamera *ac = d->pdata;
const AbstractCamera *ac = d->pdata;
if (ac)
result = ac->height;
robot_mutex_unlock();
return result;
}

int wb_abstract_camera_get_width(WbDevice *d) {
int wb_abstract_camera_get_width(const WbDevice *d) {
int result = -1;
robot_mutex_lock();
AbstractCamera *ac = d->pdata;
const AbstractCamera *ac = d->pdata;
if (ac)
result = ac->width;
robot_mutex_unlock();
return result;
}

double wb_abstract_camera_get_fov(WbDevice *d) {
double wb_abstract_camera_get_fov(const WbDevice *d) {
double result = NAN;
robot_mutex_lock();
AbstractCamera *ac = d->pdata;
const AbstractCamera *ac = d->pdata;
if (ac)
result = ac->fov;
robot_mutex_unlock();
return result;
}

double wb_abstract_camera_get_near(WbDevice *d) {
double wb_abstract_camera_get_near(const WbDevice *d) {
double result = NAN;
robot_mutex_lock();
AbstractCamera *ac = d->pdata;
const AbstractCamera *ac = d->pdata;
if (ac)
result = ac->camnear;
robot_mutex_unlock();
Expand Down
10 changes: 5 additions & 5 deletions webots_ros2_driver/webots/src/controller/c/abstract_camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,10 +55,10 @@ unsigned char *wbr_abstract_camera_get_image_buffer(WbDevice *d);
void abstract_camera_allocate_image(WbDevice *d, int size);

void wb_abstract_camera_enable(WbDevice *d, int sampling_period);
int wb_abstract_camera_get_sampling_period(WbDevice *d);
int wb_abstract_camera_get_height(WbDevice *d);
int wb_abstract_camera_get_width(WbDevice *d);
double wb_abstract_camera_get_fov(WbDevice *d);
double wb_abstract_camera_get_near(WbDevice *d);
int wb_abstract_camera_get_sampling_period(const WbDevice *d);
int wb_abstract_camera_get_height(const WbDevice *d);
int wb_abstract_camera_get_width(const WbDevice *d);
double wb_abstract_camera_get_fov(const WbDevice *d);
double wb_abstract_camera_get_near(const WbDevice *d);

#endif // ABSTRACT_CAMERA_PRIVATE_H
12 changes: 6 additions & 6 deletions webots_ros2_driver/webots/src/controller/c/accelerometer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ static void accelerometer_read_answer(WbDevice *d, WbRequest *r) {
int wb_accelerometer_get_lookup_table_size(WbDeviceTag tag) {
int result = 0;
robot_mutex_lock();
Accelerometer *dev = accelerometer_get_struct(tag);
const Accelerometer *dev = accelerometer_get_struct(tag);
if (dev)
result = dev->lookup_table_size;
else
Expand All @@ -87,9 +87,9 @@ int wb_accelerometer_get_lookup_table_size(WbDeviceTag tag) {
}

const double *wb_accelerometer_get_lookup_table(WbDeviceTag tag) {
double *result = NULL;
const double *result = NULL;
robot_mutex_lock();
Accelerometer *dev = accelerometer_get_struct(tag);
const Accelerometer *dev = accelerometer_get_struct(tag);
if (dev)
result = dev->lookup_table;
else
Expand Down Expand Up @@ -158,7 +158,7 @@ void wb_accelerometer_enable(WbDeviceTag tag, int sampling_period) {
}

void wb_accelerometer_disable(WbDeviceTag tag) {
Accelerometer *acc = accelerometer_get_struct(tag);
const Accelerometer *acc = accelerometer_get_struct(tag);
if (acc)
wb_accelerometer_enable(tag, 0);
else
Expand All @@ -168,7 +168,7 @@ void wb_accelerometer_disable(WbDeviceTag tag) {
int wb_accelerometer_get_sampling_period(WbDeviceTag tag) {
int sampling_period = 0;
robot_mutex_lock();
Accelerometer *acc = accelerometer_get_struct(tag);
const Accelerometer *acc = accelerometer_get_struct(tag);
if (acc)
sampling_period = acc->sampling_period;
else
Expand All @@ -180,7 +180,7 @@ int wb_accelerometer_get_sampling_period(WbDeviceTag tag) {
const double *wb_accelerometer_get_values(WbDeviceTag tag) {
const double *result = NULL;
robot_mutex_lock();
Accelerometer *acc = accelerometer_get_struct(tag);
const Accelerometer *acc = accelerometer_get_struct(tag);
if (acc) {
if (acc->sampling_period == 0)
fprintf(stderr, "Error: %s() called for a disabled device! Please use: wb_accelerometer_enable().\n", __FUNCTION__);
Expand Down
6 changes: 3 additions & 3 deletions webots_ros2_driver/webots/src/controller/c/altimeter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ void wb_altimeter_enable(WbDeviceTag tag, int sampling_period) {
}

void wb_altimeter_disable(WbDeviceTag tag) {
Altimeter *altimeter = altimeter_get_struct(tag);
const Altimeter *altimeter = altimeter_get_struct(tag);
if (altimeter)
wb_altimeter_enable(tag, 0);
else
Expand All @@ -120,7 +120,7 @@ void wb_altimeter_disable(WbDeviceTag tag) {
int wb_altimeter_get_sampling_period(WbDeviceTag tag) {
int sampling_period = 0;
robot_mutex_lock();
Altimeter *altimeter = altimeter_get_struct(tag);
const Altimeter *altimeter = altimeter_get_struct(tag);
if (altimeter)
sampling_period = altimeter->sampling_period;
else
Expand All @@ -132,7 +132,7 @@ int wb_altimeter_get_sampling_period(WbDeviceTag tag) {
double wb_altimeter_get_value(WbDeviceTag tag) {
double result = NAN;
robot_mutex_lock();
Altimeter *altimeter = altimeter_get_struct(tag);
const Altimeter *altimeter = altimeter_get_struct(tag);
if (altimeter) {
if (altimeter->sampling_period <= 0)
fprintf(stderr, "Error: %s() called for a disabled device! Please use: wb_altimeter_enable().\n", __FUNCTION__);
Expand Down
4 changes: 2 additions & 2 deletions webots_ros2_driver/webots/src/controller/c/brake.c
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ void wb_brake_set_damping_constant(WbDeviceTag tag, double damping_constant) {
return;
}

Brake *b = brake_get_struct(tag);
const Brake *b = brake_get_struct(tag);
if (!b) {
fprintf(stderr, "Error: %s(): invalid device tag.\n", __FUNCTION__);
return;
Expand All @@ -129,7 +129,7 @@ void wb_brake_set_damping_constant(WbDeviceTag tag, double damping_constant) {
WbJointType wb_brake_get_type(WbDeviceTag tag) {
WbJointType type = WB_ROTATIONAL;
robot_mutex_lock();
Brake *b = brake_get_struct(tag);
const Brake *b = brake_get_struct(tag);
if (b)
type = b->type;
else
Expand Down
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