Update Makefile

.github/ISSUE_TEMPLATE/config.yml

@@ -6,8 +6,8 @@ contact_links:
   - name: GitHub Discussions
     url: https://github.com/cyberbotics/webots/discussions/new
     about: Ask a question or request a new feature in Webots
-  - name: StackOverflow
-    url: https://stackoverflow.com/questions/tagged/webots
+  - name: Robotics StackExchange
+    url: https://robotics.stackexchange.com
     about: Ask technical questions (be sure to use the 'webots' tag).
   - name: Discord Server
     url: https://discordapp.com/invite/nTWbN9m

.github/pull_request_template.md

@@ -6,7 +6,7 @@ This pull-request fixes issue #
 
 **Tasks**
 Add the list of tasks of this PR.
-  - [ ] Update the [changelog](https://github.com/cyberbotics/webots/blob/master/docs/reference/changelog-r2023.md)
+  - [ ] Update the [changelog](https://github.com/cyberbotics/webots/blob/master/docs/reference/changelog-r2024.md)
   - [ ] Update the documentation (if needed)
   - [ ] Task 1
   - [ ] Task 2

Makefile

@@ -16,7 +16,14 @@ START := $(shell date +%s)
 
 ifeq ($(WEBOTS_HOME),)
 ifneq ($(findstring MINGW,$(shell uname)),) # under MINGW, we need to set WEBOTS_HOME using the native Windows format
-export WEBOTS_HOME:=`pwd -W | tr -s / '\\'`
+# Check if cygpath exists
+    CYGPATH := $(shell which cygpath)
+    ifneq ($(CYGPATH),)
+        # If cygpath exists, use it to set WEBOTS_HOME
+        export WEBOTS_HOME:=$(shell cygpath -w $(PWD))
+    else
+        export WEBOTS_HOME:=`pwd -W | tr -s / '\\'`
+    endif
 else
 export WEBOTS_HOME = $(PWD)
 endif

docs/guide/installation-procedure.md

@@ -239,13 +239,13 @@ xvfb-run --auto-servernum webots --mode=fast --no-rendering --stdout --stderr --
 It is possible to install Webots silently from an administrator DOS console, by typing:
 
 ```bash
-webots-{{ webots.version.package }}_setup.exe /SILENT
+webots-{{ webots.version.package }}_setup.exe /SUPPRESSMSGBOXES /VERYSILENT /NOCANCEL /NORESTART /ALLUSERS
 ```
 
-Or:
+Additional setup options are available and documented from:
 
 ```bash
-webots-{{ webots.version.package }}\_setup.exe /VERYSILENT
+webots-{{ webots.version.package }}_setup.exe /?
 ```
 
 Once installed, if you observe 3D rendering anomalies or if Webots crashes, it is strongly recommend to upgrade your graphics driver.

docs/guide/sensors.md

@@ -45,6 +45,7 @@ In addition to the generic [Lidar](../reference/lidar.md) node, a wide range of
 | ![Gyro.png](images/sensors/Gyro.png) | [Gyro](../reference/gyro.md) | *Simulates a gyroscope sensor which measures the relative angular velocities.* |
 | ![InertialUnit.png](images/sensors/InertialUnit.png) | [InertialUnit](../reference/inertialunit.md) | *Simulates a sensor which measures the relative roll, pitch and yaw angles.* |
 | ![Lidar.png](images/sensors/Lidar.png) | [Lidar](../reference/lidar.md) | *Simulates a laser-scanner sensor also known as lidar.* |
+| ![LightSensor.png](images/sensors/LightSensor.png) | [LightSensor](../reference/lightsensor.md) | *Simulates a photo-sensitive device which can measure the irradiance of light in a given direction.* |
 | ![PositionSensor.png](images/sensors/PositionSensor.png) | [PositionSensor](../reference/positionsensor.md) | *Simulates a sensor which can monitor a joint position, such as an encoder or a potentiometer.* |
 | ![Radar.png](images/sensors/Radar.png) | [Radar](../reference/radar.md) | *Simulates a radar sensor.* |
 | ![RangeFinder.png](images/sensors/RangeFinder.png) | [RangeFinder](../reference/rangefinder.md) | *Simulates a depth camera also known as range-finder.* |

docs/guide/tutorial-1-your-first-simulation-in-webots.md

@@ -21,7 +21,7 @@ The guided tour is also available from the *Help* menu of Webots.
 
 ### Create a New World
 
-A **World** is a file containing information like where the objects are, what they look like, how they interact with each other, what is the color of the sky, how is defined the gravity, friction, masses of the objects, etc.
+A **World** is a file containing information like where the objects are, what they look like, how they interact with each other, what is the color of the sky, and the definitions of gravity, friction, masses of the objects, etc.
 It defines the initial state of a simulation.
 The different objects are called **Nodes** and are organized hierarchically in a **Scene Tree**.
 Therefore, a node may contain sub-nodes.

docs/reference/changelog-r2023.md

@@ -18,6 +18,8 @@ Released on XXX XXth, 2023.
     - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
     - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
     - Fixed [ElevationGrid](elevationgrid.md) collisions not matching the displayed when the x and y dimensions are different ([#6412](https://github.com/cyberbotics/webots/pull/6412))
+    - Fixed JNILIB_FLAGS relative reference for Java controllers ([#5181](https://github.com/cyberbotics/webots/issues/5181))
+
 
 ## Webots R2023b
 Released on June 28th, 2023.

docs/reference/changelog-r2024.md

@@ -8,3 +8,8 @@ Released on December **th, 2023.
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
   - Cleanup
     - Removed deprecated `windowPosition`, `pixelSize` fields of [Display](display.md) node ([#6327](https://github.com/cyberbotics/webots/pull/6327)).
+  - Bug Fixes
+    - Fixed error message on Windows when `libssl-3-x64.dll` was added to `PATH` ([#6553](https://github.com/cyberbotics/webots/pull/6553)).
+    - Fixed length of arrays returned by `getPose()` in Java ([#6556](https://github.com/cyberbotics/webots/pull/6556)).
+    - Fixed length of arrays returned by `CameraRecognitionObject.getColors()` in Java ([#6564](https://github.com/cyberbotics/webots/pull/6564))
+    - Fixed handling of device objects with the same name in the controller API ([#6579](https://github.com/cyberbotics/webots/pull/6579))

docs/reference/compass.md

@@ -179,7 +179,7 @@ Now if the [Compass](#compass) node is in *upright* position, meaning that its z
 double get_bearing_in_degrees() {
   const double *north = wb_compass_get_values(tag);
   double rad = atan2(north[1], north[0]);
-  double bearing = (rad - 1.5708) / M_PI * 180.0;
+  double bearing = (rad / M_PI) * 180.0;
   if (bearing < 0.0)
     bearing = bearing + 360.0;
   return bearing;

docs/reference/robot.md

@@ -766,11 +766,12 @@ WbDeviceTag wb_robot_get_device(const char *name);
 namespace webots {
   class Robot {
     Accelerometer *getAccelerometer(const std::string &name);
-    Altimeter *getAltimeter(const std::string &name);    
+    Altimeter *getAltimeter(const std::string &name);
     Brake *getBrake(const std::string &name);
     Camera *getCamera(const std::string &name);
     Compass *getCompass(const std::string &name);
     Connector *getConnector(const std::string &name);
+    Device *getDevice(const std::string &name);
     Display *getDisplay(const std::string &name);
     DistanceSensor *getDistanceSensor(const std::string &name);
     Emitter *getEmitter(const std::string &name);
@@ -826,6 +827,7 @@ public class Robot {
   public Camera getCamera(String name);
   public Compass getCompass(String name);
   public Connector getConnector(String name);
+  public Device getDevice(String name);
   public Display getDisplay(String name);
   public DistanceSensor getDistanceSensor(String name);
   public Emitter getEmitter(String name);
@@ -874,7 +876,7 @@ Devices are available through their services.
 
 *get a unique identifier to a device*
 
-The `wb_robot_get_device` function (available in C, Python and MATLAB) returns a unique identifier for a device corresponding to a specified `name`.
+The `wb_robot_get_device` function returns a unique identifier for a device corresponding to a specified `name`.
 For example, if a robot contains a [DistanceSensor](distancesensor.md) node whose `name` field is "ds1", the function will return the unique identifier of that device.
 This `WbDeviceTag` identifier will be used subsequently for enabling, sending commands to, or reading data from this device.
 If the specified device is not found, the function returns 0 in C and MATLAB or `None` in Python.
@@ -885,6 +887,8 @@ Depending on the called function, this object can be an instance of a `Device` s
 For example, if a robot contains a [DistanceSensor](distancesensor.md) node whose `name` field is "ds1", the function `getDistanceSensor` will return a reference to a [DistanceSensor](distancesensor.md) object.
 If the specified device is not found, the function returns `NULL` in C++ or `null` in Java.
 
+Note that if any two devices share the same name, `wb_robot_get_device` will return the first one it finds. In order to distinguish between devices with the same name, users should consider iterating over a robot's devices using `wb_robot_get_device_by_index` and `wb_robot_get_number_of_devices`.
+
 ---
 
 #### `wb_robot_get_device_by_index`

docs/reference/viewpoint.md

@@ -10,11 +10,11 @@ Viewpoint {
   SFFloat    far                     0.0              # [near, inf)
   SFFloat    exposure                1.0              # [0, inf)
   SFString   follow                  ""               # any string
-  SFBool     followType              "Tracking Shot"  # {"None", "Tracking Shot", "Mounted Shot", "Pan and Tilt Shot"}
+  SFString   followType              "Tracking Shot"  # {"None", "Tracking Shot", "Mounted Shot", "Pan and Tilt Shot"}
   SFFloat    followSmoothness        0.5              # [0, 1]
   SFNode     lensFlare               NULL             # {LensFlare, PROTO}
   SFFloat    ambientOcclusionRadius  2                # [0, inf)
-  SFFloat    bloomThreshold          10               # [0, inf)
+  SFFloat    bloomThreshold          21               # [0, inf)
 }
 ```
 

include/controller/cpp/webots/Accelerometer.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Accelerometer : public Device {
   public:
     explicit Accelerometer(const std::string &name) : Device(name) {}  // Use Robot::getAccelerometer() instead
+    explicit Accelerometer(WbDeviceTag tag) : Device(tag) {}
     virtual ~Accelerometer() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Altimeter.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Altimeter : public Device {
   public:
     explicit Altimeter(const std::string &name) : Device(name) {}  // Use Robot::getAltimeter instead
+    explicit Altimeter(WbDeviceTag tag) : Device(tag) {}
     virtual ~Altimeter() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Brake.hpp

@@ -30,6 +30,7 @@ namespace webots {
       Device(name),
       motor(NULL),
       positionSensor(NULL) {}  // Use Robot::getBrake() instead
+    explicit Brake(WbDeviceTag tag) : Device(tag), motor(NULL), positionSensor(NULL) {}
     virtual ~Brake() {}
     Type getType() const;
     void setDampingConstant(double dampingConstant) const;

include/controller/cpp/webots/Camera.hpp

@@ -24,6 +24,7 @@ namespace webots {
   class Camera : public Device {
   public:
     explicit Camera(const std::string &name) : Device(name) {}  // Use Robot::getCamera() instead
+    explicit Camera(WbDeviceTag tag) : Device(tag) {}
     virtual ~Camera() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Compass.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Compass : public Device {
   public:
     explicit Compass(const std::string &name) : Device(name) {}  // Use Robot::getCompass() instead
+    explicit Compass(WbDeviceTag tag) : Device(tag) {}
     virtual ~Compass() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Connector.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Connector : public Device {
   public:
     explicit Connector(const std::string &name) : Device(name) {}  // Use Robot::getConnector() instead
+    explicit Connector(WbDeviceTag tag) : Device(tag) {}
     virtual ~Connector() {}
     virtual void enablePresence(int samplingPeriod);
     virtual void disablePresence();

include/controller/cpp/webots/Device.hpp

@@ -32,6 +32,7 @@ namespace webots {
 
   protected:
     explicit Device(const std::string &name);
+    explicit Device(WbDeviceTag tag);
 
   private:
     WbDeviceTag tag;

include/controller/cpp/webots/Display.hpp

@@ -24,6 +24,7 @@ namespace webots {
   public:
     enum { RGB = 3, RGBA, ARGB, BGRA, ABGR };
     explicit Display(const std::string &name) : Device(name) {}  // Use Robot::getDisplay() instead
+    explicit Display(WbDeviceTag tag) : Device(tag) {}
     virtual ~Display() {}
     int getWidth() const;
     int getHeight() const;

include/controller/cpp/webots/DistanceSensor.hpp

@@ -23,6 +23,7 @@ namespace webots {
     typedef enum { GENERIC = 0, INFRA_RED, SONAR, LASER } Type;
 
     explicit DistanceSensor(const std::string &name) : Device(name) {}  // Use Robot::getDistanceSensor() instead
+    explicit DistanceSensor(WbDeviceTag tag) : Device(tag) {}
     virtual ~DistanceSensor() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Emitter.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Emitter : public Device {
   public:
     explicit Emitter(const std::string &name) : Device(name) {}  // Use Robot::getEmitter() instead
+    explicit Emitter(WbDeviceTag tag) : Device(tag) {}
     virtual ~Emitter() {}
     enum { CHANNEL_BROADCAST = -1 };
     virtual int send(const void *data, int size);

include/controller/cpp/webots/GPS.hpp

@@ -23,6 +23,7 @@ namespace webots {
     typedef enum { LOCAL = 0, WGS84 } CoordinateSystem;
 
     explicit GPS(const std::string &name) : Device(name) {}  // Use Robot::getGPS() instead
+    explicit GPS(WbDeviceTag tag) : Device(tag) {}
     virtual ~GPS() {}
 
     virtual void enable(int samplingPeriod);

include/controller/cpp/webots/Gyro.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Gyro : public Device {
   public:
     explicit Gyro(const std::string &name) : Device(name) {}  // Use Robot::getGyro() instead
+    explicit Gyro(WbDeviceTag tag) : Device(tag) {}
     virtual ~Gyro() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/InertialUnit.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class InertialUnit : public Device {
   public:
     explicit InertialUnit(const std::string &name) : Device(name) {}  // Use Robot::getInertialUnit() instead
+    explicit InertialUnit(WbDeviceTag tag) : Device(tag) {}
     virtual ~InertialUnit() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/LED.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class LED : public Device {
   public:
     explicit LED(const std::string &name) : Device(name) {}  // Use Robot::getLED() instead
+    explicit LED(WbDeviceTag tag) : Device(tag) {}
     virtual ~LED() {}
     virtual void set(int value);
     int get() const;

include/controller/cpp/webots/Lidar.hpp

@@ -24,6 +24,7 @@ namespace webots {
   class Lidar : public Device {
   public:
     explicit Lidar(const std::string &name) : Device(name) {}  // Use Robot::getLidar() instead
+    explicit Lidar(WbDeviceTag tag) : Device(tag) {}
     virtual ~Lidar() {}
     virtual void enable(int samplingPeriod);
     void enablePointCloud();

include/controller/cpp/webots/LightSensor.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class LightSensor : public Device {
   public:
     explicit LightSensor(const std::string &name) : Device(name) {}  // Use Robot::getLightSensor() instead
+    explicit LightSensor(WbDeviceTag tag) : Device(tag) {}
     virtual ~LightSensor() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Motor.hpp

@@ -31,6 +31,7 @@ namespace webots {
       Device(name),
       brake(NULL),
       positionSensor(NULL) {}  // Use Robot::getMotor() instead
+    explicit Motor(WbDeviceTag tag) : Device(tag), brake(NULL), positionSensor(NULL) {}
     virtual ~Motor() {}
 
     virtual void setPosition(double position);

include/controller/cpp/webots/Pen.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Pen : public Device {
   public:
     explicit Pen(const std::string &name) : Device(name) {}  // Use Robot::getPen() instead
+    explicit Pen(WbDeviceTag tag) : Device(tag) {}
     virtual ~Pen() {}
     virtual void write(bool write);
     virtual void setInkColor(int color, double density);

include/controller/cpp/webots/PositionSensor.hpp

@@ -29,6 +29,7 @@ namespace webots {
       Device(name),
       brake(NULL),
       motor(NULL) {}  // Use Robot::getPositionSensor() instead
+    explicit PositionSensor(WbDeviceTag tag) : Device(tag), brake(NULL), motor(NULL) {}
     virtual ~PositionSensor() {}
     virtual void enable(int samplingPeriod);  // milliseconds
     virtual void disable();

include/controller/cpp/webots/Radar.hpp

@@ -24,6 +24,7 @@ namespace webots {
   class Radar : public Device {
   public:
     explicit Radar(const std::string &name) : Device(name) {}  // Use Robot::getRadar() instead
+    explicit Radar(WbDeviceTag tag) : Device(tag) {}
     virtual ~Radar() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/RangeFinder.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class RangeFinder : public Device {
   public:
     explicit RangeFinder(const std::string &name) : Device(name) {}  // Use Robot::getRangeFinder() instead
+    explicit RangeFinder(WbDeviceTag tag) : Device(tag) {}
     virtual ~RangeFinder() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

include/controller/cpp/webots/Receiver.hpp

@@ -21,6 +21,7 @@ namespace webots {
   class Receiver : public Device {
   public:
     explicit Receiver(const std::string &name) : Device(name) {}  // Use Robot::getReceiver() instead
+    explicit Receiver(WbDeviceTag tag) : Device(tag) {}
     virtual ~Receiver() {}
     enum { CHANNEL_BROADCAST = -1 };
     virtual void enable(int samplingPeriod);