Build lib Files with gcc on Windows (#6753)

* build lib files with gcc

* remove references to Visual Studio

* remove unneeded def files

* include lib files in distribution

* update the changelog

* fix test step names

* missing change from previous commit

Author: CoolSpy3

.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

.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

docs/reference/changelog-r2025.md

@@ -1,6 +1,11 @@
 # Webots R2025 Change Log
 
 ## Webots R2025b
+  - Enhancements
+    - 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 bug causing Webots to crash when multiple sounds were used with a [Speaker](speaker.md) node ([#6843](https://github.com/cyberbotics/webots/pull/6843)).

projects/default/libraries/vehicle/c/car/car.def

@@ -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
 

projects/default/libraries/vehicle/c/driver/driver.def

@@ -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.
 
 

projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def

@@ -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]