call_matlab_client: add instructions and reduce erroneous errors to q…

…uiet returns (RobotLocomotion#6962)
Kun-Son · Sep 6, 2017 · a753a23 · a753a23
1 parent b297575
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Showing 3 changed files with 10 additions and 25 deletions.
diff --git a/drake/doc/installation.rst b/drake/doc/installation.rst
@@ -19,24 +19,3 @@ You can choose to download a pre-compiled version of Drake, or to build it from
 	docker
 
 
-Optional: Installing MATLAB
-===========================
-
-Drake is transitioning from being primarily a MATLAB-based toolbox to a C++ toolbox.  To use the MATLAB interface, we require
-
-* MATLAB R2012a or later
-
-Many of the features also use
-
-* Control System Toolbox
-* Curve Fitting Toolbox
-* Image Processing Toolbox
-* Optimization Toolbox
-* Simulink
-* Simulink 3D Animation
-* Statistics and Machine Learning Toolbox
-* System Identification Toolbox
-
-You can check your current MATLAB installation using MATLAB's ``ver`` command.
-
-
diff --git a/drake/doc/matlab_bindings.rst b/drake/doc/matlab_bindings.rst
@@ -4,8 +4,13 @@
 Using Drake from Matlab
 ***********************
 
-We are currently implementing the MATLAB bindings for Drake's new C++ libraries.
-Stay tuned for more information.
+MATLAB code/bindings available in Drake are unit tested on MATLAB R2017a.
+Earlier MATLAB versions may work but are not officially supported.
+
+We are currently experimenting with a few solutions for implementing the
+MATLAB bindings for Drake's new C++ libraries.  You will find minimal
+examples available in master, but most are not available yet.  Stay tuned
+for more information.
 
 In the meantime,
 :ref:`Using Drake from Python <python-bindings>`

diff --git a/drake/matlab/util/call_matlab_client.cc b/drake/matlab/util/call_matlab_client.cc
@@ -48,6 +48,7 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) {
   }
 
   google::protobuf::io::FileInputStream raw_input(file_descriptor);
+  raw_input.SetCloseOnDelete(true);
   google::protobuf::io::CodedInputStream input(&raw_input);
 
   // TODO(russt): Document use of mkfifo?
@@ -64,10 +65,10 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) {
     // Parse the message.
     drake::common::MatlabRPC message;
     if (!message.MergePartialFromCodedStream(&input)) {
-      mexErrMsgTxt("Failed to read from coded stream");
+      return;
     }
     if (!input.ConsumedEntireMessage()) {
-      mexErrMsgTxt("Failed to consume entire message");
+      return;
     }
 
     // Release the limit.