Merge master into develop

.github/workflows/test_suite_windows.yml

@@ -59,18 +59,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE
@@ -110,18 +107,15 @@ jobs:
     - uses: msys2/setup-msys2@v2
       with:
         update: false
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

.github/workflows/test_suite_windows_develop.yml

@@ -55,18 +55,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

.github/workflows/tests_sources.yml

@@ -34,14 +34,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "wget https://github.com/danmar/cppcheck/archive/refs/tags/2.14.2.tar.gz; tar -xf 2.14.2.tar.gz -C ~/; mkdir -p ~/cppcheck-2.14.2/build; cd ~/cppcheck-2.14.2/build; cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..; cmake --build . --config RelWithDebInfo; export PATH=~/cppcheck-2.14.2/build/bin:$PATH"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.14.2 cppcheck $USER/local-cppcheck; brew install cppcheck@2.14.2; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install clang-format@14.0.0"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "curl -LJO https://github.com/danmar/cppcheck/releases/download/2.14.1/cppcheck-2.14.1-x64-Setup.msi; powershell 'Start-Process msiexec -ArgumentList \"/quiet\",\"/passive\",\"/qn\",\"/i\",\"cppcheck-2.14.1-x64-Setup.msi\" -Wait'; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -52,7 +52,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

.github/workflows/tests_sources_with_latest_cppcheck.yml

@@ -30,14 +30,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew install cppcheck; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install clang-format@14.0.0"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -48,7 +48,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

docs/reference/changelog-r2025.md

@@ -1,8 +1,24 @@
 # Webots R2025 Change Log
 
 ## Webots R2025b
+  - Enhancements
+    - `WbCamera`, `WbContactProperties`, `WbMotor`, and `WbSkin` will now locally-download their resources if-necessary (like other nodes) when steaming or exporting to `w3d` ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+    - Added implementations of `wbu_system_tmpdir` and `wbu_system_webots_instance_path` to the MATLAB API ([#6756](https://github.com/cyberbotics/webots/pull/6756)).
+    - Added missing import libraries on Windows ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
+    - Added some missing function definitions to the existing Windows libraries ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
+  - Cleanup
+    - **Removed `libController.a` and `libCppController.a` libraries on Windows. Please use `Controller.lib` and `CppController.lib` instead ([#6753](https://github.com/cyberbotics/webots/pull/6753)).**
   - Bug Fixes
     - Fixed a bug preventing the `webots-controller` executable from running on arm-based mac devices ([#6806](https://github.com/cyberbotics/webots/pull/6806)).
+    - Fixed a typo in the `controller.PositionSensor` Python class: the `motor` property code was calling the wrong method ([#6825](https://github.com/cyberbotics/webots/pull/6825)).
+    - Fixed a bug causing Webots to crash when multiple sounds were used with a [Speaker](speaker.md) node ([#6843](https://github.com/cyberbotics/webots/pull/6843)).
+    - Fixed a bug causing the "Reload/Reset" buttons in the controller recompilation popup to not work on Windows ([#6844](https://github.com/cyberbotics/webots/pull/6844)).
+    - Fixed resolution of relative paths when converting protos to their base nodes ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+      - **As a result of this change, relative paths that are not within a Webots-recognized resource field (ex. `url`) will no longer be updated when a proto is converted to its base nodes.** This should not affect most users.
+    - Fixed a bug causing `TrackWheel` nodes to lose their field values when used in a proto converted to a base node ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+    - Fixed a bug causing supervisors to occasionally read stale field values after the simulation was reset ([#6758](https://github.com/cyberbotics/webots/pull/6758)).
+    - Fixed a bug causing Webots to occasionally crash when unloading a world ([#6857](https://github.com/cyberbotics/webots/pull/6857)).
+    - Fixed a crash occurring when Python was not found on Windows ([#6870](https://github.com/cyberbotics/webots/pull/6870)).
 
 ## Webots R2025a
 Released on January 31st, 2025.

include/controller/c/webots/supervisor.h

@@ -224,10 +224,10 @@ void wb_supervisor_simulation_revert() WB_DEPRECATED;               // please us
 void wb_supervisor_load_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_load() instead
 bool wb_supervisor_save_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_save() instead
 
-// deprecated since Webots 8.6.0, plesae use wb_supervisor_field_remove_mf_item() instead
+// deprecated since Webots 8.6.0, please use wb_supervisor_field_remove_mf() instead
 void wb_supervisor_field_remove_mf_node(WbFieldRef field, int position) WB_DEPRECATED;
 
-// deprecated since Webots 8.0.0, plesae use wb_supervisor_simulation_reset_physics() instead
+// deprecated since Webots 8.0.0, please use wb_supervisor_simulation_reset_physics() instead
 void wb_supervisor_simulation_physics_reset() WB_DEPRECATED;
 
 // deprecated since Webots 8.4.0 please use wb_supervisor_movie_is_ready and wb_supervisor_movie_failed

lib/controller/matlab/.gitignore

@@ -371,6 +371,8 @@ wbu_motion_set_time.m
 wbu_motion_stop.m
 wbu_system_getenv.m
 wbu_system_short_path.m
+wbu_system_tmpdir.m
+wbu_system_webots_instance_path.m
 WB_STDOUT.m
 WB_STDERR.m
 WB_CHANNEL_BROADCAST.m

lib/controller/python/controller/position_sensor.py

@@ -51,7 +51,7 @@ def brake(self):
     @property
     def motor(self):
         from .motor import Motor
-        tag = wb.wb_brake_get_motor(self._tag)
+        tag = wb.wb_position_sensor_get_motor(self._tag)
         return None if tag == 0 else Motor(tag)
 
     @property

projects/samples/contests/ratslife/controllers/contest_manager/maze_definition.h

@@ -21,7 +21,7 @@
 #ifndef MAZE_DEFINITION_H
 #define MAZE_DEFINITION_H
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "linked_list.h"
 // enum
 typedef enum { North, South, East, West, None } Orientation;

projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c

@@ -20,7 +20,7 @@
 
 #include "round_manager.h"
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "helper.h"
 
 #include <math.h>

projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c

@@ -22,7 +22,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "helper.h"
 #include "parameters.h"
 #include "texture_generator.h"

resources/Makefile.include

@@ -391,18 +391,6 @@ ifdef BUILD_STATIC_LIBRARY
  STATIC_LINK_FLAGS += rvs
 endif
 
-# Visual Studio
-ifeq ($(OSTYPE),windows)
- ifdef BUILD_SHARED_LIBRARY
-  ifndef USE_CXX
-    ifneq ($(wildcard /C/Program\ Files\ */Microsoft\ Visual\ Studio/2017),)
-      VISUAL_STUDIO_PATH?=/C/Program Files (x86)/Microsoft Visual Studio/2017
-    endif
-   VS_DEF_NAME = $(NAME).def
-  endif
- endif
-endif
-
 ifeq ($(OSTYPE),darwin)
  ifdef WEBOTS_LIBRARY
   INSTALL_NAME ?= @rpath/Contents/lib/controller/$(MAIN_TARGET)
@@ -486,6 +474,7 @@ MAIN_TARGET_COPY ?= $(MAIN_TARGET)
 MAIN_TARGET_WINDOWS64_LIB = $(MAIN_TARGET:.dll=.lib)
 endif
 ifeq ($(OSTYPE),windows)
+DYNAMIC_LINK_FLAGS += -Wl,--out-implib,$(MAIN_TARGET_WINDOWS64_LIB)
 FILES_TO_REMOVE += $(MAIN_TARGET_WINDOWS64_LIB)
 endif
 
@@ -506,19 +495,6 @@ endif
 ifdef TARGET_LIB_DIR
 
 $(MAIN_TARGET): $(TARGET_LIB_DIR)/$(MAIN_TARGET)
-ifdef VS_DEF_NAME
-	@# Generate the .lib libraries to facilitate the integration with Visual Studio
-	@# if the .def file is existing.
-	@if [ -f $(VS_DEF_NAME) ]; then \
-		if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
-			PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
-			mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
-			rm -f *.exp; \
-		else \
-			$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
-		fi \
-	fi
-endif
 
 else
 
@@ -528,19 +504,6 @@ $(MAIN_TARGET): $(BUILD_GOAL_DIR)/$(MAIN_TARGET)
 	@# This new version will be executed only when the process restarts.
 	@# Note: this binary may be an executable (e.g., a controller) or shared library (e.g., a physics plug-in).
 	@rm -f $(MAIN_TARGET) > /dev/null 2>&1 && echo "# copying to" $(MAIN_TARGET_COPY) && cp $(BUILD_GOAL_DIR)/$(MAIN_TARGET) $(MAIN_TARGET_COPY) > /dev/null 2>&1
-ifdef VS_DEF_NAME
-	@# Generate the .lib libraries to facilitate the integration with Visual Studio
-	@# if the .def file is existing.
-	@if [ -f $(VS_DEF_NAME) ]; then \
-		if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
-			PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
-			mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
-			rm -f *.exp; \
-		else \
-			$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
-		fi \
-	fi
-endif
 
 endif