diff --git a/.github/workflows/test_suite_windows.yml b/.github/workflows/test_suite_windows.yml index eec6a99632c..df7b819e089 100644 --- a/.github/workflows/test_suite_windows.yml +++ b/.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 diff --git a/.github/workflows/test_suite_windows_develop.yml b/.github/workflows/test_suite_windows_develop.yml index cb24a23dc81..434fa79326b 100644 --- a/.github/workflows/test_suite_windows_develop.yml +++ b/.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 diff --git a/.github/workflows/tests_sources.yml b/.github/workflows/tests_sources.yml index ba6318f4b4d..e4e648de51e 100644 --- a/.github/workflows/tests_sources.yml +++ b/.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 diff --git a/.github/workflows/tests_sources_with_latest_cppcheck.yml b/.github/workflows/tests_sources_with_latest_cppcheck.yml index fbef60e4d70..c57f3d4d067 100644 --- a/.github/workflows/tests_sources_with_latest_cppcheck.yml +++ b/.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 diff --git a/docs/css/webots-doc.css b/docs/css/webots-doc.css index 94dcc48c0e0..0f2a4c9c019 100644 --- a/docs/css/webots-doc.css +++ b/docs/css/webots-doc.css @@ -917,6 +917,13 @@ body { .webots-doc g foreignObject div a { font-family: Tahoma, Arial, sans-serif; /* mermaidjs is quite sensitive to the font used and it's size */ font-size: 100%; + text-decoration: underline; +} + +.webots-doc g foreignObject div a:active, +.webots-doc g foreignObject div a:focus, +.webots-doc g foreignObject div a:hover { + text-decoration: underline; } .webots-doc .mermaid { diff --git a/docs/reference/camera.md b/docs/reference/camera.md index 98152895fe1..29c344bf64e 100644 --- a/docs/reference/camera.md +++ b/docs/reference/camera.md @@ -791,16 +791,16 @@ namespace webots { from controller import Camera class Camera (Device): - def getImage(self): - def getImageArray(self): + def getImage(self) -> bytes: + def getImageArray(self) -> list[list[list[int]]]: @staticmethod - def imageGetRed(image, width, x, y): + def imageGetRed(image: bytes, width: int, x: int, y: int) -> int: @staticmethod - def imageGetGreen(image, width, x, y): + def imageGetGreen(image: bytes, width: int, x: int, y: int) -> int: @staticmethod - def imageGetBlue(image, width, x, y): + def imageGetBlue(image: bytes, width: int, x: int, y: int) -> int: @staticmethod - def imageGetGray(image, width, x, y): + def imageGetGray(image: bytes, width: int, x: int, y: int) -> int: # ... ``` @@ -895,8 +895,8 @@ Here is an example: -> **Note** [Python]: The `getImage` function returns a `string`. -This `string` is closely related to the `const char *` of the C API. +> **Note** [Python]: The `getImage` function returns a byte array (`bytes`). +This `bytes` is closely related to the `const char *` of the C API. `imageGet*`-like functions can be used to get the channels of the camera Here is an example: > ```python diff --git a/docs/reference/changelog-r2025.md b/docs/reference/changelog-r2025.md index 8dcb0004235..94bc278a9a6 100644 --- a/docs/reference/changelog-r2025.md +++ b/docs/reference/changelog-r2025.md @@ -1,8 +1,26 @@ # 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)). + - Fixed detection of physics plugins in extra projects ([#6880](https://github.com/cyberbotics/webots/pull/6880)). + - Fixed `addForceWithOffset` and `addTorque` doing the same thing as `addForce` in Python ([#6881](https://github.com/cyberbotics/webots/pull/6881)). ## Webots R2025a Released on January 31st, 2025. diff --git a/include/controller/c/webots/supervisor.h b/include/controller/c/webots/supervisor.h index 092c02cba71..fdae974cb7e 100644 --- a/include/controller/c/webots/supervisor.h +++ b/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 diff --git a/lib/controller/matlab/.gitignore b/lib/controller/matlab/.gitignore index 36b5024c07a..a6dfc4109cd 100644 --- a/lib/controller/matlab/.gitignore +++ b/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 diff --git a/lib/controller/python/controller/node.py b/lib/controller/python/controller/node.py index ce64e4d7d23..431eaecb327 100644 --- a/lib/controller/python/controller/node.py +++ b/lib/controller/python/controller/node.py @@ -218,11 +218,11 @@ def addForce(self, force: typing.List[float], relative: bool): wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 3)(*force), 1 if relative else 0) def addForceWithOffset(self, force: typing.List[float], offset: typing.List[float], relative: bool): - wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 3)(*force), (ctypes.c_double * 3)(*offset), - 1 if relative else 0) + wb.wb_supervisor_node_add_force_with_offset(self._ref, (ctypes.c_double * 3)(*force), (ctypes.c_double * 3)(*offset), + 1 if relative else 0) def addTorque(self, torque: typing.List[float], relative: bool): - wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 4)(*torque), 1 if relative else 0) + wb.wb_supervisor_node_add_torque(self._ref, (ctypes.c_double * 3)(*torque), 1 if relative else 0) @property def DEF(self) -> str: diff --git a/lib/controller/python/controller/position_sensor.py b/lib/controller/python/controller/position_sensor.py index e76840f2f59..4b9dc9463ec 100644 --- a/lib/controller/python/controller/position_sensor.py +++ b/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 diff --git a/projects/default/libraries/vehicle/c/car/car.def b/projects/default/libraries/vehicle/c/car/car.def deleted file mode 100644 index 1c3e82018d5..00000000000 --- a/projects/default/libraries/vehicle/c/car/car.def +++ /dev/null @@ -1,28 +0,0 @@ -EXPORTS -wbu_car_init -wbu_car_cleanup -wbu_car_get_type -wbu_car_get_engine_type -wbu_car_set_indicator_period -wbu_car_get_indicator_period -wbu_car_get_backwards_lights -wbu_car_get_brake_lights -wbu_car_get_track_front -wbu_car_get_track_rear -wbu_car_get_wheelbase -wbu_car_get_front_wheel_radius -wbu_car_get_rear_wheel_radius -wbu_car_get_wheel_encoder -wbu_car_get_wheel_speed -wbu_car_set_right_steering_angle -wbu_car_get_right_steering_angle -wbu_car_set_left_steering_angle -wbu_car_get_left_steering_angle -wbu_car_enable_limited_slip_differential -wbu_car_enable_indicator_auto_disabling -_wbu_car_get_instance -_wbu_car_set_led_state_if_exist -_wbu_car_get_led_state_if_exist -_wbu_car_check_initialisation -_wbu_car_initialization_is_possible - diff --git a/projects/default/libraries/vehicle/c/driver/driver.def b/projects/default/libraries/vehicle/c/driver/driver.def deleted file mode 100644 index 20a14276f50..00000000000 --- a/projects/default/libraries/vehicle/c/driver/driver.def +++ /dev/null @@ -1,30 +0,0 @@ -EXPORTS -wbu_driver_init -wbu_driver_initialization_is_possible -wbu_driver_cleanup -wbu_driver_step -wbu_driver_set_steering_angle -wbu_driver_get_steering_angle -wbu_driver_set_cruising_speed -wbu_driver_get_target_cruising_speed -wbu_driver_get_current_speed -wbu_driver_set_throttle -wbu_driver_get_throttle -wbu_driver_set_brake_intensity -wbu_driver_get_brake_intensity -wbu_driver_set_indicator -wbu_driver_set_hazard_flashers -wbu_driver_get_indicator -wbu_driver_get_hazard_flashers -wbu_driver_set_dipped_beams -wbu_driver_set_antifog_lights -wbu_driver_get_dipped_beams -wbu_driver_get_antifog_lights -wbu_driver_get_rpm -wbu_driver_get_gear -wbu_driver_set_gear -wbu_driver_get_gear_number -wbu_driver_get_control_mode -wbu_driver_set_wiper_mode -wbu_driver_get_wiper_mode - diff --git a/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def b/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def deleted file mode 100644 index c31e921477d..00000000000 --- a/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def +++ /dev/null @@ -1,34 +0,0 @@ -EXPORTS -arm_init -arm_reset -arm_set_height -arm_increase_height -arm_decrease_height -arm_set_orientation -arm_increase_orientation -arm_decrease_orientation -arm_set_sub_arm_rotation -arm_get_sub_arm_length -arm_ik -base_init -base_reset -base_forwards -base_backwards -base_turn_left -base_turn_right -base_strafe_left -base_strafe_right -base_forwards_increment -base_backwards_increment -base_turn_left_increment -base_turn_right_increment -base_strafe_left_increment -base_strafe_right_increment -base_goto_init -base_goto_set_target -base_goto_run -base_goto_reached -gripper_init -gripper_grip -gripper_release -gripper_set_gap diff --git a/projects/samples/contests/ratslife/controllers/contest_manager/boolean.h b/projects/samples/contests/ratslife/controllers/contest_manager/boolean.h deleted file mode 100644 index 6959f499ac4..00000000000 --- a/projects/samples/contests/ratslife/controllers/contest_manager/boolean.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * Copyright 1996-2024 Cyberbotics Ltd. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * https://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/* - * Description: Boolean type - */ - -#ifndef BOOLEAN_H -#define BOOLEAN_H - -#if !defined(bool) && !defined(true) && !defined(false) -typedef enum { false, true } bool; -#endif - -#endif diff --git a/projects/samples/contests/ratslife/controllers/contest_manager/maze_definition.h b/projects/samples/contests/ratslife/controllers/contest_manager/maze_definition.h index bc7ab74ea16..d255852cc7f 100644 --- a/projects/samples/contests/ratslife/controllers/contest_manager/maze_definition.h +++ b/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 #include "linked_list.h" // enum typedef enum { North, South, East, West, None } Orientation; diff --git a/projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c b/projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c index 62fd710bd7e..ad2ea940b7b 100644 --- a/projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c +++ b/projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c @@ -20,7 +20,7 @@ #include "round_manager.h" -#include "boolean.h" +#include #include "helper.h" #include diff --git a/projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c b/projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c index e6c9ad58dbe..f1b9a7f923a 100644 --- a/projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c +++ b/projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c @@ -22,7 +22,7 @@ #include #include -#include "boolean.h" +#include #include "helper.h" #include "parameters.h" #include "texture_generator.h" diff --git a/resources/Makefile.include b/resources/Makefile.include index 461793b164e..c961d1f74e7 100644 --- a/resources/Makefile.include +++ b/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 $(NAME).lib\033[0m"; \ - fi \ - fi -endif endif diff --git a/resources/Makefile.os.include b/resources/Makefile.os.include index 60907b91072..87466ba0a75 100644 --- a/resources/Makefile.os.include +++ b/resources/Makefile.os.include @@ -50,22 +50,25 @@ ifeq ($(OSTYPE),Darwin) OSTYPE = darwin endif -# determine the OSARCH and UBUNTU_VERSION (linux only) +# determine the OSARCH, OSDIST, and UBUNTU_VERSION (linux only) ifeq ($(OSTYPE),linux) ifeq ($(filter x86_64, $(shell uname -a)),) OSARCH = i386 else OSARCH = x86_64 endif + OSDIST=$(shell grep ^ID= /etc/os-release | cut -d= -f2) ifeq ($(OSTYPE),linux) ifeq ($(SNAP_NAME), webots) UBUNTU_VERSION=22.04 else - ifneq (, $(shell which lsb_release)) - UBUNTU_VERSION:=$(shell lsb_release -sr) + ifneq (, $(wildcard /etc/os-release)) + UBUNTU_VERSION:=$(shell grep VERSION_ID /etc/os-release | cut -d= -f2 | tr -d '"') endif endif endif +else + OSDIST=$(OSTYPE) endif # OS specific variables diff --git a/scripts/install/bash_profile.windows b/scripts/install/bash_profile.windows index 1fe3d69a16f..ab0c3e5dfe2 100644 --- a/scripts/install/bash_profile.windows +++ b/scripts/install/bash_profile.windows @@ -6,7 +6,6 @@ # export PYTHON_HOME="C:\Program Files\Python310" # Optionally defines the path to Python home. # export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK` # Optionally defines the path to Java home. # export MATLAB_HOME=/C/Program\ Files/MATLAB/R2018b # Optionally defines the path to MATLAB home. -# export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017" # Optionally defines the path to Microsoft Visual Studio home. # export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6" # Optionally defines the path to Inno Setup home. diff --git a/scripts/install/linux_compilation_dependencies.sh b/scripts/install/linux_compilation_dependencies.sh index 213b51ad584..2aaa6ad2e86 100755 --- a/scripts/install/linux_compilation_dependencies.sh +++ b/scripts/install/linux_compilation_dependencies.sh @@ -1,25 +1,56 @@ #!/bin/bash -# exit when any command fails on CI +# Exit when any command fails on CI if [[ ! -z "$CI" ]]; then - set -e + set -e fi if [[ $EUID -ne 0 ]]; then - echo "This script must be run as root" - exit 1 + echo "This script must be run as root" + exit 1 fi -alias apt='apt --option="APT::Acquire::Retries=3"' -apt update -apt install --yes git lsb-release cmake swig libglu1-mesa-dev libglib2.0-dev libfreeimage3 libfreetype6-dev libxml2-dev libboost-dev libssh-gcrypt-dev libzip-dev libreadline-dev pbzip2 wget zip unzip python3 python3-pip libopenal-dev - -UBUNTU_VERSION=$(lsb_release -rs) -if [[ $UBUNTU_VERSION == "22.04" || $UBUNTU_VERSION == "24.04" ]]; then - apt install --yes libzip4 openssl +# Detect the operating system +if [ -f /etc/os-release ]; then + . /etc/os-release + OS=$ID + VERSION_ID=$VERSION_ID else - echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." + echo "Cannot determine the operating system." + exit 1 fi +# Function to install packages on Ubuntu +install_ubuntu_packages() { + alias apt='apt --option="APT::Acquire::Retries=3"' + apt update + apt install --yes git cmake swig libglu1-mesa-dev libglib2.0-dev libfreeimage3 libfreetype6-dev libxml2-dev libboost-dev libssh-gcrypt-dev libzip-dev libreadline-dev pbzip2 wget zip unzip python3 python3-pip libopenal-dev + + if [[ $VERSION_ID == "22.04" || $VERSION_ID == "24.04" ]]; then + apt install --yes libzip4 openssl + else + echo "Unsupported Ubuntu version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." + fi +} + +# Function to install packages on Fedora +install_fedora_packages() { + dnf install -y git cmake swig mesa-libGLU-devel glib2-devel freeimage freetype-devel.x86_64 freetype-devel.i686 glibc-devel.x86_64 glibc-devel.i686 libxml2-devel boost-devel libssh-devel libzip-devel readline-devel pbzip2 wget zip unzip python3 python3-pip openal-soft-devel glm-devel stb-devel +} + +# Determine the operating system and call the appropriate function +case "$OS" in + ubuntu) + install_ubuntu_packages + ;; + fedora) + install_fedora_packages + ;; + *) + echo "Unsupported operating system: $OS" + exit 1 + ;; +esac + script_full_path=$(dirname "$0") $script_full_path/linux_runtime_dependencies.sh diff --git a/scripts/install/linux_optional_compilation_dependencies.sh b/scripts/install/linux_optional_compilation_dependencies.sh index 60d0f28973a..9fd1dba9e17 100755 --- a/scripts/install/linux_optional_compilation_dependencies.sh +++ b/scripts/install/linux_optional_compilation_dependencies.sh @@ -10,22 +10,60 @@ if [[ $EUID -ne 0 ]]; then exit 1 fi -# Install add-apt-repository command -alias apt='apt --option="APT::Acquire::Retries=3"' -apt install --yes software-properties-common -add-apt-repository -y ppa:deadsnakes/ppa -apt update -apt install --yes lsb-release curl python3.7-dev python3.8-dev python3.9-dev python3.10-dev dirmngr execstack libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev libssh-dev - -UBUNTU_VERSION=$(lsb_release -rs) -if [[ $UBUNTU_VERSION == "22.04" ]]; then - apt install --yes openjdk-18-jdk -elif [[ $UBUNTU_VERSION == "24.04" ]]; then - apt install --yes openjdk-21-jdk +# Detect the operating system +if [ -f /etc/os-release ]; then + . /etc/os-release + OS=$ID + VERSION_ID=$VERSION_ID else - echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS versions are supported." + echo "Cannot determine the operating system." + exit 1 fi +# Function to install optional dependencies on Ubuntu +install_ubuntu_optional_compilation_packages() { + # Install add-apt-repository command + alias apt='apt --option="APT::Acquire::Retries=3"' + apt install --yes software-properties-common + add-apt-repository -y ppa:deadsnakes/ppa + apt update + apt install --yes curl python3.7-dev python3.8-dev python3.9-dev python3.10-dev dirmngr execstack libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev libssh-dev + + if [[ $VERSION_ID == "22.04" ]]; then + apt install --yes openjdk-18-jdk + elif [[ $VERSION_ID == "24.04" ]]; then + apt install --yes openjdk-21-jdk + else + echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS versions are supported." + fi +} + +# Function to install runtime dependencies on Fedora +install_fedora_optional_compilation_packages() { + dnf install -y curl python3-devel execstack xerces-c-devel fox-devel gdal-devel proj-devel gl2ps-devel libssh-devel + dnf install -y java-21-openjdk-devel + + if [[ $VERSION_ID -le 42 ]]; then + dnf install -y gnupg2 + else + dnf install -y gnupg2-dirmngr + fi +} + +# Determine the operating system and call the appropriate function +case "$OS" in + ubuntu) + install_ubuntu_optional_compilation_packages + ;; + fedora) + install_fedora_optional_compilation_packages + ;; + *) + echo "Unsupported operating system: $OS" + exit 1 + ;; +esac + script_full_path=$(dirname "$0") $script_full_path/linux_test_dependencies.sh --norecurse $script_full_path/linux_compilation_dependencies.sh diff --git a/scripts/install/linux_runtime_dependencies.sh b/scripts/install/linux_runtime_dependencies.sh index 4593476be2c..169b0d242d4 100755 --- a/scripts/install/linux_runtime_dependencies.sh +++ b/scripts/install/linux_runtime_dependencies.sh @@ -1,25 +1,76 @@ #!/bin/bash -# exit when any command fails on CI +# Exit when any command fails on CI if [[ ! -z "$CI" ]]; then - set -e + set -e fi if [[ $EUID -ne 0 ]]; then - echo "This script must be run as root" - exit 1 + echo "This script must be run as root" + exit 1 fi -alias apt='apt --option="APT::Acquire::Retries=3"' -apt update -apt install --yes lsb-release g++ make libavcodec-extra libglu1-mesa libegl1 libxkbcommon-x11-dev libxcb-keysyms1 libxcb-image0 libxcb-icccm4 libxcb-randr0 libxcb-render-util0 libxcb-xinerama0 libxcomposite-dev libxtst6 libnss3 libxcb-cursor0 -if [[ -z "$DISPLAY" ]]; then - apt install --yes xvfb -fi - -UBUNTU_VERSION=$(lsb_release -rs) -if [[ $UBUNTU_VERSION == "22.04" || $UBUNTU_VERSION == "24.04" ]]; then - apt install --yes ffmpeg +# Detect the operating system +if [ -f /etc/os-release ]; then + . /etc/os-release + OS=$ID + VERSION_ID=$VERSION_ID else - echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." + echo "Cannot determine the operating system." + exit 1 fi + +# Function to install runtime dependencies on Ubuntu +install_ubuntu_runtime_packages() { + alias apt='apt --option="APT::Acquire::Retries=3"' + apt update + apt install --yes g++ make libavcodec-extra libglu1-mesa libegl1 \ + libxkbcommon-x11-dev libxcb-keysyms1 libxcb-image0 libxcb-icccm4 libxcb-randr0 \ + libxcb-render-util0 libxcb-xinerama0 libxcomposite-dev libxtst6 libnss3 libxcb-cursor0 + + if [[ -z "$DISPLAY" ]]; then + apt install --yes xvfb + fi + + if [[ $VERSION_ID == "22.04" || $VERSION_ID == "24.04" ]]; then + apt install --yes ffmpeg + else + echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." + fi +} + +# Function to install runtime dependencies on Fedora +install_fedora_runtime_packages() { + dnf install -y gcc-c++ make mesa-libGLU libEGL \ + xkeyboard-config libxcb libXcomposite libXtst nss xcb-util xcb-util-image \ + xcb-util-keysyms xcb-util-renderutil xcb-util-wm xcb-util-cursor \ + + if [[ -z "$DISPLAY" ]]; then + dnf install -y xorg-x11-server-Xvfb + fi + + # Install ffmpeg (with non-free codecs) + # Enable RPMFusion + dnf -y install https://mirrors.rpmfusion.org/free/fedora/rpmfusion-free-release-$(rpm -E %fedora).noarch.rpm https://mirrors.rpmfusion.org/nonfree/fedora/rpmfusion-nonfree-release-$(rpm -E %fedora).noarch.rpm + if dnf list installed ffmpeg-free &> /dev/null; then + dnf swap -y ffmpeg-free ffmpeg --allowerasing + else + dnf install -y ffmpeg + fi + + echo "WARNING: Fedora is not an officially supported OS! Dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." +} + +# Determine the operating system and call the appropriate function +case "$OS" in + ubuntu) + install_ubuntu_runtime_packages + ;; + fedora) + install_fedora_runtime_packages + ;; + *) + echo "Unsupported operating system: $OS" + exit 1 + ;; +esac diff --git a/scripts/install/linux_test_dependencies.sh b/scripts/install/linux_test_dependencies.sh index 49842a6ed4b..c1cf107b710 100755 --- a/scripts/install/linux_test_dependencies.sh +++ b/scripts/install/linux_test_dependencies.sh @@ -2,19 +2,49 @@ # exit when any command fails on CI if [[ ! -z "$CI" ]]; then - set -e + set -e fi if [[ $EUID -ne 0 ]]; then - echo "This script must be run as root" - exit 1 + echo "This script must be run as root" + exit 1 fi -alias apt='apt --option="APT::Acquire::Retries=3"' -apt install liburdfdom-tools -y +# Detect the operating system +if [ -f /etc/os-release ]; then + . /etc/os-release + OS=$ID + VERSION_ID=$VERSION_ID +else + echo "Cannot determine the operating system." + exit 1 +fi + +install_ubuntu_test_packages() { + alias apt='apt --option="APT::Acquire::Retries=3"' + apt install liburdfdom-tools -y +} + +install_fedora_test_packages() { + dnf install -y urdfdom-devel +} + +# Determine the operating system and call the appropriate function +case "$OS" in + ubuntu) + install_ubuntu_test_packages + ;; + fedora) + install_fedora_test_packages + ;; + *) + echo "Unsupported operating system: $OS" + exit 1 + ;; +esac if [[ $@ != *"--norecurse"* ]]; then - echo "Installing runtime dependencies" - script_full_path=$(dirname "$0") - $script_full_path/linux_runtime_dependencies.sh + echo "Installing runtime dependencies" + script_full_path=$(dirname "$0") + $script_full_path/linux_runtime_dependencies.sh fi diff --git a/scripts/install/linux_web_viewer_dependencies.sh b/scripts/install/linux_web_viewer_dependencies.sh index 6fbf28cecae..314fae9255b 100755 --- a/scripts/install/linux_web_viewer_dependencies.sh +++ b/scripts/install/linux_web_viewer_dependencies.sh @@ -10,12 +10,42 @@ if [[ $EUID -ne 0 ]]; then exit 1 fi -alias apt='apt --option="APT::Acquire::Retries=3"' -apt install python3-pip python3-setuptools -y +# Detect the operating system +if [ -f /etc/os-release ]; then + . /etc/os-release + OS=$ID + VERSION_ID=$VERSION_ID +else + echo "Cannot determine the operating system." + exit 1 +fi + +install_ubuntu_web_viewer_packages() { + alias apt='apt --option="APT::Acquire::Retries=3"' + apt install python3-pip python3-setuptools -y +} + +install_fedora_web_viewer_packages() { + dnf install -y python3-pip python3-setuptools +} + +# Determine the operating system and call the appropriate function +case "$OS" in + ubuntu) + install_ubuntu_web_viewer_packages + ;; + fedora) + install_fedora_web_viewer_packages + ;; + *) + echo "Unsupported operating system: $OS" + exit 1 + ;; +esac + pip3 install --upgrade pip pip3 install pyclibrary - git clone https://github.com/emscripten-core/emsdk.git dependencies/emsdk USER=$(env | grep SUDO_USER | cut -d '=' -f 2-) @@ -26,3 +56,7 @@ chown -R $USER dependencies/emsdk WEBOTS_HOME=$(pwd) echo 'source "'$WEBOTS_HOME'/dependencies/emsdk/emsdk_env.sh" >/dev/null 2>&1' >> /home/$USER/.bashrc + +if [[ "$OS" == "fedora" ]]; then + echo "WARNING: Fedora is not an officially supported OS! Dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported." +fi diff --git a/scripts/new_version/new_version.sh b/scripts/new_version/new_version.sh index eea85960f49..4d95b6a18b0 100755 --- a/scripts/new_version/new_version.sh +++ b/scripts/new_version/new_version.sh @@ -119,3 +119,11 @@ then echo "tests/cache/worlds/backwards_compatibility.wbt should not be modified by this script" fi +# metainfo +echo "Update metainfo file..." +$CURRENT_DIR/new_version_file.sh $old_version $new_version $WEBOTS_HOME/scripts/packaging/webots.metainfo.xml +$CURRENT_DIR/new_version_file.sh "[0-9]\{4\}-[0-9]\{2\}-[0-9]\{2\}" "$(date +%F)" $WEBOTS_HOME/scripts/packaging/webots.metainfo.xml +$CURRENT_DIR/new_version_file.sh "Copyright [0-9]\{4\}" "Copyright ${new_version_year}" $WEBOTS_HOME/scripts/packaging/webots.metainfo.xml +if [ $new_version_year -ne $old_version_year ]; then + $CURRENT_DIR/new_version_file.sh "changelog-r${old_version_year}" "changelog-r${new_version_year}" $WEBOTS_HOME/scripts/packaging/webots.metainfo.xml +fi diff --git a/scripts/packaging/files_core.txt b/scripts/packaging/files_core.txt index 473d8c9cc97..a20ad7c69c9 100644 --- a/scripts/packaging/files_core.txt +++ b/scripts/packaging/files_core.txt @@ -64,10 +64,9 @@ lib/controller/ [windows,linux] lib/controller/Controller [dll,windows,linux] lib/controller/Controller.lib [windows] -lib/controller/libController.a [windows] lib/controller/CppController [dll,windows,linux] -lib/controller/libCppController.a [windows] +lib/controller/CppController.lib [windows] lib/controller/java/ [windows,linux] lib/controller/java/*.jar [windows,linux] @@ -81,8 +80,11 @@ lib/controller/CppDriver [dll,windows,linux] lib/controller/driver [dll,windows,linux] lib/controller/car.lib [windows] lib/controller/driver.lib [windows] +lib/controller/CppCar.lib [windows] +lib/controller/CppDriver.lib [windows] lib/controller/generic_robot_window [dll,windows,linux] +lib/controller/generic_robot_window.lib [windows] lib/controller/python/ [windows,linux] lib/controller/python/controller/ [windows,linux] diff --git a/scripts/packaging/webots.metainfo.xml b/scripts/packaging/webots.metainfo.xml new file mode 100644 index 00000000000..ad52a735d2c --- /dev/null +++ b/scripts/packaging/webots.metainfo.xml @@ -0,0 +1,51 @@ + + + + + com.cyberbotics.webots + Webots + Apache-2.0 + + Cyberbotics Ltd. + + Webots Robot Simulator + +

+ Webots provides a complete development environment to model, program, and simulate robots, vehicles, and mechanical systems. It is a beginner friendly software that is meant to introduce newcomers to the world of robotics. +

+

+ Webots was originally designed at EPFL in 1996 as a research tool for mobile robotics. In 1998, it began being developed and commercialized by Cyberbotics. In December 2018, Webots was open sourced. Since then, Cyberbotics continues to develop Webots thanks to paid customer support, training, and consulting for industry and academic research projects. +

+ + CC0-1.0 + com.cyberbotics.webots.desktop + https://cyberbotics.com + https://github.com/cyberbotics/webots/discussions + https://github.com/cyberbotics/webots/issues + https://github.com/cyberbotics/webots/blob/master/CONTRIBUTING.md + https://github.com/sponsors/cyberbotics + + + Main window + https://raw.githubusercontent.com/cyberbotics/webots/master/docs/guide/images/main_window.png + + + + Education + Robotics + + + moderate + + + + https://cyberbotics.com/doc/reference/changelog-r2025 + + + diff --git a/src/controller/c/Controller.def b/src/controller/c/Controller.def deleted file mode 100644 index d7fc80bbe2b..00000000000 --- a/src/controller/c/Controller.def +++ /dev/null @@ -1,643 +0,0 @@ -EXPORTS -wb_ANSI_RESET -wb_ANSI_BOLD -wb_ANSI_UNDERLINE -wb_ANSI_BLACK_BACKGROUND -wb_ANSI_RED_BACKGROUND -wb_ANSI_GREEN_BACKGROUND -wb_ANSI_YELLOW_BACKGROUND -wb_ANSI_BLUE_BACKGROUND -wb_ANSI_MAGENTA_BACKGROUND -wb_ANSI_CYAN_BACKGROUND -wb_ANSI_WHITE_BACKGROUND -wb_ANSI_BLACK_FOREGROUND -wb_ANSI_RED_FOREGROUND -wb_ANSI_GREEN_FOREGROUND -wb_ANSI_YELLOW_FOREGROUND -wb_ANSI_BLUE_FOREGROUND -wb_ANSI_MAGENTA_FOREGROUND -wb_ANSI_CYAN_FOREGROUND -wb_ANSI_WHITE_FOREGROUND -wb_ANSI_CLEAR_SCREEN -wb_KEYBOARD_END -wb_KEYBOARD_HOME -wb_KEYBOARD_LEFT -wb_KEYBOARD_UP -wb_KEYBOARD_RIGHT -wb_KEYBOARD_DOWN -wb_KEYBOARD_PAGEUP -wb_KEYBOARD_PAGEDOWN -wb_KEYBOARD_NUMPAD_HOME -wb_KEYBOARD_NUMPAD_LEFT -wb_KEYBOARD_NUMPAD_UP -wb_KEYBOARD_NUMPAD_RIGHT -wb_KEYBOARD_NUMPAD_DOWN -wb_KEYBOARD_NUMPAD_END -wb_KEYBOARD_KEY -wb_KEYBOARD_SHIFT -wb_KEYBOARD_CONTROL -wb_KEYBOARD_ALT -wb_LINEAR -wb_MF -wb_MF_BOOL -wb_MF_INT32 -wb_MF_FLOAT -wb_MF_VEC2F -wb_MF_VEC3F -wb_MF_ROTATION -wb_MF_COLOR -wb_MF_STRING -wb_MF_NODE -wb_NODE_NO_NODE -wb_NODE_APPEARANCE -wb_NODE_BACKGROUND -wb_NODE_BILLBOARD -wb_NODE_BOX -wb_NODE_CAD_SHAPE -wb_NODE_CAPSULE -wb_NODE_COLOR -wb_NODE_CONE -wb_NODE_COORDINATE -wb_NODE_CYLINDER -wb_NODE_DIRECTIONAL_LIGHT -wb_NODE_ELEVATION_GRID -wb_NODE_FOG -wb_NODE_GROUP -wb_NODE_IMAGE_TEXTURE -wb_NODE_INDEXED_FACE_SET -wb_NODE_INDEXED_LINE_SET -wb_NODE_MATERIAL -wb_NODE_MESH -wb_NODE_MUSCLE -wb_NODE_NORMAL -wb_NODE_PBR_APPEARANCE -wb_NODE_PLANE -wb_NODE_POINT_LIGHT -wb_NODE_POINT_SET -wb_NODE_POSE -wb_NODE_SHAPE -wb_NODE_SPHERE -wb_NODE_SPOT_LIGHT -wb_NODE_TEXTURE_COORDINATE -wb_NODE_TEXTURE_TRANSFORM -wb_NODE_TRANSFORM -wb_NODE_VIEWPOINT -wb_NODE_ROBOT -wb_NODE_ACCELEROMETER -wb_NODE_ALTIMETER -wb_NODE_BRAKE -wb_NODE_CAMERA -wb_NODE_COMPASS -wb_NODE_CONNECTOR -wb_NODE_DISPLAY -wb_NODE_DISTANCE_SENSOR -wb_NODE_EMITTER -wb_NODE_GPS -wb_NODE_GYRO -wb_NODE_INERTIAL_UNIT -wb_NODE_LED -wb_NODE_LIDAR -wb_NODE_LIGHT_SENSOR -wb_NODE_LINEAR_MOTOR -wb_NODE_PEN -wb_NODE_POSITION_SENSOR -wb_NODE_PROPELLER -wb_NODE_RADAR -wb_NODE_RANGE_FINDER -wb_NODE_RECEIVER -wb_NODE_ROTATIONAL_MOTOR -wb_NODE_SKIN -wb_NODE_SPEAKER -wb_NODE_TOUCH_SENSOR -wb_NODE_VACUUM_GRIPPER -wb_NODE_BALL_JOINT -wb_NODE_BALL_JOINT_PARAMETERS -wb_NODE_CHARGER -wb_NODE_CONTACT_PROPERTIES -wb_NODE_DAMPING -wb_NODE_FLUID -wb_NODE_FOCUS -wb_NODE_HINGE_JOINT -wb_NODE_HINGE_JOINT_PARAMETERS -wb_NODE_HINGE_2_JOINT -wb_NODE_IMMERSION_PROPERTIES -wb_NODE_JOINT_PARAMETERS -wb_NODE_LENS -wb_NODE_LENS_FLARE -wb_NODE_PHYSICS -wb_NODE_RECOGNITION -wb_NODE_SLIDER_JOINT -wb_NODE_SLOT -wb_NODE_SOLID -wb_NODE_SOLID_REFERENCE -wb_NODE_TRACK -wb_NODE_TRACK_WHEEL -wb_NODE_WORLD_INFO -wb_NODE_ZOOM -wb_NODE_MICROPHONE -wb_NODE_RADIO -wb_ROTATIONAL -wb_SF_BOOL -wb_SF_INT32 -wb_SF_FLOAT -wb_SF_VEC2F -wb_SF_VEC3F -wb_SF_ROTATION -wb_SF_COLOR -wb_SF_STRING -wb_SF_NODE -wb_accelerometer_disable -wb_accelerometer_enable -wb_accelerometer_get_sampling_period -wb_accelerometer_get_values -wb_accelerometer_get_lookup_table_size -wb_accelerometer_get_lookup_table -wb_altimeter_disable -wb_altimeter_enable -wb_altimeter_get_sampling_period -wb_altimeter_get_value -wb_brake_get_motor -wb_brake_get_position_sensor -wb_brake_get_type -wb_brake_set_damping_constant -wb_camera_disable -wb_camera_enable -wb_camera_get_exposure -wb_camera_get_focal_distance -wb_camera_get_focal_length -wb_camera_get_fov -wb_camera_get_height -wb_camera_get_image -wb_camera_get_max_focal_distance -wb_camera_get_max_fov -wb_camera_get_min_focal_distance -wb_camera_get_min_fov -wb_camera_get_near -wb_camera_get_sampling_period -wb_camera_get_width -wb_camera_has_recognition -wb_camera_recognition_disable -wb_camera_recognition_disable_segmentation -wb_camera_recognition_enable -wb_camera_recognition_enable_segmentation -wb_camera_recognition_get_number_of_objects -wb_camera_recognition_get_objects -wb_camera_recognition_get_sampling_period -wb_camera_recognition_get_segmentation_image -wb_camera_recognition_has_segmentation -wb_camera_recognition_is_segmentation_enabled -wb_camera_recognition_save_segmentation_image -wb_camera_save_image -wb_camera_set_exposure -wb_camera_set_focal_distance -wb_camera_set_fov -wb_compass_disable -wb_compass_enable -wb_compass_get_sampling_period -wb_compass_get_values -wb_compass_get_lookup_table_size -wb_compass_get_lookup_table -wb_connector_disable_presence -wb_connector_enable_presence -wb_connector_get_presence -wb_connector_get_presence_sampling_period -wb_connector_is_locked -wb_connector_lock -wb_connector_unlock -wb_console_print -wb_device_get_model -wb_device_get_name -wb_device_get_type -wb_device_get_node_type -wb_display_attach_camera -wb_display_detach_camera -wb_display_draw_line -wb_display_draw_oval -wb_display_draw_pixel -wb_display_draw_polygon -wb_display_draw_rectangle -wb_display_draw_text -wb_display_fill_oval -wb_display_fill_polygon -wb_display_fill_rectangle -wb_display_get_height -wb_display_get_width -wb_display_image_copy -wb_display_image_delete -wb_display_image_load -wb_display_image_new -wb_display_image_paste -wb_display_image_save -wb_display_set_alpha -wb_display_set_color -wb_display_set_font -wb_display_set_opacity -wb_distance_sensor_disable -wb_distance_sensor_enable -wb_distance_sensor_get_aperture -wb_distance_sensor_get_max_value -wb_distance_sensor_get_min_value -wb_distance_sensor_get_sampling_period -wb_distance_sensor_get_type -wb_distance_sensor_get_value -wb_distance_sensor_get_lookup_table_size -wb_distance_sensor_get_lookup_table -wb_emitter_get_buffer_size -wb_emitter_get_channel -wb_emitter_get_range -wb_emitter_send -wb_emitter_set_channel -wb_emitter_set_range -wb_gps_disable -wb_gps_convert_to_degrees_minutes_seconds -wb_gps_enable -wb_gps_get_coordinate_system -wb_gps_get_sampling_period -wb_gps_get_speed -wb_gps_get_speed_vector -wb_gps_get_values -wb_gyro_disable -wb_gyro_enable -wb_gyro_get_sampling_period -wb_gyro_get_values -wb_gyro_get_lookup_table_size -wb_gyro_get_lookup_table -wb_inertial_unit_disable -wb_inertial_unit_enable -wb_inertial_unit_get_roll_pitch_yaw -wb_inertial_unit_get_quaternion -wb_inertial_unit_get_sampling_period -wb_inertial_unit_get_noise -wb_joystick_disable -wb_joystick_enable -wb_joystick_get_axis_value -wb_joystick_get_model -wb_joystick_get_number_of_axes -wb_joystick_get_number_of_povs -wb_joystick_get_pov_value -wb_joystick_get_pressed_button -wb_joystick_get_sampling_period -wb_joystick_is_connected -wb_joystick_set_auto_centering_gain -wb_joystick_set_constant_force -wb_joystick_set_constant_force_duration -wb_joystick_set_force_axis -wb_joystick_set_resistance_gain -wb_keyboard_disable -wb_keyboard_enable -wb_keyboard_get_key -wb_keyboard_get_sampling_period -wb_led_get -wb_led_set -wb_lidar_disable -wb_lidar_disable_point_cloud -wb_lidar_enable -wb_lidar_enable_point_cloud -wb_lidar_get_fov -wb_lidar_get_frequency -wb_lidar_get_horizontal_resolution -wb_lidar_get_layer_point_cloud -wb_lidar_get_layer_range_image -wb_lidar_get_max_frequency -wb_lidar_get_max_range -wb_lidar_get_min_frequency -wb_lidar_get_min_range -wb_lidar_get_number_of_layers -wb_lidar_get_number_of_points -wb_lidar_get_point_cloud -wb_lidar_get_range_image -wb_lidar_get_sampling_period -wb_lidar_get_vertical_fov -wb_lidar_is_point_cloud_enabled -wb_lidar_set_frequency -wb_light_sensor_disable -wb_light_sensor_enable -wb_light_sensor_get_sampling_period -wb_light_sensor_get_value -wb_light_sensor_get_lookup_table_size -wb_light_sensor_get_lookup_table -wb_microphone_enable -wb_microphone_get_sample_data -wb_microphone_get_sample_size -wb_microphone_get_sampling_period -wb_motor_disable_force_feedback -wb_motor_disable_torque_feedback -wb_motor_enable_force_feedback -wb_motor_enable_torque_feedback -wb_motor_get_acceleration -wb_motor_get_available_force -wb_motor_get_available_torque -wb_motor_get_force_feedback -wb_motor_get_force_feedback_sampling_period -wb_motor_get_max_force -wb_motor_get_max_torque -wb_motor_get_max_position -wb_motor_get_max_velocity -wb_motor_get_min_position -wb_motor_get_multiplier -wb_motor_get_target_position -wb_motor_get_torque_feedback -wb_motor_get_torque_feedback_sampling_period -wb_motor_get_type -wb_motor_get_velocity -wb_motor_get_brake -wb_motor_get_position_sensor -wb_motor_set_acceleration -wb_motor_set_available_force -wb_motor_set_available_torque -wb_motor_set_control_pid -wb_motor_set_force -wb_motor_set_position -wb_motor_set_torque -wb_motor_set_velocity -wb_mouse_disable -wb_mouse_disable_3d_position -wb_mouse_enable -wb_mouse_enable_3d_position -wb_mouse_get_sampling_period -wb_mouse_get_state -wb_mouse_is_3d_position_enabled -wb_node_get_name -wb_pen_set_ink_color -wb_pen_write -wb_position_sensor_enable -wb_position_sensor_disable -wb_position_sensor_get_value -wb_position_sensor_get_sampling_period -wb_position_sensor_get_type -wb_position_sensor_get_brake -wb_position_sensor_get_motor -wb_radar_disable -wb_radar_enable -wb_radar_get_horizontal_fov -wb_radar_get_max_range -wb_radar_get_min_range -wb_radar_get_number_of_targets -wb_radar_get_sampling_period -wb_radar_get_targets -wb_radar_get_vertical_fov -wb_range_finder_enable -wb_range_finder_disable -wb_range_finder_get_sampling_period -wb_range_finder_get_range_image -wb_range_finder_get_width -wb_range_finder_get_height -wb_range_finder_get_fov -wb_range_finder_get_min_range -wb_range_finder_get_max_range -wb_range_finder_save_image -wb_range_finder_image_get_depth -wb_remote_control_custom_function -wb_receiver_disable -wb_receiver_enable -wb_receiver_get_channel -wb_receiver_get_data -wb_receiver_get_data_size -wb_receiver_get_emitter_direction -wb_receiver_get_queue_length -wb_receiver_get_sampling_period -wb_receiver_get_signal_strength -wb_receiver_next_packet -wb_receiver_set_channel -wb_robot_battery_sensor_disable -wb_robot_battery_sensor_enable -wb_robot_battery_sensor_get_value -wb_robot_battery_sensor_get_sampling_period -wb_robot_cleanup -wb_robot_get_basic_time_step -wb_robot_get_controller_name -wb_robot_get_custom_data -wb_robot_get_data -wb_robot_get_device -wb_robot_get_device_by_index -wb_robot_get_mode -wb_robot_get_model -wb_robot_get_name -wb_robot_get_number_of_devices -wb_robot_get_project_path -wb_robot_get_supervisor -wb_robot_get_synchronization -wb_robot_get_time -wb_robot_get_urdf -wb_robot_get_world_path -wb_robot_init -wb_robot_init_msvc -wb_robot_mutex_delete -wb_robot_mutex_lock -wb_robot_mutex_new -wb_robot_mutex_unlock -wb_robot_pin_to_static_environment -wb_robot_set_custom_data -wb_robot_set_data -wb_robot_set_mode -wb_robot_step -wb_robot_step_begin -wb_robot_step_end -wb_robot_task_new -wb_robot_wait_for_user_input_event -wb_robot_window_custom_function -wb_robot_wwi_send -wb_robot_wwi_receive -wb_robot_wwi_receive_text -wb_skin_get_bone_count -wb_skin_get_bone_name -wb_skin_get_bone_orientation -wb_skin_get_bone_position -wb_skin_set_bone_orientation -wb_skin_set_bone_position -wb_speaker_get_engine -wb_speaker_get_language -wb_speaker_is_sound_playing -wb_speaker_is_speaking -wb_speaker_play_sound -wb_speaker_set_engine -wb_speaker_set_language -wb_speaker_speak -wb_speaker_stop -wb_supervisor_node_add_force -wb_supervisor_node_add_force_with_offset -wb_supervisor_node_add_torque -wb_supervisor_animation_start_recording -wb_supervisor_animation_stop_recording -wb_supervisor_export_image -wb_supervisor_field_disable_sf_tracking -wb_supervisor_field_enable_sf_tracking -wb_supervisor_field_get_actual_field -wb_supervisor_field_get_count -wb_supervisor_field_get_name -wb_supervisor_field_get_mf_bool -wb_supervisor_field_get_mf_color -wb_supervisor_field_get_mf_float -wb_supervisor_field_get_mf_int32 -wb_supervisor_field_get_mf_node -wb_supervisor_field_get_mf_rotation -wb_supervisor_field_get_mf_string -wb_supervisor_field_get_mf_vec2f -wb_supervisor_field_get_mf_vec3f -wb_supervisor_field_get_sf_bool -wb_supervisor_field_get_sf_color -wb_supervisor_field_get_sf_float -wb_supervisor_field_get_sf_int32 -wb_supervisor_field_get_sf_node -wb_supervisor_field_get_sf_rotation -wb_supervisor_field_get_sf_string -wb_supervisor_field_get_sf_vec2f -wb_supervisor_field_get_sf_vec3f -wb_supervisor_field_get_type -wb_supervisor_field_get_type_name -wb_supervisor_field_import_mf_node_from_string -wb_supervisor_field_import_sf_node_from_string -wb_supervisor_field_insert_mf_bool -wb_supervisor_field_insert_mf_color -wb_supervisor_field_insert_mf_float -wb_supervisor_field_insert_mf_int32 -wb_supervisor_field_insert_mf_rotation -wb_supervisor_field_insert_mf_string -wb_supervisor_field_insert_mf_vec2f -wb_supervisor_field_insert_mf_vec3f -wb_supervisor_field_remove_mf -wb_supervisor_field_remove_mf_node -wb_supervisor_field_remove_sf -wb_supervisor_field_set_mf_bool -wb_supervisor_field_set_mf_color -wb_supervisor_field_set_mf_float -wb_supervisor_field_set_mf_int32 -wb_supervisor_field_set_mf_rotation -wb_supervisor_field_set_mf_string -wb_supervisor_field_set_mf_vec2f -wb_supervisor_field_set_mf_vec3f -wb_supervisor_field_set_sf_bool -wb_supervisor_field_set_sf_color -wb_supervisor_field_set_sf_float -wb_supervisor_field_set_sf_int32 -wb_supervisor_field_set_sf_rotation -wb_supervisor_field_set_sf_string -wb_supervisor_field_set_sf_vec2f -wb_supervisor_field_set_sf_vec3f -wb_supervisor_movie_failed -wb_supervisor_movie_is_ready -wb_supervisor_movie_start_recording -wb_supervisor_movie_stop_recording -wb_supervisor_movie_get_status -wb_supervisor_node_disable_contact_point_tracking -wb_supervisor_node_disable_contact_points_tracking -wb_supervisor_node_disable_pose_tracking -wb_supervisor_node_enable_contact_point_tracking -wb_supervisor_node_enable_contact_points_tracking -wb_supervisor_node_enable_pose_tracking -wb_supervisor_node_export_string -wb_supervisor_node_get_base_node_field -wb_supervisor_node_get_base_node_field_by_index -wb_supervisor_node_get_base_type_name -wb_supervisor_node_get_def -wb_supervisor_node_get_field -wb_supervisor_node_get_field_by_index -wb_supervisor_node_get_from_def -wb_supervisor_node_get_from_id -wb_supervisor_node_get_from_proto_def -wb_supervisor_node_get_from_device -wb_supervisor_node_get_center_of_mass -wb_supervisor_node_get_contact_point -wb_supervisor_node_get_contact_points -wb_supervisor_node_get_contact_point_node -wb_supervisor_node_get_id -wb_supervisor_node_get_number_of_base_node_fields -wb_supervisor_node_get_number_of_contact_points -wb_supervisor_node_get_number_of_fields -wb_supervisor_node_get_orientation -wb_supervisor_node_get_parent_node -wb_supervisor_node_get_pose -wb_supervisor_node_get_position -wb_supervisor_node_get_proto -wb_supervisor_node_get_root -wb_supervisor_node_get_selected -wb_supervisor_node_get_self -wb_supervisor_node_get_static_balance -wb_supervisor_node_get_type -wb_supervisor_node_get_type_name -wb_supervisor_node_get_velocity -wb_supervisor_node_is_proto -wb_supervisor_node_load_state -wb_supervisor_node_move_viewpoint -wb_supervisor_node_remove -wb_supervisor_node_reset_physics -wb_supervisor_node_restart_controller -wb_supervisor_node_save_state -wb_supervisor_node_set_joint_position -wb_supervisor_node_set_velocity -wb_supervisor_node_set_visibility -wb_supervisor_proto_get_field -wb_supervisor_proto_get_field_by_index -wb_supervisor_proto_get_number_of_fields -wb_supervisor_proto_get_parent -wb_supervisor_proto_get_type_name -wb_supervisor_proto_is_derived -wb_supervisor_set_label -wb_supervisor_simulation_get_mode -wb_supervisor_simulation_physics_reset -wb_supervisor_simulation_quit -wb_supervisor_simulation_reset -wb_supervisor_simulation_reset_physics -wb_supervisor_simulation_revert -wb_supervisor_simulation_set_mode -wb_supervisor_start_movie -wb_supervisor_stop_movie -wb_supervisor_get_movie_status -wb_supervisor_virtual_reality_headset_get_position -wb_supervisor_virtual_reality_headset_get_orientation -wb_supervisor_virtual_reality_headset_is_used -wb_supervisor_world_load -wb_supervisor_world_save -wb_supervisor_world_reload -wb_touch_sensor_disable -wb_touch_sensor_enable -wb_touch_sensor_get_sampling_period -wb_touch_sensor_get_type -wb_touch_sensor_get_value -wb_touch_sensor_get_values -wb_touch_sensor_get_lookup_table_size -wb_touch_sensor_get_lookup_table -wb_vacuum_gripper_disable_presence -wb_vacuum_gripper_enable_presence -wb_vacuum_gripper_get_presence -wb_vacuum_gripper_get_presence_sampling_period -wb_vacuum_gripper_is_on -wb_vacuum_gripper_turn_on -wb_vacuum_gripper_turn_off -wbr_accelerometer_set_values -wbr_camera_get_image_buffer -wbr_camera_set_image -wbr_camera_set_focal_distance -wbr_camera_set_fov -wbr_compass_set_values -wbr_display_save_image -wbr_distance_sensor_set_value -wbr_gps_set_values -wbr_gyro_set_values -wbr_light_sensor_set_value -wbr_microphone_set_buffer -wbr_motor_set_force_feedback -wbr_motor_set_torque_feedback -wbr_position_sensor_set_value -wbr_robot_battery_sensor_set_value -wbr_touch_sensor_set_value -wbr_touch_sensor_set_values -wbu_default_robot_window_configure -wbu_default_robot_window_update -wbu_default_robot_window_set_images_max_size -wbu_motion_delete -wbu_motion_get_duration -wbu_motion_get_time -wbu_motion_is_over -wbu_motion_new -wbu_motion_play -wbu_motion_set_loop -wbu_motion_set_reverse -wbu_motion_set_time -wbu_motion_stop -wbu_robot_window_configure -wbu_robot_window_update -wbu_string_replace -wbu_string_strsep -wbu_system_getenv -wbu_system_short_path diff --git a/src/controller/c/Makefile b/src/controller/c/Makefile index 14a32c751b5..d9c04e3206d 100644 --- a/src/controller/c/Makefile +++ b/src/controller/c/Makefile @@ -61,10 +61,10 @@ endif ifeq ($(OSTYPE),windows) CFLAGS = -Wall -mwindows -frandom-seed=0 -D LIBCONTROLLER_VERSION='$(LIBCONTROLLER_VERSION)' INCLUDE = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include -I/mingw64/include -LD_FLAGS = -shared -mwindows --def Controller.def -lws2_32 -PLATFORM = win32 +LD_FLAGS = -shared -mwindows -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib +SHARED_LIBS = -lws2_32 CC = gcc -TARGET = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib +TARGET = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll endif ifeq ($(MAKECMDGOALS),debug) @@ -122,27 +122,6 @@ endif debug profile release: $(TARGET) -ifeq ($(OSTYPE),windows) - -MINGW64_OBJECTS = $(addprefix $(OBJDIR)/, $(OBJECTS)) - -$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll: $(MINGW64_OBJECTS) Controller.def - @echo "# linking "$@ - @echo "# linking "$(WEBOTS_CONTROLLER_LIB_PATH)"/libController.a" - @$(CC) -o $@ $(addprefix $(OBJDIR)/, $(OBJECTS)) $(LD_FLAGS) -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/libController.a - -$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib: $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll Controller.def -ifeq ($(VISUAL_STUDIO_PATH),) - @$(ECHO) "# \033[0;33m'VISUAL_STUDIO_PATH' not set, skipping Controller.lib\033[0m" -else - @echo "# creating "$@ - @PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:Controller.def /out:Controller.lib > /dev/null - @mv Controller.lib "$(WEBOTS_CONTROLLER_LIB_PATH)" - @rm Controller.exp -endif - -endif - ifeq ($(OSTYPE),darwin) X86_64_OBJECTS = $(addprefix $(OBJDIR)/x86_64/, $(OBJECTS)) ARM64_OBJECTS = $(addprefix $(OBJDIR)/arm64/, $(OBJECTS)) @@ -163,9 +142,7 @@ $(OBJDIR)/arm64/libController.dylib: $(ARM64_OBJECTS) @$(CC) $(LD_FLAGS) -target arm64-apple-macos12 -o $@ $(ARM64_OBJECTS) $(SHARED_LIBS) @chmod a-x $@ -endif - -ifeq ($(OSTYPE),linux) +else $(TARGET): $(OBJECTS) @echo "# linking "$@ @$(CC) $(LD_FLAGS) -o $(TARGET) $(addprefix $(OBJDIR)/, $(OBJECTS)) $(SHARED_LIBS) @@ -193,5 +170,4 @@ $(OBJDIR)/%.d:%.c @$(CC) $(CFLAGS) -MM -w $(INCLUDE) $< >> $(OBJDIR)/$(notdir $@) FILES_TO_REMOVE = $(TARGET) -FILES_TO_REMOVE += $(WEBOTS_CONTROLLER_LIB_PATH)/libController.a -FILES_TO_REMOVE += $(WEBOTS_CONTROLLER_LIB_PATH)/libController.lib +FILES_TO_REMOVE += $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib diff --git a/src/controller/c/messages.h b/src/controller/c/messages.h index 4eddad84b65..5c52ebc0625 100644 --- a/src/controller/c/messages.h +++ b/src/controller/c/messages.h @@ -75,7 +75,6 @@ #define C_SUPERVISOR_RELOAD_WORLD 52 #define C_SUPERVISOR_SET_LABEL 53 #define C_SUPERVISOR_SIMULATION_QUIT 54 -#define C_SUPERVISOR_SIMULATION_RESET 55 #define C_SUPERVISOR_SIMULATION_CHANGE_MODE 56 #define C_SUPERVISOR_SIMULATION_RESET_PHYSICS 57 #define C_SUPERVISOR_START_MOVIE 58 @@ -101,6 +100,7 @@ #define C_SUPERVISOR_NODE_GET_PROTO 78 // ctr <-> sim +#define C_SUPERVISOR_SIMULATION_RESET 55 #define C_ROBOT_WAIT_FOR_USER_INPUT_EVENT 80 #define C_ROBOT_WWI_MESSAGE 81 #define C_SUPERVISOR_SAVE_WORLD 82 diff --git a/src/controller/c/speaker.c b/src/controller/c/speaker.c index cd11ce8e3c6..32e02cd1118 100644 --- a/src/controller/c/speaker.c +++ b/src/controller/c/speaker.c @@ -258,17 +258,17 @@ static void speaker_write_request(WbDevice *d, WbRequest *r) { request_write_char(r, 1); else request_write_char(r, 0); - } - request_write_int32(r, sound->upload_size); - if (sound->upload_size) { - /* Sound data available to stream, send it one time and discard it. - * Webots will cache the data inside the device. - */ - request_write_data(r, sound->upload_data, sound->upload_size); - free(sound->upload_data); - sound->upload_data = NULL; - sound->upload_size = 0; + request_write_int32(r, sound->upload_size); + if (sound->upload_size) { + /* Sound data available to stream, send it one time and discard it. + * Webots will cache the data inside the device. + */ + request_write_data(r, sound->upload_data, sound->upload_size); + free(sound->upload_data); + sound->upload_data = NULL; + sound->upload_size = 0; + } } sound->need_update = false; diff --git a/src/controller/c/supervisor.c b/src/controller/c/supervisor.c index f18d19ece53..0985d171a84 100644 --- a/src/controller/c/supervisor.c +++ b/src/controller/c/supervisor.c @@ -1295,6 +1295,15 @@ static void supervisor_read_answer(WbDevice *d, WbRequest *r) { case C_SUPERVISOR_MOVIE_STATUS: movie_status = request_read_uchar(r); break; + case C_SUPERVISOR_SIMULATION_RESET: { + // Clear cached field values + WbFieldStruct *field = field_list; + while (field) { + field->last_update = -DBL_MAX; + field = field->next; + } + break; + } case C_SUPERVISOR_SAVE_WORLD: save_status = request_read_uchar(r); break; diff --git a/src/controller/cpp/Makefile b/src/controller/cpp/Makefile index dde0a6e9794..88d9d604877 100644 --- a/src/controller/cpp/Makefile +++ b/src/controller/cpp/Makefile @@ -86,7 +86,7 @@ ifneq (,$(filter $(MAKECMDGOALS),debug release profile)) # if $(MAKECMDGOALS) is endif ifeq ($(OSTYPE),windows) -LDFLAGS = -frandom-seed=0 -shared -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.a +LDFLAGS = -frandom-seed=0 -shared -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/CppController.lib LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll SHAREDLIBS = $(LIBCONTROLLER) CPPFLAGS = -c -Wall -mwindows @@ -168,7 +168,7 @@ $(OBJDIR)/%.d:%.cpp @$(CXX) $(CPPINCLUDES) -MM $< >> $@ ifeq ($(OSTYPE),windows) -FILES_TO_REMOVE = $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.a *.def *.exp +FILES_TO_REMOVE = $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.lib *.exp else FILES_TO_REMOVE = $(WEBOTS_CONTROLLER_LIB_PATH)/*Cpp* endif diff --git a/src/controller/matlab/mgenerate.py b/src/controller/matlab/mgenerate.py index ffa3a213e6c..3a6e552a277 100755 --- a/src/controller/matlab/mgenerate.py +++ b/src/controller/matlab/mgenerate.py @@ -618,6 +618,8 @@ def main(args=None): # utils/system.h generator.gen(FUNC, "wbu_system_getenv(variable)") generator.gen(FUNC, "wbu_system_short_path(path)") + generator.gen(FUNC, "wbu_system_tmpdir()") + generator.gen(FUNC, "wbu_system_webots_instance_path(refresh)") # constants generator.gen_const("WB_STDOUT", "1") diff --git a/src/ode/ode.def b/src/ode/ode.def deleted file mode 100644 index 17ba86a738d..00000000000 --- a/src/ode/ode.def +++ /dev/null @@ -1,649 +0,0 @@ -EXPORTS -dAlloc -dAllocateODEDataForThread -dAreConnected -dAreConnectedExcluding -dAreGeomsSame -dAreLinked -dBodyAddForce -dBodyAddForceAtPos -dBodyAddForceAtRelPos -dBodyAddRelForce -dBodyAddRelForceAtPos -dBodyAddRelForceAtRelPos -dBodyAddRelTorque -dBodyAddTorque -dBodyCopyPosition -dBodyCopyQuaternion -dBodyCopyRotation -dBodyCreate -dBodyDestroy -dBodyDisable -dBodyEnable -dBodyGetAngularDamping -dBodyGetAngularDampingThreshold -dBodyGetAngularVel -dBodyGetAutoDisableAngularThreshold -dBodyGetAutoDisableAverageSamplesCount -dBodyGetAutoDisableFlag -dBodyGetAutoDisableLinearThreshold -dBodyGetAutoDisableSteps -dBodyGetAutoDisableTime -dBodyGetData -dBodyGetFiniteRotationAxis -dBodyGetFiniteRotationMode -dBodyGetFirstGeom -dBodyGetForce -dBodyGetGravityMode -dBodyGetGyroscopicMode -dBodyGetImmersionLink -dBodyGetJoint -dBodyGetLinearDamping -dBodyGetLinearDampingThreshold -dBodyGetLinearVel -dBodyGetMass -dBodyGetMaxAngularSpeed -dBodyGetNextGeom -dBodyGetNumImmersionLinks -dBodyGetNumJoints -dBodyGetPointVel -dBodyGetPosRelPoint -dBodyGetPosition -dBodyGetQuaternion -dBodyGetRelPointPos -dBodyGetRelPointVel -dBodyGetRotation -dBodyGetTorque -dBodyGetWorld -dBodyIsEnabled -dBodyIsKinematic -dBodySetAngularDamping -dBodySetAngularDampingThreshold -dBodySetAngularVel -dBodySetAutoDisableAngularThreshold -dBodySetAutoDisableAverageSamplesCount -dBodySetAutoDisableDefaults -dBodySetAutoDisableFlag -dBodySetAutoDisableLinearThreshold -dBodySetAutoDisableSteps -dBodySetAutoDisableTime -dBodySetDamping -dBodySetDampingDefaults -dBodySetData -dBodySetDynamic -dBodySetFiniteRotationAxis -dBodySetFiniteRotationMode -dBodySetForce -dBodySetGravityMode -dBodySetGyroscopicMode -dBodySetKinematic -dBodySetLinearDamping -dBodySetLinearDampingThreshold -dBodySetLinearVel -dBodySetMass -dBodySetMaxAngularSpeed -dBodySetMovedCallback -dBodySetPosition -dBodySetQuaternion -dBodySetRotation -dBodySetTorque -dBodyVectorFromWorld -dBodyVectorToWorld -dBoxBox -dBoxTouchesBox -dCheckConfiguration -dCleanupODEAllDataForThread -dClearUpperTriangle -dCloseODE -dClosestLineSegmentPoints -dClusterGetCenter -dClusterGetClusterAABBs -dClusterGetCount -dClusterGetGridStep -dCollide -dConnectingJoint -dConnectingJointList -dCreateBox -dCreateCapsule -dCreateConvex -dCreateCylinder -dCreateGeom -dCreateGeomClass -dCreateGeomTransform -dCreateHeightfield -dCreatePlane -dCreateRay -dCreateSphere -dCreateTriMesh -dDQfromW -dDebug -dDot -dError -dFactorCholesky -dFactorLDLT -dFluidCreate -dFluidDestroy -dFluidDisable -dFluidDynamicsStep -dFluidEnable -dFluidGetData -dFluidGetDensity -dFluidGetFirstGeom -dFluidGetImmersionLink -dFluidGetNextGeom -dFluidGetNumImmersionLinks -dFluidGetStreamVel -dFluidGetViscosity -dFluidGetWorld -dFluidIsEnabled -dFluidSetData -dFluidSetDensity -dFluidSetStreamVel -dFluidSetViscosity -dFree -dGeomBoxGetArea -dGeomBoxGetFacePlane -dGeomBoxGetImmersionPlane -dGeomBoxGetLengths -dGeomBoxGetTangentPlane -dGeomBoxGetVolume -dGeomBoxPointDepth -dGeomBoxSetLengths -dGeomCapsuleGetArea -dGeomCapsuleGetImmersionPlane -dGeomCapsuleGetParams -dGeomCapsuleGetTangentPlane -dGeomCapsuleGetVolume -dGeomCapsulePointDepth -dGeomCapsuleSetParams -dGeomClearOffset -dGeomCopyOffsetPosition -dGeomCopyOffsetRotation -dGeomCopyPosition -dGeomCopyRotation -dGeomCylinderGetArea -dGeomCylinderGetDiskPlane -dGeomCylinderGetImmersionPlane -dGeomCylinderGetParams -dGeomCylinderGetTangentPlane -dGeomCylinderGetVolume -dGeomCylinderPointDepth -dGeomCylinderSetParams -dGeomDestroy -dGeomDisable -dGeomEnable -dGeomGetAABB -dGeomGetArea -dGeomGetBody -dGeomGetBodyNext -dGeomGetCategoryBits -dGeomGetClass -dGeomGetClassData -dGeomGetCollideBits -dGeomGetData -dGeomGetFlags -dGeomGetFluid -dGeomGetFluidNext -dGeomGetImmersionPlane -dGeomGetOffsetPosition -dGeomGetOffsetQuaternion -dGeomGetOffsetRotation -dGeomGetPosRelPoint -dGeomGetPosition -dGeomGetQuaternion -dGeomGetRelPointPos -dGeomGetRotation -dGeomGetSpace -dGeomGetVolume -dGeomHeightfieldDataBuildByte -dGeomHeightfieldDataBuildCallback -dGeomHeightfieldDataBuildDouble -dGeomHeightfieldDataBuildShort -dGeomHeightfieldDataBuildSingle -dGeomHeightfieldDataCreate -dGeomHeightfieldDataDestroy -dGeomHeightfieldDataSetBounds -dGeomHeightfieldGetHeightfieldData -dGeomHeightfieldSetHeightfieldData -dGeomIsBelowImmersionPlane -dGeomIsEnabled -dGeomIsInside -dGeomIsOffset -dGeomIsSpace -dGeomLowLevelControl -dGeomMoved -dGeomPlaneGetParams -dGeomPlanePointDepth -dGeomPlaneSetParams -dGeomRayGet -dGeomRayGetClosestHit -dGeomRayGetLength -dGeomRayGetParams -dGeomRaySet -dGeomRaySetClosestHit -dGeomRaySetLength -dGeomRaySetParams -dGeomSetBody -dGeomSetCategoryBits -dGeomSetCollideBits -dGeomSetConvex -dGeomSetData -dGeomSetDynamicFlag -dGeomSetFluid -dGeomSetOffsetPosition -dGeomSetOffsetQuaternion -dGeomSetOffsetRotation -dGeomSetOffsetWorldPosition -dGeomSetOffsetWorldQuaternion -dGeomSetOffsetWorldRotation -dGeomSetPosition -dGeomSetQuaternion -dGeomSetRotation -dGeomSphereGetArea -dGeomSphereGetImmersionPlane -dGeomSphereGetRadius -dGeomSphereGetTangentPlane -dGeomSphereGetVolume -dGeomSpherePointDepth -dGeomSphereSetRadius -dGeomTransformGetCleanup -dGeomTransformGetGeom -dGeomTransformGetInfo -dGeomTransformSetCleanup -dGeomTransformSetGeom -dGeomTransformSetInfo -dGeomTriMeshClearTCCache -dGeomTriMeshDataBuildDouble -dGeomTriMeshDataBuildDouble1 -dGeomTriMeshDataBuildSimple -dGeomTriMeshDataBuildSimple1 -dGeomTriMeshDataBuildSingle -dGeomTriMeshDataBuildSingle1 -dGeomTriMeshDataCreate -dGeomTriMeshDataDestroy -dGeomTriMeshDataGet -dGeomTriMeshDataGetBuffer -dGeomTriMeshDataPreprocess -dGeomTriMeshDataSet -dGeomTriMeshDataSetBuffer -dGeomTriMeshDataUpdate -dGeomTriMeshEnableTC -dGeomTriMeshGetArea -dGeomTriMeshGetArrayCallback -dGeomTriMeshGetBoundingPlane -dGeomTriMeshGetCallback -dGeomTriMeshGetCenterOfMass -dGeomTriMeshGetData -dGeomTriMeshGetImmersionPlane -dGeomTriMeshGetInertiaMatrix -dGeomTriMeshGetLastTransform -dGeomTriMeshGetPoint -dGeomTriMeshGetRayCallback -dGeomTriMeshGetRelCenterOfMass -dGeomTriMeshGetTriMergeCallback -dGeomTriMeshGetTriMeshDataID -dGeomTriMeshGetTriangle -dGeomTriMeshGetTriangleCount -dGeomTriMeshGetVolume -dGeomTriMeshIsTCEnabled -dGeomTriMeshPointDepth -dGeomTriMeshSetArrayCallback -dGeomTriMeshSetCallback -dGeomTriMeshSetData -dGeomTriMeshSetLastTransform -dGeomTriMeshSetRayCallback -dGeomTriMeshSetTriMergeCallback -dGeomVectorFromWorld -dGeomVectorToWorld -dGetAllocHandler -dGetConfiguration -dGetDebugHandler -dGetErrorHandler -dGetFreeHandler -dGetMessageHandler -dGetReallocHandler -dHashSpaceCreate -dHashSpaceGetLevels -dHashSpaceSetLevels -dImmerse -dImmersionLinkAttach -dImmersionLinkCreate -dImmersionLinkDestroy -dImmersionLinkDisable -dImmersionLinkEnable -dImmersionLinkGroupCreate -dImmersionLinkGroupDestroy -dImmersionLinkGroupEmpty -dImmersionLinkSetData -dImmersionOutlineCreate -dImmersionOutlineDestroy -dImmersionOutlineGetCurvedEdge -dImmersionOutlineGetCurvedEdgesSize -dImmersionOutlineGetStraightEdge -dImmersionOutlineGetStraightEdgeEnd -dImmersionOutlineGetStraightEdgeOrigin -dImmersionOutlineGetStraightEdgesSize -dInfiniteAABB -dInitODE -dInitODE2 -dInvertPDMatrix -dIsPositiveDefinite -dJointAddAMotorTorques -dJointAddHinge2Torques -dJointAddHingeTorque -dJointAddPRTorque -dJointAddPistonForce -dJointAddSliderForce -dJointAddUniversalTorques -dJointAttach -dJointCreateAMotor -dJointCreateBall -dJointCreateContact -dJointCreateFixed -dJointCreateHinge -dJointCreateHinge2 -dJointCreateLMotor -dJointCreateNull -dJointCreatePR -dJointCreatePU -dJointCreatePiston -dJointCreatePlane2D -dJointCreateSlider -dJointCreateUniversal -dJointDestroy -dJointDisable -dJointEnable -dJointGetAMotorAngle -dJointGetAMotorAngleRate -dJointGetAMotorAxis -dJointGetAMotorAxisRel -dJointGetAMotorMode -dJointGetAMotorNumAxes -dJointGetAMotorParam -dJointGetBallAnchor -dJointGetBallAnchor2 -dJointGetBallParam -dJointGetBody -dJointGetData -dJointGetFeedback -dJointGetFixedParam -dJointGetHinge2Anchor -dJointGetHinge2Anchor2 -dJointGetHinge2Angle1 -dJointGetHinge2Angle1Rate -dJointGetHinge2Angle2 -dJointGetHinge2Angle2Rate -dJointGetHinge2Axis1 -dJointGetHinge2Axis2 -dJointGetHinge2Param -dJointGetHinge2SuspensionAxis -dJointGetHingeAnchor -dJointGetHingeAnchor2 -dJointGetHingeAngle -dJointGetHingeAngleRate -dJointGetHingeAxis -dJointGetHingeParam -dJointGetHingeSuspensionAxis -dJointGetLMotorAxis -dJointGetLMotorNumAxes -dJointGetLMotorParam -dJointGetLMotorPosition -dJointGetNumBodies -dJointGetPRAnchor -dJointGetPRAngle -dJointGetPRAngleRate -dJointGetPRAxis1 -dJointGetPRAxis2 -dJointGetPRParam -dJointGetPRPosition -dJointGetPRPositionRate -dJointGetPUAnchor -dJointGetPUAngle1 -dJointGetPUAngle1Rate -dJointGetPUAngle2 -dJointGetPUAngle2Rate -dJointGetPUAngles -dJointGetPUAxis1 -dJointGetPUAxis2 -dJointGetPUAxis3 -dJointGetPUAxisP -dJointGetPUParam -dJointGetPUPosition -dJointGetPUPositionRate -dJointGetPistonAnchor -dJointGetPistonAnchor2 -dJointGetPistonAngle -dJointGetPistonAngleRate -dJointGetPistonAxis -dJointGetPistonParam -dJointGetPistonPosition -dJointGetPistonPositionRate -dJointGetSliderAxis -dJointGetSliderParam -dJointGetSliderPosition -dJointGetSliderPositionRate -dJointGetType -dJointGetUniversalAnchor -dJointGetUniversalAnchor2 -dJointGetUniversalAngle1 -dJointGetUniversalAngle1Rate -dJointGetUniversalAngle2 -dJointGetUniversalAngle2Rate -dJointGetUniversalAngles -dJointGetUniversalAxis1 -dJointGetUniversalAxis2 -dJointGetUniversalParam -dJointGroupCreate -dJointGroupDestroy -dJointGroupEmpty -dJointGroupGetCount -dJointIsEnabled -dJointSetAMotorAngle -dJointSetAMotorAxis -dJointSetAMotorMode -dJointSetAMotorNumAxes -dJointSetAMotorParam -dJointSetBallAnchor -dJointSetBallAnchor2 -dJointSetBallParam -dJointSetData -dJointSetFeedback -dJointSetFixed -dJointSetFixedParam -dJointSetHinge2Anchor -dJointSetHinge2Axis1 -dJointSetHinge2Axis2 -dJointSetHinge2Param -dJointSetHinge2SuspensionAxis -dJointSetHingeAnchor -dJointSetHingeAnchorDelta -dJointSetHingeAxis -dJointSetHingeAxisOffset -dJointSetHingeParam -dJointSetHingeSuspensionAxis -dJointSetLMotorAxis -dJointSetLMotorNumAxes -dJointSetLMotorParam -dJointSetLMotorPosition -dJointSetPRAnchor -dJointSetPRAxis1 -dJointSetPRAxis2 -dJointSetPRParam -dJointSetPUAnchor -dJointSetPUAnchorDelta -dJointSetPUAnchorOffset -dJointSetPUAxis1 -dJointSetPUAxis2 -dJointSetPUAxis3 -dJointSetPUAxisP -dJointSetPUParam -dJointSetPistonAnchor -dJointSetPistonAnchorOffset -dJointSetPistonAxis -dJointSetPistonAxisDelta -dJointSetPistonParam -dJointSetPlane2DAngleParam -dJointSetPlane2DXParam -dJointSetPlane2DYParam -dJointSetSliderAxis -dJointSetSliderAxisDelta -dJointSetSliderParam -dJointSetUniversalAnchor -dJointSetUniversalAxis1 -dJointSetUniversalAxis1Offset -dJointSetUniversalAxis2 -dJointSetUniversalAxis2Offset -dJointSetUniversalParam -dLDLTAddTL -dLDLTRemove -dMakeRandomMatrix -dMakeRandomVector -dMassAdd -dMassAdjust -dMassCheck -dMassRotate -dMassSetBox -dMassSetBoxTotal -dMassSetCappedCylinder -dMassSetCappedCylinderTotal -dMassSetCapsule -dMassSetCapsuleTotal -dMassSetCylinder -dMassSetCylinderTotal -dMassSetParameters -dMassSetSphere -dMassSetSphereTotal -dMassSetTrimesh -dMassSetTrimeshTotal -dMassSetZero -dMassTranslate -dMaxDifference -dMaxDifferenceLowerTriangle -dMessage -dMultiply0 -dMultiply1 -dMultiply2 -dNormalize3 -dNormalize4 -dOrthogonalizeR -dPlaneSpace -dPrintMatrix -dQFromAxisAndAngle -dQMultiply0 -dQMultiply1 -dQMultiply2 -dQMultiply3 -dQSetIdentity -dQfromR -dQuadTreeSpaceCreate -dRFrom2Axes -dRFromAxisAndAngle -dRFromEulerAngles -dRFromZAxis -dRSetIdentity -dRand -dRandGetSeed -dRandInt -dRandReal -dRandSetSeed -dRealloc -dRemoveRowCol -dRfromQ -dSafeNormalize3 -dSafeNormalize4 -dSetAllocHandler -dSetColliderOverride -dSetDebugHandler -dSetErrorHandler -dSetFreeHandler -dSetMessageHandler -dSetReallocHandler -dSetValue -dSetZero -dSimpleSpaceCreate -dSolveCholesky -dSolveL1 -dSolveL1T -dSolveLDLT -dSpaceAdd -dSpaceClean -dSpaceCollide -dSpaceCollide2 -dSpaceCollideAndWorldStep -dSpaceDestroy -dSpaceGetClass -dSpaceGetCleanup -dSpaceGetGeom -dSpaceGetManualCleanup -dSpaceGetNumGeoms -dSpaceGetSublevel -dSpaceQuery -dSpaceRemove -dSpaceSetCleanup -dSpaceSetManualCleanup -dSpaceSetSublevel -dStopwatchReset -dStopwatchStart -dStopwatchStop -dStopwatchTime -dSweepAndPruneSpaceCreate -dTestDataStructures -dTestRand -dTestSolveLCP -dTimerEnd -dTimerNow -dTimerReport -dTimerResolution -dTimerStart -dTimerTicksPerSecond -dToggleODE_MT -dVectorScale -dWorldCleanupWorkingMemory -dWorldCreate -dWorldDestroy -dWorldExportDIF -dWorldGetAngularDamping -dWorldGetAngularDampingThreshold -dWorldGetAutoDisableAngularThreshold -dWorldGetAutoDisableAverageSamplesCount -dWorldGetAutoDisableFlag -dWorldGetAutoDisableLinearThreshold -dWorldGetAutoDisableSteps -dWorldGetAutoDisableTime -dWorldGetCFM -dWorldGetContactMaxCorrectingVel -dWorldGetContactSurfaceLayer -dWorldGetERP -dWorldGetGravity -dWorldGetLinearDamping -dWorldGetLinearDampingThreshold -dWorldGetMaxAngularSpeed -dWorldGetQuickStepNumIterations -dWorldGetQuickStepW -dWorldImpulseToForce -dWorldQuickStep -dWorldRefreshParameters -dWorldSetAngularDamping -dWorldSetAngularDampingThreshold -dWorldSetAutoDisableAngularThreshold -dWorldSetAutoDisableAverageSamplesCount -dWorldSetAutoDisableFlag -dWorldSetAutoDisableLinearThreshold -dWorldSetAutoDisableSteps -dWorldSetAutoDisableTime -dWorldSetCFM -dWorldSetContactMaxCorrectingVel -dWorldSetContactSurfaceLayer -dWorldSetDamping -dWorldSetERP -dWorldSetGravity -dWorldSetLinearDamping -dWorldSetLinearDampingThreshold -dWorldSetMaxAngularSpeed -dWorldSetQuickStepNumIterations -dWorldSetQuickStepW -dWorldSetStepMemoryManager -dWorldSetStepMemoryReservationPolicy -dWorldStep -dWorldStepAndSpaceCollide -dWorldUseSharedWorkingMemory diff --git a/src/webots/app/WbSelection.cpp b/src/webots/app/WbSelection.cpp index 02ec637f709..90a93d52ab9 100644 --- a/src/webots/app/WbSelection.cpp +++ b/src/webots/app/WbSelection.cpp @@ -72,7 +72,7 @@ void WbSelection::selectNode(WbBaseNode *n, bool handlesDisabled) { if (mSelectedAbstractPose && poseChanged) { mSelectedAbstractPose->detachTranslateRotateManipulator(); - disconnect(mSelectedAbstractPose->baseNode(), &WbBaseNode::isBeingDestroyed, this, &WbSelection::clear); + disconnect(mSelectedAbstractPose->baseNode(), &WbNode::isBeingDestroyed, this, &WbSelection::clear); } } } @@ -88,7 +88,7 @@ void WbSelection::selectNode(WbBaseNode *n, bool handlesDisabled) { updateMatterSelection(true); if (mSelectedAbstractPose && poseChanged) { - connect(mSelectedNode, &WbBaseNode::isBeingDestroyed, this, &WbSelection::clear, Qt::UniqueConnection); + connect(mSelectedNode, &WbNode::isBeingDestroyed, this, &WbSelection::clear, Qt::UniqueConnection); if (!handlesDisabled && !mSelectedNode->isUseNode() && !WbNodeUtilities::isNodeOrAncestorLocked(mSelectedAbstractPose->baseNode())) mSelectedAbstractPose->attachTranslateRotateManipulator(); diff --git a/src/webots/control/WbLanguageTools.cpp b/src/webots/control/WbLanguageTools.cpp index c02850fb002..7815fdcd0aa 100644 --- a/src/webots/control/WbLanguageTools.cpp +++ b/src/webots/control/WbLanguageTools.cpp @@ -67,13 +67,16 @@ QString WbLanguageTools::pythonCommand(QString &shortVersion, const QString &com if (pythonCommand.isEmpty()) #ifdef _WIN32 pythonCommand = "python"; + if (!command.endsWith(".exe", Qt::CaseInsensitive)) + pythonCommand += ".exe"; #else pythonCommand = "python3"; #endif + const QString advice = #ifdef __APPLE__ - "To fix the problem, you should set the full path of your python command in " - "Webots->preferences->python command.\n"; + QObject::tr("To fix the problem, you should set the full path of your python command in " + "Webots->preferences->python command.\n"); #else QObject::tr("Webots requires Python version 3.7 or newer in your current PATH.\n" "To fix the problem, you should:\n" @@ -81,30 +84,8 @@ QString WbLanguageTools::pythonCommand(QString &shortVersion, const QString &com "2. Check the COMMAND set in the [python] section of the runtime.ini file of your controller program if any.\n" "3. Install a recent Python 64 bit version and ensure your PATH environment variable points to it.\n"); #endif -#ifdef _WIN32 - if (!command.endsWith(".exe", Qt::CaseInsensitive)) - pythonCommand += ".exe"; - QProcess process; - process.setProcessEnvironment(env); - process.start(pythonCommand, QStringList() << "-u" - << "-c" - << "import sys;print(sys.version);print(sys.maxsize > 2**32)"); - process.waitForFinished(); - const QString output = process.readAll(); - // "3.6.3 (v3.6.3:2c5fed8, Oct 3 2017, 18:11:49) [MSC v.1900 64 bit (AMD64)]\nTrue\n" or the like - const QStringList version = output.split("\n"); - const int v = (QString(version[0][2]) + (version[0][3] != '.' ? QString(version[0][3]) : "")).toInt(); - if (!version[0].startsWith("3.") || v < 7) { - WbLog::warning(QObject::tr("\"%1\" was not found.\n").arg(pythonCommand) + advice); - pythonCommand = "!"; - } else if (version.size() > 1 && version[1].startsWith("False")) { - WbLog::warning(QObject::tr("\"%1\" 64 bit was not found, but the 32 bit version was found.\n").arg(pythonCommand) + advice); - pythonCommand = "!"; - } else - shortVersion = QString(version[0][0]) + version[0][2]; - if (version[0][3] != '.') - shortVersion += version[0][3]; // handle versions 310, 311, 321, etc. -#elif __APPLE__ + +#ifdef __APPLE__ if (std::getenv("PWD")) shortVersion = checkIfPythonCommandExist(pythonCommand, env, true); else if (pythonCommand == "python" || pythonCommand == "python3") { @@ -129,18 +110,36 @@ QString WbLanguageTools::pythonCommand(QString &shortVersion, const QString &com if (pythonCommand == "!") WbLog::warning(QObject::tr("Python was not found.\n") + advice); -#else // __linux__ - shortVersion = checkIfPythonCommandExist(pythonCommand, env, true); +#else // __linux__ and _WIN32 + shortVersion = checkIfPythonCommandExist(pythonCommand, env, true); if (shortVersion.isEmpty()) { pythonCommand = "!"; WbLog::warning(QObject::tr("Python was not found.\n") + advice); + } else { // Python exists + +#ifdef _WIN32 // 64-bit check + QProcess process; + process.setProcessEnvironment(env); + process.start(pythonCommand, QStringList() << "-u" + << "-c" + << "import sys;print(sys.maxsize > 2**32)"); + process.waitForFinished(); + bool processSucceeded = process.error() == QProcess::UnknownError; + const QString output = process.readAll(); + if (!processSucceeded || !output.startsWith("True")) { + WbLog::warning(QObject::tr("\"%1\" 64 bit was not found, but the 32 bit version was found.\n").arg(pythonCommand) + + advice); + pythonCommand = "!"; + shortVersion = QString(); + } +#endif // _WIN32 } -#endif +#endif // __APPLE__ + return pythonCommand; } -#if defined __APPLE__ || defined __linux__ const QString WbLanguageTools::checkIfPythonCommandExist(const QString &pythonCommand, QProcessEnvironment &env, bool log) { QString shortVersion; QProcess process; @@ -148,20 +147,21 @@ const QString WbLanguageTools::checkIfPythonCommandExist(const QString &pythonCo process.start(pythonCommand, QStringList() << "-c" << "import sys;print(sys.version);"); process.waitForFinished(); + bool processSucceeded = process.error() == QProcess::UnknownError; const QString output = process.readAll(); // "3.8.10 (tags/v3.8.10:3d8993a, May 3 2021, 11:48:03) [MSC v.1928 64 bit (AMD64)]" or the like const QStringList version = output.split(" "); - if (!version[0].startsWith("3.")) { + const QStringList version_numbers(version[0].split(".")); + const int minor_version = version_numbers.size() >= 2 ? version_numbers[1].toInt() : 0; + if (!processSucceeded || !version[0].startsWith("3.") || minor_version < 7) { if (log) WbLog::warning(QObject::tr("\"%1\" was not found.\n").arg(pythonCommand)); shortVersion = QString(); } else { - const QStringList version_numbers(version[0].split(".")); shortVersion = version_numbers[0] + version_numbers[1]; } return shortVersion; } -#endif #ifdef __APPLE__ QString WbLanguageTools::findWorkingPythonPath(const QString &pythonVersion, QProcessEnvironment &env, bool log) { diff --git a/src/webots/control/WbLanguageTools.hpp b/src/webots/control/WbLanguageTools.hpp index 1e670df550a..e0b80c7b3aa 100644 --- a/src/webots/control/WbLanguageTools.hpp +++ b/src/webots/control/WbLanguageTools.hpp @@ -35,10 +35,7 @@ class WbLanguageTools { private: WbLanguageTools() {} ~WbLanguageTools() {} -#if defined __APPLE__ || defined __linux__ - // cppcheck-suppress unusedPrivateFunction static const QString checkIfPythonCommandExist(const QString &pythonCommand, QProcessEnvironment &env, bool log); -#endif #ifdef __APPLE__ static QString findWorkingPythonPath(const QString &pythonVersion, QProcessEnvironment &env, bool log); #endif diff --git a/src/webots/editor/WbBuildEditor.cpp b/src/webots/editor/WbBuildEditor.cpp index 51da84d4b93..9bc52adda9d 100644 --- a/src/webots/editor/WbBuildEditor.cpp +++ b/src/webots/editor/WbBuildEditor.cpp @@ -28,6 +28,7 @@ #include "../../../include/controller/c/webots/utils/ansi_codes.h" #include +#include #include #include @@ -268,12 +269,16 @@ void WbBuildEditor::reloadMessageBoxIfNeeded() { if (WbMessageBox::enabled()) { QMessageBox messageBox(QMessageBox::Question, tr("Compilation successful"), tr("Do you want to reset or reload the world?"), QMessageBox::Cancel, this); - messageBox.addButton(tr("Reload"), QMessageBox::AcceptRole); - messageBox.setDefaultButton(messageBox.addButton(tr("Reset"), QMessageBox::AcceptRole)); - const int ret = messageBox.exec(); - if (ret == 0) + const QPushButton *reloadButton = messageBox.addButton(tr("Reload"), QMessageBox::AcceptRole); + QPushButton *resetButton = messageBox.addButton(tr("Reset"), QMessageBox::AcceptRole); + messageBox.setDefaultButton(resetButton); + + messageBox.exec(); + + const QAbstractButton *clickedButton = messageBox.clickedButton(); + if (clickedButton == reloadButton) emit reloadRequested(); - else if (ret == 1) + else if (clickedButton == resetButton) emit resetRequested(); } } else diff --git a/src/webots/gui/WbMainWindow.cpp b/src/webots/gui/WbMainWindow.cpp index 55e5f8afad6..d2db2ee2363 100644 --- a/src/webots/gui/WbMainWindow.cpp +++ b/src/webots/gui/WbMainWindow.cpp @@ -2181,7 +2181,7 @@ void WbMainWindow::showHtmlRobotWindow(WbRobot *robot, bool manualTrigger) { currentRobotWindow = new WbRobotWindow(robot); mRobotWindows << currentRobotWindow; connect(mTcpServer, &WbTcpServer::sendRobotWindowClientID, currentRobotWindow, &WbRobotWindow::setClientID); - connect(robot, &WbBaseNode::isBeingDestroyed, this, [this, robot]() { deleteRobotWindow(robot); }); + connect(robot, &WbNode::isBeingDestroyed, this, [this, robot]() { deleteRobotWindow(robot); }); connect(robot, &WbMatter::matterNameChanged, this, [this, robot]() { showHtmlRobotWindow(robot, false); }); connect(robot, &WbRobot::controllerChanged, this, [this, robot]() { showHtmlRobotWindow(robot, false); }); connect(robot, &WbRobot::externControllerChanged, this, [this, robot]() { showHtmlRobotWindow(robot, false); }); diff --git a/src/webots/gui/WbRenderingDeviceWindowFactory.cpp b/src/webots/gui/WbRenderingDeviceWindowFactory.cpp index 130e3aa8923..7face847f8f 100644 --- a/src/webots/gui/WbRenderingDeviceWindowFactory.cpp +++ b/src/webots/gui/WbRenderingDeviceWindowFactory.cpp @@ -116,7 +116,7 @@ WbRenderingDeviceWindow *WbRenderingDeviceWindowFactory::getWindowForDevice(WbRe return NULL; WbRenderingDeviceWindow *window = new WbRenderingDeviceWindow(device); - connect(device, &WbRenderingDevice::isBeingDestroyed, this, &WbRenderingDeviceWindowFactory::deleteWindow); + connect(device, &WbNode::isBeingDestroyed, this, &WbRenderingDeviceWindowFactory::deleteWindow); mWindowsList.append(window); return window; } @@ -140,7 +140,7 @@ void WbRenderingDeviceWindowFactory::setWindowsEnabled(bool enabled) { } void WbRenderingDeviceWindowFactory::deleteWindow() { - WbBaseNode *node = dynamic_cast(sender()); + WbNode *node = dynamic_cast(sender()); assert(node); for (int i = 0; i < mWindowsList.size(); ++i) { if (mWindowsList[i]->deviceId() == node->uniqueId()) { diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp index 6b445a25665..e623cb0f79b 100644 --- a/src/webots/nodes/WbBackground.cpp +++ b/src/webots/nodes/WbBackground.cpp @@ -679,10 +679,7 @@ WbRgb WbBackground::skyColor() const { } void WbBackground::exportNodeFields(WbWriter &writer) const { - if (writer.isWebots()) { - WbBaseNode::exportNodeFields(writer); - return; - } + WbBaseNode::exportNodeFields(writer); if (writer.isW3d()) { QString backgroundFileNames[6]; @@ -690,18 +687,8 @@ void WbBackground::exportNodeFields(WbWriter &writer) const { if (mUrlFields[i]->size() == 0) continue; - WbField urlFieldCopy(*findField(gUrlNames(i), true)); - const QString &imagePath = WbUrl::computePath(this, gUrlNames(i), mUrlFields[i]->item(0)); - if (WbUrl::isLocalUrl(imagePath)) - backgroundFileNames[i] = WbUrl::computeLocalAssetUrl(imagePath, writer.isW3d()); - else if (WbUrl::isWeb(imagePath)) - backgroundFileNames[i] = imagePath; - else { - if (writer.isWritingToFile()) - backgroundFileNames[i] = WbUrl::exportResource(this, imagePath, imagePath, writer.relativeTexturesPath(), writer); - else - backgroundFileNames[i] = WbUrl::expressRelativeToWorld(imagePath); - } + const QString &resolvedURL = WbUrl::computePath(this, gUrlNames(i), mUrlFields[i], 0); + backgroundFileNames[i] = exportResource(mUrlFields[i]->item(0), resolvedURL, writer.relativeTexturesPath(), writer); } QString irradianceFileNames[6]; @@ -709,18 +696,9 @@ void WbBackground::exportNodeFields(WbWriter &writer) const { if (mIrradianceUrlFields[i]->size() == 0) continue; - const QString &irradiancePath = WbUrl::computePath(this, gIrradianceUrlNames(i), mIrradianceUrlFields[i]->item(0)); - if (WbUrl::isLocalUrl(irradiancePath)) - irradianceFileNames[i] = WbUrl::computeLocalAssetUrl(irradiancePath, writer.isW3d()); - else if (WbUrl::isWeb(irradiancePath)) - irradianceFileNames[i] = irradiancePath; - else { - if (writer.isWritingToFile()) - irradianceFileNames[i] = - WbUrl::exportResource(this, irradiancePath, irradiancePath, writer.relativeTexturesPath(), writer); - else - irradianceFileNames[i] = WbUrl::expressRelativeToWorld(irradiancePath); - } + const QString &resolvedURL = WbUrl::computePath(this, gIrradianceUrlNames(i), mIrradianceUrlFields[i], 0); + irradianceFileNames[i] = + exportResource(mIrradianceUrlFields[i]->item(0), resolvedURL, writer.relativeTexturesPath(), writer); } writer << " "; @@ -730,7 +708,19 @@ void WbBackground::exportNodeFields(WbWriter &writer) const { if (!irradianceFileNames[i].isEmpty()) writer << gIrradianceUrlNames(i) << "='\"" << irradianceFileNames[i] << "\"' "; } + } else { + for (int i = 0; i < 6; ++i) { + exportMFResourceField(gUrlNames(i), mUrlFields[i], writer.relativeTexturesPath(), writer); + exportMFResourceField(gIrradianceUrlNames(i), mIrradianceUrlFields[i], writer.relativeTexturesPath(), writer); + } } +} - WbBaseNode::exportNodeFields(writer); +QStringList WbBackground::customExportedFields() const { + QStringList fields; + for (int i = 0; i < 6; ++i) { + fields << gUrlNames(i); + fields << gIrradianceUrlNames(i); + } + return fields; } diff --git a/src/webots/nodes/WbBackground.hpp b/src/webots/nodes/WbBackground.hpp index a90c9ad4b1b..c6340596215 100644 --- a/src/webots/nodes/WbBackground.hpp +++ b/src/webots/nodes/WbBackground.hpp @@ -59,6 +59,7 @@ class WbBackground : public WbBaseNode { protected: void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; private: static QList cBackgroundList; diff --git a/src/webots/nodes/WbBaseNode.cpp b/src/webots/nodes/WbBaseNode.cpp index 3cd4cccd769..6db657847a7 100644 --- a/src/webots/nodes/WbBaseNode.cpp +++ b/src/webots/nodes/WbBaseNode.cpp @@ -72,7 +72,6 @@ WbBaseNode::WbBaseNode(const QString &modelName) : WbNode(modelName) { } WbBaseNode::~WbBaseNode() { - emit isBeingDestroyed(this); if (mPostFinalizeCalled && !defName().isEmpty() && !WbWorld::instance()->isCleaning() && !WbTemplateManager::isRegenerating()) WbDictionary::instance()->removeNodeFromDictionary(this); } diff --git a/src/webots/nodes/WbBaseNode.hpp b/src/webots/nodes/WbBaseNode.hpp index f0d855d7324..f927257ffbb 100644 --- a/src/webots/nodes/WbBaseNode.hpp +++ b/src/webots/nodes/WbBaseNode.hpp @@ -129,7 +129,6 @@ class WbBaseNode : public WbNode { QString documentationUrl() const; signals: - void isBeingDestroyed(WbBaseNode *node); void visibleHandlesChanged(bool resizeHandlesEnabled); void finalizationCompleted(WbBaseNode *node); diff --git a/src/webots/nodes/WbCadShape.cpp b/src/webots/nodes/WbCadShape.cpp index aad3201001d..9b5b4dbd2a3 100644 --- a/src/webots/nodes/WbCadShape.cpp +++ b/src/webots/nodes/WbCadShape.cpp @@ -568,46 +568,31 @@ const WbVector3 WbCadShape::absoluteScale() const { } void WbCadShape::exportNodeFields(WbWriter &writer) const { - if (!(writer.isW3d() || writer.isProto())) - return; + WbBaseNode::exportNodeFields(writer); if (mUrl->size() == 0) return; - WbBaseNode::exportNodeFields(writer); + if (!(writer.isW3d() || writer.isProto())) { + findField("url", true)->write(writer); + return; + } // export model WbField urlFieldCopy(*findField("url", true)); for (int i = 0; i < mUrl->size(); ++i) { - const QString &completeUrl = WbUrl::computePath(this, "url", mUrl, i); + const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i); WbMFString *urlFieldValue = dynamic_cast(urlFieldCopy.value()); - if (WbUrl::isLocalUrl(completeUrl)) - urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d())); - else if (WbUrl::isWeb(completeUrl)) - urlFieldValue->setItem(i, completeUrl); - else { - urlFieldValue->setItem( - i, writer.isWritingToFile() ? WbUrl::exportMesh(this, mUrl, i, writer) : WbUrl::expressRelativeToWorld(completeUrl)); - } + urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeMeshesPath(), writer)); } // export materials if (writer.isW3d()) { // only needs to be included in the w3d, when converting to base node it shouldn't be included - const QString &parentUrl = WbUrl::computePath(this, "url", mUrl->item(0)); + const QString &parentUrl = WbUrl::computePath(this, "url", mUrl, 0); for (const QString &material : objMaterialList(parentUrl)) { QString materialUrl = WbUrl::combinePaths(material, parentUrl); WbMFString *urlFieldValue = dynamic_cast(urlFieldCopy.value()); - if (WbUrl::isLocalUrl(materialUrl)) - urlFieldValue->addItem(WbUrl::computeLocalAssetUrl(materialUrl, writer.isW3d())); - else if (WbUrl::isWeb(materialUrl)) - urlFieldValue->addItem(materialUrl); - else { - if (writer.isWritingToFile()) - urlFieldValue->addItem( - WbUrl::exportResource(this, materialUrl, materialUrl, writer.relativeMeshesPath(), writer, false)); - else - urlFieldValue->addItem(WbUrl::expressRelativeToWorld(materialUrl)); - } + urlFieldValue->addItem(exportResource(material, materialUrl, writer.relativeMeshesPath(), writer)); } } @@ -618,6 +603,12 @@ void WbCadShape::exportNodeFields(WbWriter &writer) const { urlFieldCopy.write(writer); } +QStringList WbCadShape::customExportedFields() const { + QStringList fields; + fields << "url"; + return fields; +} + QString WbCadShape::cadPath() const { return WbUrl::computePath(this, "url", mUrl, 0); } diff --git a/src/webots/nodes/WbCadShape.hpp b/src/webots/nodes/WbCadShape.hpp index fd02124b011..924f4556541 100644 --- a/src/webots/nodes/WbCadShape.hpp +++ b/src/webots/nodes/WbCadShape.hpp @@ -56,6 +56,7 @@ class WbCadShape : public WbBaseNode { protected: void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; WbBoundingSphere *boundingSphere() const override { return mBoundingSphere; } void recomputeBoundingSphere() const; diff --git a/src/webots/nodes/WbCamera.cpp b/src/webots/nodes/WbCamera.cpp index 63133128695..eaeb1384fb0 100644 --- a/src/webots/nodes/WbCamera.cpp +++ b/src/webots/nodes/WbCamera.cpp @@ -1017,6 +1017,18 @@ WbVector3 WbCamera::urdfRotation(const WbMatrix3 &rotationMatrix) const { return eulerRotation; } +void WbCamera::exportNodeFields(WbWriter &writer) const { + WbAbstractCamera::exportNodeFields(writer); + + exportSFResourceField("noiseMaskUrl", mNoiseMaskUrl, writer.relativeMeshesPath(), writer); +} + +QStringList WbCamera::customExportedFields() const { + QStringList fields; + fields << "noiseMaskUrl"; + return fields; +} + ///////////////////// // Update methods // ///////////////////// diff --git a/src/webots/nodes/WbCamera.hpp b/src/webots/nodes/WbCamera.hpp index 456a6c09ca2..b3086d5f32e 100644 --- a/src/webots/nodes/WbCamera.hpp +++ b/src/webots/nodes/WbCamera.hpp @@ -67,6 +67,8 @@ class WbCamera : public WbAbstractCamera { void setup() override; void render() override; bool needToRender() const override; + void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; private: WbSFNode *mFocus; diff --git a/src/webots/nodes/WbContactProperties.cpp b/src/webots/nodes/WbContactProperties.cpp index d179d00b829..b5a7fa07e9c 100644 --- a/src/webots/nodes/WbContactProperties.cpp +++ b/src/webots/nodes/WbContactProperties.cpp @@ -121,6 +121,20 @@ void WbContactProperties::postFinalize() { connect(mMaxContactJoints, &WbSFInt::changed, this, &WbContactProperties::updateMaxContactJoints); } +void WbContactProperties::exportNodeFields(WbWriter &writer) const { + WbBaseNode::exportNodeFields(writer); + + exportSFResourceField(gUrlNames[0], mBumpSound, writer.relativeSoundsPath(), writer); + exportSFResourceField(gUrlNames[1], mRollSound, writer.relativeSoundsPath(), writer); + exportSFResourceField(gUrlNames[2], mSlideSound, writer.relativeSoundsPath(), writer); +} + +QStringList WbContactProperties::customExportedFields() const { + QStringList fields; + fields << "url"; + return fields; +} + void WbContactProperties::updateCoulombFriction() { const int nbElements = mCoulombFriction->size(); if (nbElements < 1 || nbElements > 4) { diff --git a/src/webots/nodes/WbContactProperties.hpp b/src/webots/nodes/WbContactProperties.hpp index 10b9386e41c..a3dce99978f 100644 --- a/src/webots/nodes/WbContactProperties.hpp +++ b/src/webots/nodes/WbContactProperties.hpp @@ -64,6 +64,10 @@ class WbContactProperties : public WbBaseNode { void valuesChanged(); void needToEnableBodies(); +protected: + void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; + private: // user accessible fields WbSFString *mMaterial1; diff --git a/src/webots/nodes/WbImageTexture.cpp b/src/webots/nodes/WbImageTexture.cpp index be09007f51c..026f5da5e3a 100644 --- a/src/webots/nodes/WbImageTexture.cpp +++ b/src/webots/nodes/WbImageTexture.cpp @@ -528,24 +528,7 @@ bool WbImageTexture::exportNodeHeader(WbWriter &writer) const { void WbImageTexture::exportNodeFields(WbWriter &writer) const { WbBaseNode::exportNodeFields(writer); - // export to ./textures folder relative to writer path - WbField urlFieldCopy(*findField("url", true)); - for (int i = 0; i < mUrl->size(); ++i) { - QString completeUrl = WbUrl::computePath(this, "url", mUrl, i); - WbMFString *urlFieldValue = dynamic_cast(urlFieldCopy.value()); - if (WbUrl::isLocalUrl(completeUrl)) - urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d())); - else if (WbUrl::isWeb(completeUrl)) - urlFieldValue->setItem(i, completeUrl); - else { - if (writer.isWritingToFile()) - urlFieldValue->setItem(i, WbUrl::exportTexture(this, mUrl, i, writer)); - else - urlFieldValue->setItem(i, WbUrl::expressRelativeToWorld(completeUrl)); - } - } - - urlFieldCopy.write(writer); + exportMFResourceField("url", mUrl, writer.relativeTexturesPath(), writer); if (writer.isW3d()) { if (!mRole.isEmpty()) @@ -553,6 +536,12 @@ void WbImageTexture::exportNodeFields(WbWriter &writer) const { } } +QStringList WbImageTexture::customExportedFields() const { + QStringList fields; + fields << "url"; + return fields; +} + void WbImageTexture::exportShallowNode(const WbWriter &writer) const { if (!writer.isW3d() || mUrl->size() == 0) return; @@ -560,7 +549,7 @@ void WbImageTexture::exportShallowNode(const WbWriter &writer) const { // note: the texture of the shallow nodes needs to be exported only if the URL is locally defined but not of type // 'webots://' since this case would be converted to a remote one that targets the current branch if (!WbUrl::isWeb(mUrl->item(0)) && !WbUrl::isLocalUrl(mUrl->item(0)) && !WbWorld::isW3dStreaming()) - WbUrl::exportTexture(this, mUrl, 0, writer); + WbUrl::exportResource(this, mUrl->item(0), WbUrl::computePath(this, "url", mUrl, 0), writer.relativeTexturesPath(), writer); } QStringList WbImageTexture::fieldsToSynchronizeWithW3d() const { diff --git a/src/webots/nodes/WbImageTexture.hpp b/src/webots/nodes/WbImageTexture.hpp index 04bbde70135..b68e81e0073 100644 --- a/src/webots/nodes/WbImageTexture.hpp +++ b/src/webots/nodes/WbImageTexture.hpp @@ -80,6 +80,7 @@ class WbImageTexture : public WbBaseNode { protected: bool exportNodeHeader(WbWriter &writer) const override; void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; private: // user accessible fields diff --git a/src/webots/nodes/WbMesh.cpp b/src/webots/nodes/WbMesh.cpp index f2cc552c65d..0d6623d5f10 100644 --- a/src/webots/nodes/WbMesh.cpp +++ b/src/webots/nodes/WbMesh.cpp @@ -401,31 +401,15 @@ void WbMesh::updateMaterialIndex() { } void WbMesh::exportNodeFields(WbWriter &writer) const { - if (!(writer.isW3d() || writer.isProto())) - return; - - if (mUrl->size() == 0) - return; - - WbField urlFieldCopy(*findField("url", true)); - for (int i = 0; i < mUrl->size(); ++i) { - const QString &completeUrl = WbUrl::computePath(this, "url", mUrl, i); - WbMFString *urlFieldValue = dynamic_cast(urlFieldCopy.value()); - if (WbUrl::isLocalUrl(completeUrl)) - urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d())); - else if (WbUrl::isWeb(completeUrl)) - urlFieldValue->setItem(i, completeUrl); - else { - if (writer.isWritingToFile()) - urlFieldValue->setItem(i, WbUrl::exportMesh(this, mUrl, i, writer)); - else - urlFieldValue->setItem(i, WbUrl::expressRelativeToWorld(completeUrl)); - } - } + WbGeometry::exportNodeFields(writer); - urlFieldCopy.write(writer); + exportMFResourceField("url", mUrl, writer.relativeMeshesPath(), writer); +} - WbGeometry::exportNodeFields(writer); +QStringList WbMesh::customExportedFields() const { + QStringList fields; + fields << "url"; + return fields; } QStringList WbMesh::fieldsToSynchronizeWithW3d() const { diff --git a/src/webots/nodes/WbMesh.hpp b/src/webots/nodes/WbMesh.hpp index 2de1cdf027b..67acd664b05 100644 --- a/src/webots/nodes/WbMesh.hpp +++ b/src/webots/nodes/WbMesh.hpp @@ -48,6 +48,7 @@ class WbMesh : public WbTriangleMeshGeometry { protected: void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; private: // user accessible fields diff --git a/src/webots/nodes/WbMotor.cpp b/src/webots/nodes/WbMotor.cpp index d5b0dcfe4d0..19cfe3b2385 100644 --- a/src/webots/nodes/WbMotor.cpp +++ b/src/webots/nodes/WbMotor.cpp @@ -853,3 +853,15 @@ QList WbMotor::findClosestDescendantNodesWithDedicatedWrenNo list << static_cast(it.next()); return list; } + +void WbMotor::exportNodeFields(WbWriter &writer) const { + WbJointDevice::exportNodeFields(writer); + + exportSFResourceField("sound", mSound, writer.relativeSoundsPath(), writer); +} + +QStringList WbMotor::customExportedFields() const { + QStringList fields; + fields << "sound"; + return fields; +} diff --git a/src/webots/nodes/WbMotor.hpp b/src/webots/nodes/WbMotor.hpp index 9d7bc97a0c8..48f5452456a 100644 --- a/src/webots/nodes/WbMotor.hpp +++ b/src/webots/nodes/WbMotor.hpp @@ -100,6 +100,9 @@ class WbMotor : public WbJointDevice { void enableMotorFeedback(int rate); virtual double computeFeedback() const = 0; + void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; + protected slots: void updateMaxForceOrTorque(); void updateMinAndMaxPosition(); diff --git a/src/webots/nodes/WbRobot.cpp b/src/webots/nodes/WbRobot.cpp index dbfb47c6434..ce41d37bd2c 100644 --- a/src/webots/nodes/WbRobot.cpp +++ b/src/webots/nodes/WbRobot.cpp @@ -284,7 +284,7 @@ void WbRobot::addDevices(WbNode *node) { WbRenderingDevice *renderingDevice = dynamic_cast(node); if (renderingDevice) { - connect(renderingDevice, &WbBaseNode::isBeingDestroyed, this, &WbRobot::removeRenderingDevice, Qt::UniqueConnection); + connect(renderingDevice, &WbNode::isBeingDestroyed, this, &WbRobot::removeRenderingDevice, Qt::UniqueConnection); mRenderingDevices.append(renderingDevice); WbAbstractCamera *camera = dynamic_cast(renderingDevice); if (camera) { @@ -632,7 +632,7 @@ void WbRobot::updateBattery(bool itemInserted) { } void WbRobot::removeRenderingDevice() { - mRenderingDevices.removeOne(static_cast(sender())); + mRenderingDevices.removeOne(dynamic_cast(sender())); } void WbRobot::assignDeviceTags(bool reset) { diff --git a/src/webots/nodes/WbSkin.cpp b/src/webots/nodes/WbSkin.cpp index e8d9be9825b..25a782c8c20 100644 --- a/src/webots/nodes/WbSkin.cpp +++ b/src/webots/nodes/WbSkin.cpp @@ -527,6 +527,18 @@ void WbSkin::reset(const QString &id) { } } +void WbSkin::exportNodeFields(WbWriter &writer) const { + WbBaseNode::exportNodeFields(writer); + + exportSFResourceField("modelUrl", mModelUrl, writer.relativeMeshesPath(), writer); +} + +QStringList WbSkin::customExportedFields() const { + QStringList fields; + fields << "modelUrl"; + return fields; +} + void WbSkin::updateModel() { applyTranslationToWren(); applyRotationToWren(); diff --git a/src/webots/nodes/WbSkin.hpp b/src/webots/nodes/WbSkin.hpp index 340a3a6c506..b39edaef082 100644 --- a/src/webots/nodes/WbSkin.hpp +++ b/src/webots/nodes/WbSkin.hpp @@ -67,6 +67,10 @@ class WbSkin : public WbBaseNode, public WbAbstractPose, public WbDevice { signals: void wrenMaterialChanged(); +protected: + void exportNodeFields(WbWriter &writer) const override; + QStringList customExportedFields() const override; + private: WbSkin &operator=(const WbSkin &); // non copyable WbNode *clone() const override { return new WbSkin(*this); } diff --git a/src/webots/nodes/WbTrackWheel.cpp b/src/webots/nodes/WbTrackWheel.cpp index a6288a6e642..b10e3462766 100644 --- a/src/webots/nodes/WbTrackWheel.cpp +++ b/src/webots/nodes/WbTrackWheel.cpp @@ -106,9 +106,8 @@ QStringList WbTrackWheel::fieldsToSynchronizeWithW3d() const { } void WbTrackWheel::exportNodeFields(WbWriter &writer) const { - if (!writer.isW3d()) - return; - WbBaseNode::exportNodeFields(writer); - writer << " rotation=\'" << mRotation->value() << "\'"; + + if (writer.isW3d()) + writer << " rotation=\'" << mRotation->value() << "\'"; } diff --git a/src/webots/nodes/utils/WbSupervisorUtilities.cpp b/src/webots/nodes/utils/WbSupervisorUtilities.cpp index 852f02a4cfc..16c96bd7aad 100644 --- a/src/webots/nodes/utils/WbSupervisorUtilities.cpp +++ b/src/webots/nodes/utils/WbSupervisorUtilities.cpp @@ -280,6 +280,7 @@ WbSupervisorUtilities::WbSupervisorUtilities(WbRobot *robot) : mRobot(robot) { // otherwise, conflicts can occur in case of multiple controllers connect(this, &WbSupervisorUtilities::changeSimulationModeRequested, this, &WbSupervisorUtilities::changeSimulationMode, Qt::QueuedConnection); + connect(WbWorld::instance(), &WbWorld::resetRequested, this, &WbSupervisorUtilities::simulationReset, Qt::QueuedConnection); } WbSupervisorUtilities::~WbSupervisorUtilities() { @@ -343,6 +344,7 @@ void WbSupervisorUtilities::initControllerRequests() { mNodesDeletedSinceLastStep.clear(); mUpdatedFields.clear(); mWatchedFields.clear(); + mSimulationReset = false; } QString WbSupervisorUtilities::readString(QDataStream &stream) { @@ -2347,6 +2349,11 @@ void WbSupervisorUtilities::writeAnswer(WbDataStream &stream) { } mVirtualRealityHeadsetOrientationRequested = false; } + if (mSimulationReset) { + stream << (short unsigned int)0; + stream << (unsigned char)C_SUPERVISOR_SIMULATION_RESET; + mSimulationReset = false; + } } void WbSupervisorUtilities::writeConfigure(WbDataStream &stream) { @@ -2419,3 +2426,8 @@ QString WbSupervisorUtilities::createLabelUpdateString(const WbWrenLabelOverlay .arg(y) .arg(text.replace("\n", "\\n")); } + +void WbSupervisorUtilities::simulationReset(bool restartControllers) { + if (!restartControllers) // If the controller is about to be restarted, there's no need to tell it to reset its own state + mSimulationReset = true; +} diff --git a/src/webots/nodes/utils/WbSupervisorUtilities.hpp b/src/webots/nodes/utils/WbSupervisorUtilities.hpp index 0614c364c2d..eb89bca4b5f 100644 --- a/src/webots/nodes/utils/WbSupervisorUtilities.hpp +++ b/src/webots/nodes/utils/WbSupervisorUtilities.hpp @@ -73,6 +73,7 @@ private slots: void removeTrackedContactPoints(QObject *obj); void removeTrackedPoseNode(QObject *obj); void removeTrackedField(QObject *obj); + void simulationReset(bool restartControllers); private: WbRobot *mRobot; @@ -111,6 +112,7 @@ private slots: bool mNodeExportStringRequest; bool mIsProtoRegenerated; bool mShouldRemoveNode; + bool mSimulationReset; // pointer to a single integer: if not NULL, the new status has to be sent to the libController int *mAnimationStartStatus; diff --git a/src/webots/scene_tree/WbExtendedStringEditor.cpp b/src/webots/scene_tree/WbExtendedStringEditor.cpp index 353d05b5631..0ce728be05e 100644 --- a/src/webots/scene_tree/WbExtendedStringEditor.cpp +++ b/src/webots/scene_tree/WbExtendedStringEditor.cpp @@ -131,7 +131,7 @@ const QStringList &WbExtendedStringEditor::defaultPhysicsPluginsEntryList() cons QDir resourcesDir(WbStandardPaths::resourcesPhysicsPluginsPath()); mDefaultPhysicsPluginsEntryList << defaultDir.entryList(FILTERS) << resourcesDir.entryList(FILTERS); foreach (const WbProject *extraProject, *WbProject::extraProjects()) - mDefaultControllersEntryList << QDir(extraProject->physicsPluginsPath()).entryList(FILTERS); + mDefaultPhysicsPluginsEntryList << QDir(extraProject->physicsPluginsPath()).entryList(FILTERS); firstCall = false; } return mDefaultPhysicsPluginsEntryList; diff --git a/src/webots/scene_tree/WbSceneTree.cpp b/src/webots/scene_tree/WbSceneTree.cpp index c04698b5306..71765c4def0 100644 --- a/src/webots/scene_tree/WbSceneTree.cpp +++ b/src/webots/scene_tree/WbSceneTree.cpp @@ -750,20 +750,6 @@ void WbSceneTree::convertProtoToBaseNode(bool rootOnly) { writer.setRootNode(NULL); currentNode->write(writer); - // relative urls that get exposed by the conversion need to be changed to remote ones - QRegularExpressionMatchIterator it = WbUrl::vrmlResourceRegex().globalMatch(nodeString); - while (it.hasNext()) { - const QRegularExpressionMatch match = it.next(); - if (match.hasMatch()) { - QString asset = match.captured(0); - asset.replace("\"", ""); - if (!WbUrl::isWeb(asset) && QDir::isRelativePath(asset)) { - QString newUrl = QString("\"%1\"").arg(WbUrl::combinePaths(asset, currentNode->proto()->url())); - nodeString.replace(QString("\"%1\"").arg(asset), newUrl.replace(WbStandardPaths::webotsHomePath(), "webots://")); - } - } - } - const bool skipTemplateRegeneration = WbVrmlNodeUtilities::findUpperTemplateNeedingRegenerationFromField(parentField, parentNode); if (skipTemplateRegeneration) diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp index 17f0639efab..685e59ee0e4 100644 --- a/src/webots/vrml/WbNode.cpp +++ b/src/webots/vrml/WbNode.cpp @@ -250,6 +250,7 @@ WbNode::WbNode(const WbNode &other) : WbNode::~WbNode() { mIsBeingDeleted = true; + emit isBeingDestroyed(this); // Delete fields backwards to always delete USE nodes before DEF nodes int n = mFields.size() - 1; @@ -1111,7 +1112,8 @@ void WbNode::exportNodeFields(WbWriter &writer) const { return; foreach (const WbField *f, fields()) { - if (!f->isDeprecated() && ((f->isW3d() || writer.isProto()) && f->singleType() != WB_SF_NODE)) + if (!f->isDeprecated() && ((f->isW3d() || writer.isProto()) && f->singleType() != WB_SF_NODE) && + !customExportedFields().contains(f->name())) f->write(writer); } } @@ -1244,6 +1246,70 @@ void WbNode::writeExport(WbWriter &writer) const { } } +QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath, + const WbWriter &writer) const { + if (WbUrl::isLocalUrl(resolvedURL)) + return WbUrl::computeLocalAssetUrl(resolvedURL, writer.isW3d()); + else if (WbUrl::isWeb(resolvedURL)) + return resolvedURL; + else { + if (writer.isWritingToFile()) + return WbUrl::exportResource(this, rawURL, resolvedURL, relativeResourcePath, writer); + else + return WbUrl::expressRelativeToWorld(resolvedURL); + } +} + +void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString *value, const QString &relativeResourcePath, + WbWriter &writer) const { + const WbField *originalField = findField(fieldName, true); + assert(originalField && originalField->type() == WB_MF_STRING); + + // only w3c and proto exports need urls to be resolved + if (!(writer.isW3d() || writer.isProto())) { + originalField->write(writer); + return; + } + + if (value->size() == 0) + return; + + WbField copiedField(*originalField); + WbMFString *newValue = dynamic_cast(copiedField.value()); + + for (int i = 0; i < value->size(); ++i) { + const QString &rawURL = value->item(i); + const QString &resolvedURL = WbUrl::computePath(this, fieldName, rawURL); + newValue->setItem(i, exportResource(rawURL, resolvedURL, relativeResourcePath, writer)); + } + + copiedField.write(writer); +} + +void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString *value, const QString &relativeResourcePath, + WbWriter &writer) const { + const WbField *originalField = findField(fieldName, true); + assert(originalField && originalField->type() == WB_SF_STRING); + + // only w3c and proto exports need urls to be resolved + if (!(writer.isW3d() || writer.isProto())) { + originalField->write(writer); + return; + } + + const QString &rawURL = value->value(); + if (rawURL.isEmpty()) + return; + + WbField copiedField(*originalField); + WbSFString *newValue = dynamic_cast(copiedField.value()); + + const QString &resolvedURL = WbUrl::computePath(this, fieldName, rawURL); + newValue->setValue(exportResource(rawURL, resolvedURL, relativeResourcePath, writer)); + + copiedField.write(writer); +} + bool WbNode::operator==(const WbNode &other) const { if (mModel != other.mModel || isProtoInstance() != other.isProtoInstance() || (mProto && mProto->url() != other.mProto->url()) || mDefName != other.mDefName) diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp index c76e5dee527..ed95147a369 100644 --- a/src/webots/vrml/WbNode.hpp +++ b/src/webots/vrml/WbNode.hpp @@ -281,6 +281,8 @@ class WbNode : public QObject { virtual const bool isRobot() const { return false; }; signals: + void isBeingDestroyed(WbNode *node); + // emitted when any value has changed void fieldChanged(WbField *field); void parameterChanged(WbField *field); @@ -317,6 +319,18 @@ class WbNode : public QObject { virtual void exportNodeFooter(WbWriter &writer) const; virtual void exportExternalSubProto(WbWriter &writer) const; + // fields which should not be handled by the default exportNodeFields function + virtual QStringList customExportedFields() const { return QStringList(); } + + // Helper to handle exporting fields with resources which reference external files + QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath, + const WbWriter &writer) const; + // Wrappers for the most common use case (simply exporting a field with no additional processing) + void exportMFResourceField(const QString &fieldName, const WbMFString *value, const QString &relativeResourcePath, + WbWriter &writer) const; + void exportSFResourceField(const QString &fieldName, const WbSFString *value, const QString &relativeResourcePath, + WbWriter &writer) const; + // Methods related to URDF export const WbNode *findUrdfLinkRoot() const; // Finds first upper Webots node that is considered as URDF link virtual bool isUrdfRootLink() const; // Determines whether the Webots node is considered as URDF link as well diff --git a/src/webots/vrml/WbUrl.cpp b/src/webots/vrml/WbUrl.cpp index d126f6696e4..e996024276f 100644 --- a/src/webots/vrml/WbUrl.cpp +++ b/src/webots/vrml/WbUrl.cpp @@ -85,6 +85,7 @@ QString WbUrl::computePath(const WbNode *node, const QString &field, const QStri if (QDir::isRelativePath(url)) { const WbField *f = node->findField(field, true); + assert(f); const WbNode *protoNode = node->containingProto(false); protoNode = WbVrmlNodeUtilities::findFieldProtoScope(f, protoNode); @@ -132,7 +133,10 @@ QString WbUrl::resolveUrl(const QString &rawUrl) { } QString WbUrl::exportResource(const WbNode *node, const QString &url, const QString &sourcePath, - const QString &relativeResourcePath, const WbWriter &writer, const bool isTexture) { + const QString &relativeResourcePath, const WbWriter &writer) { + // in addition to writing the node, we want to ensure that the resource file exists + // at the expected location. If not, we should copy it, possibly creating the expected + // directory structure. const QFileInfo urlFileInfo(url); const QString fileName = urlFileInfo.fileName(); const QString expectedRelativePath = relativeResourcePath + fileName; @@ -155,11 +159,7 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr const QString extension = urlFileInfo.suffix(); for (int i = 1; i < 100; ++i) { // number of trials before failure - QString newRelativePath; - if (isTexture) - newRelativePath = writer.relativeTexturesPath() + baseName + '.' + QString::number(i) + '.' + extension; - else - newRelativePath = writer.relativeMeshesPath() + baseName + '.' + QString::number(i) + '.' + extension; + QString newRelativePath = relativeResourcePath + baseName + '.' + QString::number(i) + '.' + extension; const QString newAbsolutePath = writer.path() + "/" + newRelativePath; if (QFileInfo(newAbsolutePath).exists()) { @@ -170,11 +170,8 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr return newRelativePath; } } - if (isTexture) - node->warn(QObject::tr("Failure exporting texture, too many textures share the same name: %1.").arg(url)); - else - node->warn(QObject::tr("Failure exporting mesh, too many meshes share the same name: %1.").arg(url)); + node->warn(QObject::tr("Failure exporting resource, too many resources share the same name: %1.").arg(url)); return ""; } } else { // simple case @@ -183,22 +180,6 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr } } -QString WbUrl::exportTexture(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer) { - // in addition to writing the node, we want to ensure that the texture file exists - // at the expected location. If not, we should copy it, possibly creating the expected - // directory structure. - return exportResource(node, QDir::fromNativeSeparators(urlField->item(index)), computePath(node, "url", urlField, index), - writer.relativeTexturesPath(), writer); -} - -QString WbUrl::exportMesh(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer) { - // in addition to writing the node, we want to ensure that the mesh file exists - // at the expected location. If not, we should copy it, possibly creating the expected - // directory structure. - return exportResource(node, QDir::fromNativeSeparators(urlField->item(index)), computePath(node, "url", urlField, index), - writer.relativeMeshesPath(), writer, false); -} - bool WbUrl::isWeb(const QString &url) { return url.startsWith("https://") || url.startsWith("http://"); } diff --git a/src/webots/vrml/WbUrl.hpp b/src/webots/vrml/WbUrl.hpp index a52cf10a501..48fa8753b82 100644 --- a/src/webots/vrml/WbUrl.hpp +++ b/src/webots/vrml/WbUrl.hpp @@ -30,9 +30,7 @@ namespace WbUrl { QString combinePaths(const QString &rawUrl, const QString &rawParentUrl); QString exportResource(const WbNode *node, const QString &url, const QString &sourcePath, const QString &relativeResourcePath, - const WbWriter &writer, const bool isTexture = true); - QString exportTexture(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer); - QString exportMesh(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer); + const WbWriter &writer); QString missing(const QString &url); const QString &missingTexture(); diff --git a/src/webots/vrml/WbWriter.hpp b/src/webots/vrml/WbWriter.hpp index 408e3d905d3..c766d9b383f 100644 --- a/src/webots/vrml/WbWriter.hpp +++ b/src/webots/vrml/WbWriter.hpp @@ -91,6 +91,7 @@ class WbWriter { static QString relativeTexturesPath() { return "textures/"; } static QString relativeMeshesPath() { return "meshes/"; } + static QString relativeSoundsPath() { return "sounds/"; } private: void setType(); diff --git a/src/webots/wren/WbWrenTextureOverlay.cpp b/src/webots/wren/WbWrenTextureOverlay.cpp index b8647c2b78a..80aa032dc2c 100644 --- a/src/webots/wren/WbWrenTextureOverlay.cpp +++ b/src/webots/wren/WbWrenTextureOverlay.cpp @@ -272,7 +272,15 @@ WrTexture2d *WbWrenTextureOverlay::createIconTexture(QString filePath) { return imageTexture; QImageReader imageReader(filePath); - QImage image = imageReader.read().mirrored(false, true); // account for inverted Y axis in OpenGL + QImage image = imageReader.read(); + + // account for inverted Y axis in OpenGL +#ifdef _WIN32 // Windows builds against a newer version of Qt, which deprecates `mirrored` + image = image.flipped(Qt::Vertical); +#else + image = image.mirrored(false, true); +#endif + const bool isTranslucent = image.pixelFormat().alphaUsage() == QPixelFormat::UsesAlpha; imageTexture = wr_texture_2d_new(); diff --git a/src/wren/Makefile b/src/wren/Makefile index 4daa8b827f3..7f789425448 100644 --- a/src/wren/Makefile +++ b/src/wren/Makefile @@ -30,6 +30,9 @@ ifeq ($(OSTYPE),darwin) INCLUDE += -I$(WEBOTS_DEPENDENCY_PATH)/freetype2 -I$(WEBOTS_DEPENDENCY_PATH)/assimp/include else ifeq ($(OSTYPE),linux) INCLUDE += -I/usr/include/freetype2 -I$(WEBOTS_HOME_PATH)/include/libassimp/include +ifeq ($(OSDIST), fedora) +INCLUDE += -idirafter/usr/include +endif else ifeq ($(OSTYPE),windows) INCLUDE += -I/mingw64/include/freetype2 -I/mingw64/include -I$(WEBOTS_DEPENDENCY_PATH) endif diff --git a/tests/api/controllers/robot_window_html/robot_window_html.c b/tests/api/controllers/robot_window_html/robot_window_html.c index 9e38f6c3c37..be050015a19 100644 --- a/tests/api/controllers/robot_window_html/robot_window_html.c +++ b/tests/api/controllers/robot_window_html/robot_window_html.c @@ -7,27 +7,26 @@ #define TIME_STEP 32 int main(int argc, char **argv) { - bool configured = false, received = false; ts_setup(argv[0]); - while (!configured) { // receive message sent by the robot window. + for (;;) { // receive message sent by the robot window. wb_robot_step(TIME_STEP); - const char *configure_message; - while ((configure_message = wb_robot_wwi_receive_text())) { + const char *configure_message = wb_robot_wwi_receive_text(); + if (configure_message) { if (strcmp(configure_message, "configure") == 0) { - configured = true; - wb_robot_wwi_send_text("test wwi functions from complete_test controller."); + wb_robot_wwi_send_text("test wwi functions from robot_window_html controller."); + break; } else ts_send_error_and_exit("Wrong configure message received from the HTML robot-window: %s", configure_message); } } - while (!received) { // receive message sent by Webots. + for (;;) { // receive message sent by Webots. wb_robot_step(TIME_STEP); - const char *test_message; - while ((test_message = wb_robot_wwi_receive_text())) { - if (strcmp(test_message, "Answer: test wwi functions from complete_test controller.") == 0) - received = true; + const char *test_message = wb_robot_wwi_receive_text(); + if (test_message) { + if (strcmp(test_message, "Answer: test wwi functions from robot_window_html controller.") == 0) + break; else ts_send_error_and_exit("Wrong test message received from the HTML robot-window: %s", test_message); } diff --git a/tests/api/controllers/supervisor_reset_simulation_fields/.gitignore b/tests/api/controllers/supervisor_reset_simulation_fields/.gitignore new file mode 100644 index 00000000000..18e0edccdb6 --- /dev/null +++ b/tests/api/controllers/supervisor_reset_simulation_fields/.gitignore @@ -0,0 +1 @@ +/supervisor_reset_simulation_fields diff --git a/tests/api/controllers/supervisor_reset_simulation_fields/Makefile b/tests/api/controllers/supervisor_reset_simulation_fields/Makefile new file mode 100644 index 00000000000..137d83b4e39 --- /dev/null +++ b/tests/api/controllers/supervisor_reset_simulation_fields/Makefile @@ -0,0 +1,25 @@ +# Copyright 1996-2023 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Webots Makefile system +# +# You may add some variable definitions hereafter to customize the build process +# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include + + +# Do not modify the following: this includes Webots global Makefile.include +null := +space := $(null) $(null) +WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/tests/api/controllers/supervisor_reset_simulation_fields/supervisor_reset_simulation_fields.c b/tests/api/controllers/supervisor_reset_simulation_fields/supervisor_reset_simulation_fields.c new file mode 100644 index 00000000000..0763ce855ea --- /dev/null +++ b/tests/api/controllers/supervisor_reset_simulation_fields/supervisor_reset_simulation_fields.c @@ -0,0 +1,56 @@ +/* + * Description: Test Supervisor device API + * This file contains tests of reset simulation method + */ + +#include +#include + +#include "../../../lib/ts_assertion.h" +#include "../../../lib/ts_utils.h" + +#define TIME_STEP 32 + +int main(int argc, char **argv) { + ts_setup(argv[1]); + + const double initial_translation[3] = {0, 0, 1}; + const double new_translation[3] = {1, 0, 0}; + WbFieldRef translation_field = wb_supervisor_node_get_field(wb_supervisor_node_get_from_def("SOLID"), "translation"); + if (strcmp(argv[1], "supervisor_reset_simulation_fields_resetter") == 0) { + wb_robot_step(TIME_STEP); + wb_robot_step(TIME_STEP); + + // + + wb_robot_step(TIME_STEP); + wb_supervisor_simulation_reset(); + wb_robot_step(TIME_STEP); // We have to wait another step or else the reset will overwrite the new value + wb_supervisor_field_set_sf_vec3f(translation_field, new_translation); + } else { + wb_robot_step(TIME_STEP); + wb_robot_step(TIME_STEP); + const double *first_translation = wb_supervisor_field_get_sf_vec3f(translation_field); + ts_assert_vec3_equal( + first_translation[0], first_translation[1], first_translation[2], initial_translation[0], initial_translation[1], + initial_translation[2], "SOLID's initial position should be [%f, %f, %f] not [%f, %f, %f]", initial_translation[0], + initial_translation[1], initial_translation[2], first_translation[0], first_translation[1], first_translation[2]); + wb_robot_step(TIME_STEP); + + // + + wb_robot_step(TIME_STEP); + + // + + wb_robot_step(TIME_STEP); + const double *second_translation = wb_supervisor_field_get_sf_vec3f(translation_field); + ts_assert_vec3_equal( + second_translation[0], second_translation[1], second_translation[2], new_translation[0], new_translation[1], + new_translation[2], "SOLID's position should be [%f, %f, %f] not [%f, %f, %f] after reset", new_translation[0], + new_translation[1], new_translation[2], second_translation[0], second_translation[1], second_translation[2]); + } + + ts_send_success(); + return EXIT_SUCCESS; +} diff --git a/tests/api/worlds/supervisor_reset_simulation_fields.wbt b/tests/api/worlds/supervisor_reset_simulation_fields.wbt new file mode 100644 index 00000000000..04338a4a7a5 --- /dev/null +++ b/tests/api/worlds/supervisor_reset_simulation_fields.wbt @@ -0,0 +1,53 @@ +#VRML_SIM R2025a utf8 + +EXTERNPROTO "webots://tests/default/protos/TestSuiteSupervisor.proto" +EXTERNPROTO "webots://tests/default/protos/TestSuiteEmitter.proto" + +WorldInfo { + info [ + "Test that fields do not return stale values after reset" + ] + basicTimeStep 8 + coordinateSystem "NUE" +} +Viewpoint { + orientation 0.3011392881427894 -0.8944857953945254 -0.3304698034227591 4.845225060401701 + position 8.056890161252701 5.15602094221405 0.024334960209242112 +} +Background { + skyColor [ + 0 0 1 + ] +} +DirectionalLight { + direction 0 -1 0 +} +DEF SOLID Solid { + translation 0 0 1 +} +TestSuiteSupervisor { +} +Robot { + controller "supervisor_reset_simulation_fields" + controllerArgs [ + "supervisor_reset_simulation_fields_checker" + ] + children [ + TestSuiteEmitter { + } + ] + name "checker robot" + supervisor TRUE +} +Robot { + controller "supervisor_reset_simulation_fields" + controllerArgs [ + "supervisor_reset_simulation_fields_resetter" + ] + children [ + TestSuiteEmitter { + } + ] + name "receiver robot" + supervisor TRUE +} diff --git a/tests/sources/test_matlab_functions.py b/tests/sources/test_matlab_functions.py old mode 100755 new mode 100644 index 5c3ff2f59f1..cb3c7fa9ab3 --- a/tests/sources/test_matlab_functions.py +++ b/tests/sources/test_matlab_functions.py @@ -14,54 +14,84 @@ # See the License for the specific language governing permissions and # limitations under the License. -"""Test that all the required Matlab functions are defined.""" +"""Test that all the required MATLAB functions are defined.""" import unittest +import glob import os +import re +import subprocess import sys + WEBOTS_HOME = os.path.normpath(os.environ['WEBOTS_HOME']) sys.path.append(os.path.join(WEBOTS_HOME, 'src', 'controller', 'matlab')) import mgenerate # noqa: E402 class TestMatlabFunctions(unittest.TestCase): - """Unit test for checking that all the required Matlab functions are defined.""" + """Unit test for checking that all the required MATLAB functions are defined.""" def setUp(self): if sys.version_info[0] >= 3: mgenerate.UPDATE = False mgenerate.main() - """Get all the required function.""" + """Get all the required functions.""" skippedLines = [ - 'wbr', - 'microphone', - 'remote_control', - 'robot', - 'wb_device_get_type', - 'wb_node_get_name', - 'wbu_string', - 'lookup_table_size', - 'EXPORTS' + # Patterns + '.*_H', # Header Guards + '.*_', # Some comments use the ..._* pattern to refer to a group of functions ; + # grep will filter the *, but no function should end with _ + 'wb_camera_image_get_.*', # The MATLAB API exposes the image data as a multidimensional array, + # so these functions are not needed + 'wb_(microphone|radio)_.*', # Experimental Node Types + 'wb_remote_control_.*', 'wbr_.*', # Remote Control Plugin + 'wb_robot_.*', # Many robot functions are used internally by the C API (e.x. wb_robot_mutex_*) + '.*_lookup_table_size', # MATLAB lets you get the size of an array, so these functions are not needed + 'wbu_string_.*', # String manipulation functions are not needed + + # Specific Functions + + # Non-Function Macros + 'WB_ALLOW_MIXING_C_AND_CPP_API', + 'WB_DEPRECATED', + 'WB_MATLAB_LOADLIBRARY', + 'WB_USING_C(PP)?_API', + + # These functions are used internally by the MATLAB API + 'wb_camera_recognition_get_object', + 'wb_lidar_get_point', + 'wb_mouse_get_state_pointer', + 'wb_radar_get_target', + + 'wb_device_get_type', # Deprecated since 8.0.0 + 'wb_node_get_name', # C API Only ] self.functions = [] - filename = os.path.join(WEBOTS_HOME, 'src', 'controller', 'c', 'Controller.def') - self.assertTrue( - os.path.isfile(filename), - msg='Missing "%s" file.' % filename - ) - with open(filename) as file: - for line in file: - if not any(skippedLine in line for skippedLine in skippedLines) and not line[3:].isupper(): - self.functions.append(line.replace('\n', '')) + + symbolSearch = subprocess.run([ + # Search for webots definitions + 'grep', '-Ehio', r'\bwb_\w+\b', + # In the controller headers + *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', '*.h')), + *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', 'utils', '*.h')) + ], capture_output=True, text=True) + if symbolSearch.returncode != 0: + self.fail(f'Failed to generate function list:\n{symbolSearch.stdout}\n{symbolSearch.stderr}') + + for line in symbolSearch.stdout.splitlines(): + if not any(re.match(f'^{skippedLine}$', line) for skippedLine in skippedLines) and line not in self.functions: + self.functions.append(line) @unittest.skipIf(sys.version_info[0] < 3, "not supported by Python 2.7") def test_matlab_function_exists(self): """Test that the function file exists.""" - for function in self.functions: - filename = os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m') - self.assertTrue( - os.path.isfile(filename), - msg='Missing "%s" file.' % filename - ) + expectedFiles = (os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m') + for function in self.functions) + missingFiles = [file for file in expectedFiles if not os.path.isfile(file)] + + self.assertTrue( + not missingFiles, + msg='Missing files: %s' % ', '.join(missingFiles) + ) if __name__ == '__main__': diff --git a/tests/test_suite.py b/tests/test_suite.py index 6362c27fe67..3305d29ceee 100755 --- a/tests/test_suite.py +++ b/tests/test_suite.py @@ -35,11 +35,18 @@ from command import Command from cache.cache_environment import update_cache_urls +is_ubuntu_22_04 = False if sys.platform == 'linux': - result = subprocess.run(['lsb_release', '-sr'], stdout=subprocess.PIPE) - is_ubuntu_22_04 = result.stdout.decode().strip() == '22.04' -else: - is_ubuntu_22_04 = False + try: + with open('/etc/os-release') as releaseInfo: + for var in releaseInfo.readlines(): + var = var.strip() + if var.startswith('VERSION_ID'): + is_ubuntu_22_04 = var == 'VERSION_ID="22.04"' + break + except OSError: + print('WARNING: /etc/os-release not found! Assuming not Ubuntu 22.04.') + # monitor failures failures = 0 @@ -199,17 +206,17 @@ def generateWorldsList(groupName): # to file for filename in filenames: # speaker test not working on github action because of missing sound drivers - # robot window and movie recording test not working on BETA Ubuntu 22.04 GitHub Action environment + # robot window test cannot open a browser for the robot window in a headless environment + # on non-mac operating systems # billboard test not working in macos GitHub Action environment # billboard and robot window not working on windows GitHub Action environment. if (not filename.endswith('_temp.wbt') and not ('GITHUB_ACTIONS' in os.environ and ( filename.endswith('speaker.wbt') or filename.endswith('local_proto_with_texture.wbt') or - (filename.endswith('robot_window_html.wbt') and is_ubuntu_22_04) or - (filename.endswith('supervisor_start_stop_movie.wbt') and is_ubuntu_22_04) or (filename.endswith('billboard.wbt') and sys.platform == 'darwin') or (filename.endswith('billboard.wbt') and sys.platform == 'win32') or + (filename.endswith('robot_window_html.wbt') and sys.platform == 'linux') or (filename.endswith('robot_window_html.wbt') and sys.platform == 'win32') ))): worldsList.append(filename)