Merge branch 'master' into add-missing-matlab-functions

CoolSpy3 · web-flow · commit 9411cb996e09 · 2025-07-13T13:21:48.000-07:00
diff --git 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
@@ -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/reference/changelog-r2025.md b/docs/reference/changelog-r2025.md
@@ -7,6 +7,7 @@
     - 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 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 a bug causing Webots to occasionally crash when unloading a world ([#6857](https://github.com/cyberbotics/webots/pull/6857)).
 
 ## Webots R2025a
 Released on January 31st, 2025.
diff --git 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/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/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
@@ -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<WbBaseNode *>(sender());
+  WbNode *node = dynamic_cast<WbNode *>(sender());
   assert(node);
   for (int i = 0; i < mWindowsList.size(); ++i) {
     if (mWindowsList[i]->deviceId() == node->uniqueId()) {
diff --git 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
@@ -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/WbRobot.cpp b/src/webots/nodes/WbRobot.cpp
@@ -284,7 +284,7 @@ void WbRobot::addDevices(WbNode *node) {
 
       WbRenderingDevice *renderingDevice = dynamic_cast<WbRenderingDevice *>(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<WbAbstractCamera *>(renderingDevice);
         if (camera) {
@@ -632,7 +632,7 @@ void WbRobot::updateBattery(bool itemInserted) {
 }
 
 void WbRobot::removeRenderingDevice() {
-  mRenderingDevices.removeOne(static_cast<WbRenderingDevice *>(sender()));
+  mRenderingDevices.removeOne(dynamic_cast<WbRenderingDevice *>(sender()));
 }
 
 void WbRobot::assignDeviceTags(bool reset) {
diff --git 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;
diff --git 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);
diff --git 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/sources/test_matlab_functions.py b/tests/sources/test_matlab_functions.py
@@ -14,54 +14,88 @@
 # 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
+
+                # Not Yet Implemented
+                'wbu_system_tmpdir',
+                'wbu_system_webots_instance_path',
             ]
             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
@@ -199,17 +199,19 @@ 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
+            # movie recording test not working on BETA Ubuntu 22.04 GitHub Action environment
             # 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)

Original file line number	Diff line number	Diff line change
`@@ -72,7 +72,7 @@ void WbSelection::selectNode(WbBaseNode *n, bool handlesDisabled) {`
`72`	`72`
`73`	`73`	`if (mSelectedAbstractPose && poseChanged) {`
`74`	`74`	`mSelectedAbstractPose->detachTranslateRotateManipulator();`
`75`		`- disconnect(mSelectedAbstractPose->baseNode(), &WbBaseNode::isBeingDestroyed, this, &WbSelection::clear);`
	`75`	`+ disconnect(mSelectedAbstractPose->baseNode(), &WbNode::isBeingDestroyed, this, &WbSelection::clear);`
`76`	`76`	`}`
`77`	`77`	`}`
`78`	`78`	`}`
`@@ -88,7 +88,7 @@ void WbSelection::selectNode(WbBaseNode *n, bool handlesDisabled) {`
`88`	`88`	`updateMatterSelection(true);`
`89`	`89`
`90`	`90`	`if (mSelectedAbstractPose && poseChanged) {`
`91`		`- connect(mSelectedNode, &WbBaseNode::isBeingDestroyed, this, &WbSelection::clear, Qt::UniqueConnection);`
	`91`	`+ connect(mSelectedNode, &WbNode::isBeingDestroyed, this, &WbSelection::clear, Qt::UniqueConnection);`
`92`	`92`	`if (!handlesDisabled && !mSelectedNode->isUseNode() &&`
`93`	`93`	`!WbNodeUtilities::isNodeOrAncestorLocked(mSelectedAbstractPose->baseNode()))`
`94`	`94`	`mSelectedAbstractPose->attachTranslateRotateManipulator();`
Original file line number	Diff line number	Diff line change
`@@ -72,7 +72,6 @@ WbBaseNode::WbBaseNode(const QString &modelName) : WbNode(modelName) {`
`72`	`72`	`}`
`73`	`73`
`74`	`74`	`WbBaseNode::~WbBaseNode() {`
`75`		`- emit isBeingDestroyed(this);`
`76`	`75`	`if (mPostFinalizeCalled && !defName().isEmpty() && !WbWorld::instance()->isCleaning() && !WbTemplateManager::isRegenerating())`
`77`	`76`	`WbDictionary::instance()->removeNodeFromDictionary(this);`
`78`	`77`	`}`
Original file line number	Diff line number	Diff line change
`@@ -284,7 +284,7 @@ void WbRobot::addDevices(WbNode *node) {`
`284`	`284`
`285`	`285`	`WbRenderingDevice renderingDevice = dynamic_cast<WbRenderingDevice >(node);`
`286`	`286`	`if (renderingDevice) {`
`287`		`- connect(renderingDevice, &WbBaseNode::isBeingDestroyed, this, &WbRobot::removeRenderingDevice, Qt::UniqueConnection);`
	`287`	`+ connect(renderingDevice, &WbNode::isBeingDestroyed, this, &WbRobot::removeRenderingDevice, Qt::UniqueConnection);`
`288`	`288`	`mRenderingDevices.append(renderingDevice);`
`289`	`289`	`WbAbstractCamera camera = dynamic_cast<WbAbstractCamera >(renderingDevice);`
`290`	`290`	`if (camera) {`
`@@ -632,7 +632,7 @@ void WbRobot::updateBattery(bool itemInserted) {`
`632`	`632`	`}`
`633`	`633`
`634`	`634`	`void WbRobot::removeRenderingDevice() {`
`635`		`- mRenderingDevices.removeOne(static_cast<WbRenderingDevice *>(sender()));`
	`635`	`+ mRenderingDevices.removeOne(dynamic_cast<WbRenderingDevice *>(sender()));`
`636`	`636`	`}`
`637`	`637`
`638`	`638`	`void WbRobot::assignDeviceTags(bool reset) {`