Fix robot window linking with an external Python controller (#3449)

* Fix robot window linking with an external Python controller * Fix docs * Update Makefile * Update running-extern-robot-controllers.md
cyberbotics · Jul 16, 2021 · 64a3983 · 64a3983
1 parent fbf4c57
commit 64a3983
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 16 deletions.
diff --git a/docs/guide/running-extern-robot-controllers.md b/docs/guide/running-extern-robot-controllers.md
@@ -31,7 +31,8 @@ Generic Webots environment variables needed for all the controller languages:
 | Environment Variable                               | Typical Value                                                             |
 |----------------------------------------------------|---------------------------------------------------------------------------|
 | WEBOTS\_HOME                                       | `C:\Program Files\Webots`                                                 |
-| Path (all controllers except Python >= 3.8)        | add `%WEBOTS_HOME%\lib\controller` and `%WEBOTS_HOME%\msys64\mingw64\bin` |
+| Path (all controllers)                             | add `%WEBOTS_HOME%\lib\controller`                                        |
+| Path (all controllers except Python >= 3.8)        | add `%WEBOTS_HOME%\msys64\mingw64\bin`                                    |
 | Path (for C++, Python < 3.8, and Java controllers) | add `%WEBOTS_HOME%\msys64\mingw64\bin\cpp`                                |
 
 %tab-end
@@ -50,7 +51,7 @@ Generic Webots environment variables needed for all the controller languages:
 | Environment Variable                                    | Typical Value                                    |
 |---------------------------------------------------------|--------------------------------------------------|
 | WEBOTS\_HOME                                            | `/Applications/Webots.app`                       |
-| DYLD\_LIBRARY\_PATH (not needed for Python controllers) | add `${WEBOTS_HOME}/lib/controller`              |
+| DYLD\_LIBRARY\_PATH                                     | add `${WEBOTS_HOME}/lib/controller`              |
 
 %tab-end
 

diff --git a/resources/projects/plugins/robot_windows/generic/Makefile b/resources/projects/plugins/robot_windows/generic/Makefile
@@ -26,7 +26,7 @@ WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
 include $(WEBOTS_HOME_PATH)/resources/Makefile.os.include
 
 ifeq ($(OSTYPE),linux)
- LIBRARIES += -Wl,-rpath,$(WEBOTS_HOME_PATH)/lib/controller
+ LIBRARIES += -Wl,-rpath,'$$ORIGIN'/../../../../../lib/controller
 endif
 
 include $(WEBOTS_HOME_PATH)/resources/Makefile.include
diff --git a/src/controller/python/controller.i b/src/controller/python/controller.i
@@ -25,19 +25,6 @@
 %pythonbegin %{
 import sys
 import os
-import platform
-if 'WEBOTS_HOME' in os.environ:
-    new_path = os.path.join(os.environ['WEBOTS_HOME'], 'lib', 'controller')
-    variable_names = {
-      'Windows': 'PATH',
-      'Linux': 'LD_LIBRARY_PATH',
-      'Darwin': 'DYLD_LIBRARY_PATH'
-    }
-    variable_name = variable_names[platform.system()]
-    if variable_name in os.environ:
-        os.environ[variable_name] += os.pathsep + new_path
-    else:
-        os.environ[variable_name] = new_path
 if os.name == 'nt' and sys.version_info >= (3, 8):  # we need to explicitly list the folders containing the DLLs
     webots_home = os.environ['WEBOTS_HOME']
     os.add_dll_directory(os.path.join(webots_home, 'lib', 'controller'))