Merge pull request cyberbotics#6265 from cyberbotics/master

Merge master in released

Author: Benjamin Délèze

.eslintrc.json

@@ -17,6 +17,7 @@
     "Enum": false,
     "document": false,
     "glm": false,
+    "libtess": false,
     "Module": false,
     "navigator": false,
     "Quaternion": false,

.github/workflows/discord_updater.yml

@@ -68,27 +68,20 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
         xvfb-run --auto-servernum make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      uses: webfactory/ssh-agent@v0.5.3
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
         sudo python -m pip install requests PyGithub
+        pip install pyopenssl --upgrade
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.tar.bz2
           distribution/*.zip
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
@@ -107,7 +100,7 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-ubuntu-20.04
         path: artifact
@@ -116,7 +109,7 @@ jobs:
     - name: Install Webots Dependencies
       run: sudo scripts/install/linux_test_dependencies.sh --exclude-ros
     - name: Set up Python 3.9
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: 3.9
     - name: Test Suite
@@ -128,6 +121,12 @@ jobs:
         export TESTS_HOME=$PWD # required by cache group in the test suite
         export BRANCH_HASH=$(git log -1 --format='%H')
         xvfb-run --auto-servernum python tests/test_suite.py
+    - uses: actions/upload-artifact@v3
+      if: failure()
+      with:
+        name: test-results-${{ matrix.os }}
+        path: |
+          tests/
   test-ros:
     needs: build
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
@@ -145,7 +144,7 @@ jobs:
       with:
          submodules: true
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -154,7 +153,7 @@ jobs:
     - name: Install Webots Dependencies
       run: sudo scripts/install/linux_test_dependencies.sh
     - name: Set up Python ${{ matrix.python }}
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
     - name: Run Test
@@ -171,44 +170,33 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-ubuntu-20.04
         path: artifact
+    - name: Get branch name
+      id: branch-name
+      uses: tj-actions/branch-names@v5.1
     - name: Extract Webots and Cache
       run: |
         tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
+        cp -R artifact/ untouched-artifact/
         mkdir -p ~/.cache/Cyberbotics/Webots/
         unzip -q artifact/assets-*.zip -d ~/.cache/Cyberbotics/Webots/assets
-    - name: Install Webots Dependencies
-      run: sudo scripts/install/linux_runtime_dependencies.sh
     - name: Set up Python 3.9
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: 3.9
     - name: Update World, Check Warnings and Validate Cache
       run: |
-        git config --global user.name ${GITHUB_ACTOR}
-        git config --global user.email ${GITHUB_ACTOR}@github.com
+        wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/scripts/install/linux_runtime_dependencies.sh && sudo bash linux_runtime_dependencies.sh
         export LIBGL_ALWAYS_SOFTWARE=true
         export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
-        xvfb-run --auto-servernum python scripts/packaging/update_urls.py $(git log -1 --format='%H')
-        echo "Updated urls with commit $(git log -1 --format='%H')"
-        git add -u && git commit -m "Fake-commit the updated urls so that no diff exists prior to running the test"
         export WEBOTS_HOME=$PWD/artifact/webots
-        if [[ -d ~/.cache/Cyberbotics/Webots/assets/ ]]; then cached_files_before=$(ls ~/.cache/Cyberbotics/Webots/assets/ | wc -l); else cached_files_before=0; fi
-        xvfb-run --auto-servernum python tests/test_worlds.py
-        if [[ "$(git diff --name-only *.wbt *.wbproj | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(git diff *.wbt *.wbproj)"; exit -1; fi
-        if [[ -d ~/.cache/Cyberbotics/Webots/assets/ ]]; then cached_files_after=$(ls ~/.cache/Cyberbotics/Webots/assets/ | wc -l); else cached_files_after=0; fi
-        # Note: need an offset of 22 because world 'url.wbt' uses non-cached assets on purpose
-        if [ "$cached_files_after" -ne "$((cached_files_before + 22))" ]; then
-          echo "Some assets are not included in the cache (before $cached_files_before, after $cached_files_after)";
-          echo "Asset log content is:"
-          cat ~/.cache/Cyberbotics/Webots/assets/log.txt
-          exit 1
-        fi
+        wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/tests/test_worlds.py
+        xvfb-run --auto-servernum python3 test_worlds.py
+        if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
   delete-artifacts:
     needs: [build, test-suite, test-ros, test-worlds]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}

.github/workflows/test_suite_linux.yml

@@ -64,27 +64,20 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
         xvfb-run --auto-servernum make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      uses: webfactory/ssh-agent@v0.5.3
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
         sudo python -m pip install requests PyGithub
+        pip install pyopenssl --upgrade
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.tar.bz2
           distribution/*.zip
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
@@ -105,7 +98,7 @@ jobs:
       with:
          ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-ubuntu-20.04
         path: artifact
@@ -144,7 +137,7 @@ jobs:
          submodules: true
          ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -170,43 +163,33 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
-      with:
-         ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-ubuntu-20.04
         path: artifact
+    - name: Get branch name
+      id: branch-name
+      uses: tj-actions/branch-names@v5.1
     - name: Extract Webots and Cache
       run: |
         tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
+        cp -R artifact/ untouched-artifact/
         mkdir -p ~/.cache/Cyberbotics/Webots/
         unzip -q artifact/assets-*.zip -d ~/.cache/Cyberbotics/Webots/assets
-    - name: Install Webots Dependencies
-      run: sudo scripts/install/linux_runtime_dependencies.sh
     - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
         python-version: 3.9
     - name: Update World, Check Warnings and Validate Cache
       run: |
-        git config --global user.name ${GITHUB_ACTOR}
-        git config --global user.email ${GITHUB_ACTOR}@github.com
+        wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/scripts/install/linux_runtime_dependencies.sh && sudo bash linux_runtime_dependencies.sh
         export LIBGL_ALWAYS_SOFTWARE=true
         export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
-        xvfb-run --auto-servernum python scripts/packaging/update_urls.py $(git log -1 --format='%H')
-        git add -u && git commit -m "Fake-commit the updated urls so that no diff exists prior to running the test"
         export WEBOTS_HOME=$PWD/artifact/webots
-        if [[ -d ~/.cache/Cyberbotics/Webots/assets/ ]]; then cached_files_before=$(ls ~/.cache/Cyberbotics/Webots/assets/ | wc -l); else cached_files_before=0; fi
-        xvfb-run --auto-servernum python tests/test_worlds.py
-        if [[ "$(git diff --name-only *.wbt *.wbproj | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(git diff *.wbt *.wbproj)"; exit -1; fi
-        if [[ -d ~/.cache/Cyberbotics/Webots/assets/ ]]; then cached_files_after=$(ls ~/.cache/Cyberbotics/Webots/assets/ | wc -l); else cached_files_after=0; fi
-        # Note: need an offset of 22 because world 'url.wbt' uses non-cached assets on purpose
-        if [ "$cached_files_after" -ne "$((cached_files_before + 22))" ]; then
-          echo "Some assets are not included in the cache (before $cached_files_before, after $cached_files_after)";
-          exit 1
-        fi
+        sudo apt install -y wget && wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/tests/test_worlds.py
+        xvfb-run --auto-servernum python3 test_worlds.py
+        if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
   delete-artifacts:
     needs: [build, test-suite, test-ros, test-worlds]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}

.github/workflows/test_suite_linux_develop.yml

@@ -42,47 +42,22 @@ jobs:
          fetch-depth: 15
     - name: Install Webots Compilation Dependencies
       run: |
-        # swig wget cmake python@3.8 python@3.9 and python@3.10 are already installed
-        if HOMEBREW_NO_INSTALL_CLEANUP=1 brew install python@3.7; then
-          echo "Installation of Python3.7 successful"
-        else
-          echo "Installation of Python3.7 failed"
-        fi
+        # swig wget and cmake are already installed
         npm install -g appdmg
-        # install regular Python 3.7
-        wget -qq https://www.python.org/ftp/python/3.7.9/python-3.7.9-macosx10.9.pkg
-        sudo installer -pkg python-3.7.9-macosx10.9.pkg -target /
-        # install regular Python 3.8
-        wget -qq https://www.python.org/ftp/python/3.8.10/python-3.8.10-macos11.pkg
-        sudo installer -pkg python-3.8.10-macos11.pkg -target /
-        # install regular Python 3.9
-        wget -qq https://www.python.org/ftp/python/3.9.13/python-3.9.13-macos11.pkg
-        sudo installer -pkg python-3.9.13-macos11.pkg -target /
-        # install regular Python 3.10
-        wget -qq https://www.python.org/ftp/python/3.10.5/python-3.10.5-macos11.pkg
-        sudo installer -pkg python-3.10.5-macos11.pkg -target /
     - name: Set Commit SHA in Version
       if: ${{ github.event_name == 'schedule' }}
       run: python scripts/packaging/set_commit_and_date_in_version.py $(git log -1 --format='%H')
     - name: Webots Package Creation
       run: |
         export JAVA_HOME="$(/usr/libexec/java_home -v 16)"
-        export PATH=/Library/Frameworks/Python.framework/Versions/3.10/bin:/Library/Frameworks/Python.framework/Versions/3.9/bin:/Library/Frameworks/Python.framework/Versions/3.8/bin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/local/bin/:$PATH
+        export PATH=/Library/Frameworks/Python.framework/Versions/3.11/bin:/usr/local/bin/:$PATH
         make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      uses: webfactory/ssh-agent@v0.5.3
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
         sudo python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}
@@ -98,7 +73,7 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
-      uses: actions/download-artifact@v2
+      uses: actions/download-artifact@v3
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -107,10 +82,10 @@ jobs:
         hdiutil mount artifact/webots-*.dmg
         sudo cp -R /Volumes/Webots/Webots.app /Applications
         hdiutil unmount /Volumes/Webots
-    - name: Set up Python 3.9
-      uses: actions/setup-python@v2
+    - name: Set up Python 3.11
+      uses: actions/setup-python@v4
       with:
-        python-version: 3.9
+        python-version: 3.11
     - name: Test
       run:
         export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true