cyberbotics · CoolSpy3 · Jul 21, 2024 · Jul 10, 2024 · Jul 10, 2024 · Jul 10, 2024
@@ -19,7 +19,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -33,7 +33,7 @@ jobs:
     if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -69,7 +69,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -98,7 +98,7 @@ jobs:
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

@@ -13,7 +13,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -28,7 +28,7 @@ jobs:
     if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -65,7 +65,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -96,7 +96,7 @@ jobs:
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-11]
+        os: [macos-14]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

@@ -34,15 +34,15 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-11, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2019]
         python: [3.9]
         include:
           - os: ubuntu-22.04
-            DEPENDENCIES_INSTALLATION: "wget https://github.com/danmar/cppcheck/archive/refs/tags/2.10.tar.gz; tar -xf 2.10.tar.gz -C ~/; mkdir -p ~/cppcheck-2.10/build; cd ~/cppcheck-2.10/build; cmake ..; cmake --build .; export PATH=~/cppcheck-2.10/build/bin:$PATH"
-          - os: macos-11
-            DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.10 cppcheck $USER/local-cppcheck; brew install cppcheck@2.10; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install clang-format@14.0.0"
+            DEPENDENCIES_INSTALLATION: "wget https://github.com/danmar/cppcheck/archive/refs/tags/2.14.2.tar.gz; tar -xf 2.14.2.tar.gz -C ~/; mkdir -p ~/cppcheck-2.14.2/build; cd ~/cppcheck-2.14.2/build; cmake ..; cmake --build .; export PATH=~/cppcheck-2.14.2/build/bin:$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 $USER/local-clang-format; brew install clang-format@14.0.0"
           - os: windows-2019
-            DEPENDENCIES_INSTALLATION: "choco install -y cppcheck --version=2.10 || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
+            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'
     steps:

@@ -30,12 +30,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-11, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2019]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
-          - os: macos-11
+          - 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 $USER/local-clang-format; brew install clang-format@14.0.0"
           - os: windows-2019
             DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""

@@ -19,7 +19,7 @@ We recommend using a recent version of Linux.
 Webots is provided for Linux 64 (x86-64) systems only.
 Webots doesn't run on Ubuntu versions earlier than 20.04.
 - Windows: Webots runs on Windows 11 and Windows 10 (64-bit versions only).
-- Mac: Webots runs on macOS 11 "Big Sur", macOS 12 "Monterey" and macOS 13 "Ventura".
+- Mac: Webots runs on macOS macOS 12 "Monterey", macOS 13 "Ventura", and macOS 14 "Sonoma".
 
 Webots may work but is not officially supported on earlier versions of the above mentioned operating systems.
 

@@ -4,12 +4,13 @@
 Released on December **th, 2023.
   - New Features
     - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
+    - Removed support for macOS 11 "Big Sur" and added support for macOS 14 "Sonoma" ([#6580](https://github.com/cyberbotics/webots/pull/6580)).
   - Enhancements
     - 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))
+    - 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)).
@@ -29,7 +29,7 @@ extern "C" {
 #endif
 
 void wbu_generic_robot_window_parse_device_command(char *token, char *tokens);
-bool wbu_generic_robot_window_parse_device_control_command(char *first_token, char *tokens);
+bool wbu_generic_robot_window_parse_device_control_command(const char *first_token, char *tokens);
 bool wbu_generic_robot_window_handle_messages(const char *message);
 void wbu_generic_robot_window_init();
 void wbu_generic_robot_window_update();

@@ -26,7 +26,7 @@ extern "C" {
 #endif
 
 char *wbu_string_strsep(char **stringp, const char *delim);
-char *wbu_string_replace(char *value, char *before, char *after);
+char *wbu_string_replace(char *value, const char *before, const char *after);
 
 #ifdef __cplusplus
 }

@@ -15,7 +15,7 @@ typedef struct WrFont WrFont;
 WrDrawableTexture *wr_drawable_texture_new();
 
 void wr_drawable_texture_set_font(WrDrawableTexture *texture, WrFont *font);
-void wr_drawable_texture_set_color(WrDrawableTexture *texture, float *color);
+void wr_drawable_texture_set_color(WrDrawableTexture *texture, const float *color);
 void wr_drawable_texture_set_antialasing(WrDrawableTexture *texture, bool enabled);
 void wr_drawable_texture_set_use_premultiplied_alpha(WrDrawableTexture *texture, bool premultipliedAlpha);
 

@@ -14,7 +14,7 @@
 
 #include "RosSensor.hpp"
 
-RosSensor::RosSensor(std::string deviceName, Device *device, Ros *ros, bool enableDefaultServices) :
+RosSensor::RosSensor(const std::string &deviceName, Device *device, Ros *ros, bool enableDefaultServices) :
   RosDevice(device, ros, enableDefaultServices),
   mFrameIdPrefix("") {
   std::string fixedDeviceName = Ros::fixedNameString(deviceName);

@@ -34,7 +34,7 @@ class RosSensor : public RosDevice {
   bool enableSensor(int timestep);
 
 protected:
-  RosSensor(std::string deviceName, Device *device, Ros *ros, bool enableDefaultServices = true);
+  RosSensor(const std::string &deviceName, Device *device, Ros *ros, bool enableDefaultServices = true);
 
   virtual ros::Publisher createPublisher() = 0;
   virtual void publishValue(ros::Publisher publisher) = 0;

@@ -138,7 +138,7 @@ void wbu_car_init() {
   // Parse vehicle caracteristics from the beginning of the data string
   char engine_type;
   int engine_sound_length;
-  char *sub_data_string = (char *)wb_robot_get_custom_data();
+  const char *sub_data_string = wb_robot_get_custom_data();
   i = sscanf(sub_data_string, "%lf %lf %lf %lf %lf %lf %lf %c %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %d %d",
              &instance->wheelbase, &instance->track_front, &instance->track_rear, &instance->front_wheel_radius,
              &instance->rear_wheel_radius, &instance->brake_coefficient, &instance->defaultDampingConstant, &engine_type,

@@ -448,6 +448,7 @@ static void update_engine_sound() {
     }
     if (rpm < instance->car->engine_min_rpm)
       rpm = instance->car->engine_min_rpm;
+    // cppcheck-suppress variableScope
     double pitch = rpm / instance->car->engine_sound_rpm_reference;
     if (stop_sound)
       wb_speaker_stop(instance->engine_speaker, instance->car->engine_sound);

@@ -88,10 +88,10 @@ $(WRAPPER_OBJECT): $(WRAPPER)
 	@$(CXX) $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
 
 $(WRAPPER_OBJECT_ARM64): $(WRAPPER)
-	@$(CXX) -target arm64-apple-macos11 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
+	@$(CXX) -target arm64-apple-macos12 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
 
 $(WRAPPER_OBJECT_X86_64): $(WRAPPER)
-	@$(CXX) -target x86_64-apple-macos11 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
+	@$(CXX) -target x86_64-apple-macos12 $(CFLAGS2) $(INCLUDES) $(JAVA_INCLUDES) $< -o "$@"
 
 %.so: $(WRAPPER_OBJECT)
 	@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java
@@ -102,8 +102,8 @@ $(WRAPPER_OBJECT_X86_64): $(WRAPPER)
 	@$(CXX) -shared -mwindows -Wl,--add-stdcall-alias -Wl,--enable-auto-import -O -lm $< $(LIB) -o "$@"
 
 %.jnilib: $(WRAPPER_OBJECT_ARM64) $(WRAPPER_OBJECT_X86_64)
-	@$(CXX) -target arm64-apple-macos11 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_ARM64) $(LIB) -o lib$(MODULE_NAME)-arm64.jnilib
-	@$(CXX) -target x86_64-apple-macos11 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_X86_64) $(LIB) -o lib$(MODULE_NAME)-x86_64.jnilib
+	@$(CXX) -target arm64-apple-macos12 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_ARM64) $(LIB) -o lib$(MODULE_NAME)-arm64.jnilib
+	@$(CXX) -target x86_64-apple-macos12 $(CFLAGS1) -bundle $(WRAPPER_OBJECT_X86_64) $(LIB) -o lib$(MODULE_NAME)-x86_64.jnilib
 	@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java
 	@lipo -create -output "$@" lib$(MODULE_NAME)-arm64.jnilib lib$(MODULE_NAME)-x86_64.jnilib
 	@codesign -s - "$@"

@@ -73,8 +73,8 @@ typedef struct WbuBvhMotionPrivate {
 //        Utility functions          //
 //***********************************//
 
-static BvhMotionJointPrivate_t *add_new_joint(FILE *file, WbuBvhMotion motion, char *this_name, BvhMotionJointPrivate_t *parent,
-                                              int *channels_count) {
+static BvhMotionJointPrivate_t *add_new_joint(FILE *file, WbuBvhMotion motion, const char *this_name,
+                                              BvhMotionJointPrivate_t *parent, int *channels_count) {
   // create and init new joint
   BvhMotionJointPrivate_t *new_joint = malloc(sizeof(BvhMotionJointPrivate_t));
   new_joint->name = (char *)malloc(strlen(this_name) + 1);
@@ -100,7 +100,7 @@ static BvhMotionJointPrivate_t *add_new_joint(FILE *file, WbuBvhMotion motion, c
 
   char line[MAX_LINE];
   while (fgets(line, MAX_LINE, file)) {
-    char *token = strtok(line, DELIM);
+    const char *token = strtok(line, DELIM);
 
     // opening bracket of joint
     if (strcmp(token, "{") == 0)
@@ -193,7 +193,7 @@ static BvhMotionJointPrivate_t *add_new_joint(FILE *file, WbuBvhMotion motion, c
 
 static void read_motion(FILE *file, WbuBvhMotion motion, int frame_channels_count) {
   int n_frames = motion->n_frames;
-  char *token;
+  const char *token;
   int joint_index;
 
   // init joints
@@ -316,7 +316,7 @@ WbuBvhMotion wbu_bvh_read_file(const char *filename) {
   int channels_count = 0;
   char line[MAX_LINE];
   while (fgets(line, MAX_LINE, file)) {
-    char *token;
+    const char *token;
     token = strtok(line, DELIM);
     // skeleton section
     if (strcmp(token, "HIERARCHY") == 0)
@@ -476,7 +476,7 @@ void wbu_bvh_set_scale(WbuBvhMotion motion, double scale) {
 const double *wbu_bvh_get_root_translation(const WbuBvhMotion motion) {
   static double result[3];
   int frame_index = motion->current_frame;
-  double *frame_position = motion->joint_list[0]->frame_position[frame_index];
+  const double *frame_position = motion->joint_list[0]->frame_position[frame_index];
   int i = 0;
   for (; i < 3; ++i)
     result[i] = frame_position[i] * motion->scale_factor;

@@ -21,6 +21,7 @@
 #include <assert.h>
 #include <stdio.h>
 
+// cppcheck-suppress constParameter
 int main(int argc, char *argv[]) {
   wb_robot_init();
   assert(argc == 3);  // speed and timer excepted as argument.

@@ -53,8 +53,8 @@ void init_pid_attitude_fixed_height_controller() {
   altitudeIntegrator = 0;
 }
 
-void pid_attitude_fixed_height_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid,
-                                          double dt, motor_power_t *motorCommands) {
+void pid_attitude_fixed_height_controller(actual_state_t actual_state, const desired_state_t *desired_state,
+                                          gains_pid_t gains_pid, double dt, motor_power_t *motorCommands) {
   control_commands_t control_commands = {0};
   pid_fixed_height_controller(actual_state, desired_state, gains_pid, dt, &control_commands);
   pid_attitude_controller(actual_state, desired_state, gains_pid, dt, &control_commands);
@@ -70,8 +70,8 @@ void pid_velocity_fixed_height_controller(actual_state_t actual_state, desired_s
   motor_mixing(control_commands, motorCommands);
 }
 
-void pid_fixed_height_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid, double dt,
-                                 control_commands_t *control_commands) {
+void pid_fixed_height_controller(actual_state_t actual_state, const desired_state_t *desired_state, gains_pid_t gains_pid,
+                                 double dt, control_commands_t *control_commands) {
   double altitudeError = desired_state->altitude - actual_state.altitude;
   double altitudeDerivativeError = (altitudeError - pastAltitudeError) / dt;
   control_commands->altitude =
@@ -91,8 +91,8 @@ void motor_mixing(control_commands_t control_commands, motor_power_t *motorComma
   motorCommands->m4 = control_commands.altitude + control_commands.roll + control_commands.pitch - control_commands.yaw;
 }
 
-void pid_attitude_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid, double dt,
-                             control_commands_t *control_commands) {
+void pid_attitude_controller(actual_state_t actual_state, const desired_state_t *desired_state, gains_pid_t gains_pid,
+                             double dt, control_commands_t *control_commands) {
   // Calculate errors
   double pitchError = desired_state->pitch - actual_state.pitch;
   double pitchDerivativeError = (pitchError - pastPitchError) / dt;

@@ -76,19 +76,19 @@ typedef struct gains_pid_s {
 float constrain(float value, const float minVal, const float maxVal);
 void init_pid_attitude_fixed_height_controller();
 
-void pid_attitude_fixed_height_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid,
-                                          double dt, motor_power_t *motorCommands);
+void pid_attitude_fixed_height_controller(actual_state_t actual_state, const desired_state_t *desired_state,
+                                          gains_pid_t gains_pid, double dt, motor_power_t *motorCommands);
 
 void pid_velocity_fixed_height_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid,
                                           double dt, motor_power_t *motorCommands);
 
-void pid_fixed_height_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid, double dt,
-                                 control_commands_t *control_commands);
+void pid_fixed_height_controller(actual_state_t actual_state, const desired_state_t *desired_state, gains_pid_t gains_pid,
+                                 double dt, control_commands_t *control_commands);
 
 void motor_mixing(control_commands_t control_commands, motor_power_t *motorCommands);
 
-void pid_attitude_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid, double dt,
-                             control_commands_t *control_commands);
+void pid_attitude_controller(actual_state_t actual_state, const desired_state_t *desired_state, gains_pid_t gains_pid,
+                             double dt, control_commands_t *control_commands);
 
 void pid_horizontal_velocity_controller(actual_state_t actual_state, desired_state_t *desired_state, gains_pid_t gains_pid,
                                         double dt);
@@ -53,7 +53,7 @@ static void print_keyboard_help() {
  * This function is simply used to display clearly the answers of the Shrimp
  * to our commands.
  */
-static void print_answer(unsigned char *answer) {
+static void print_answer(const unsigned char *answer) {
   int i;
   char answer_string[MAX_STRING_SIZE];
 
@@ -181,7 +181,7 @@ static void run_step() {
 
 int main() {
   unsigned char buffer[MAX_BUFFER_SIZE];
-  unsigned char *answer;
+  const unsigned char *answer;
   int position, in_position;
 
   wb_robot_init();

@@ -264,6 +264,7 @@ static void command_01(byte *answer) {
   answer[3] = SHRIMP_PATCH_NUMBER;
 }
 
+// cppcheck-suppress constParameterPointer
 /*
  * This function allows to to set the speed and the steering angle of the
  * robot.

@@ -495,13 +495,13 @@ class jsJoystick {
     saturate[axis] = st;
   }
 
-  void setMinRange(float *axes) {
+  void setMinRange(const float *axes) {
     memcpy(min, axes, num_axes * sizeof(float));
   }
-  void setMaxRange(float *axes) {
+  void setMaxRange(const float *axes) {
     memcpy(max, axes, num_axes * sizeof(float));
   }
-  void setCenter(float *axes) {
+  void setCenter(const float *axes) {
     memcpy(center, axes, num_axes * sizeof(float));
   }