21 changed files with 2 additions and 1006 deletions
--- a/.github/workflows/cd.yml
+++ b/.github/workflows/cd.yml
@ -64,7 +64,7 @@ jobs:
      - name: Install host build tools
        uses: awalsh128/cache-apt-pkgs-action@latest
        with:
-          packages: build-essential gcc-14 g++-14 cmake ninja-build graphviz crudini libelf-dev
+          packages: build-essential gcc-14 g++-14 cmake ninja-build graphviz crudini
          version: 1.0
          execute_install_scripts: true

--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -61,7 +61,7 @@ jobs:
      - name: Install host build tools
        uses: awalsh128/cache-apt-pkgs-action@latest
        with:
-          packages: build-essential gcc-14 g++-14 cmake ninja-build graphviz crudini libelf-dev
+          packages: build-essential gcc-14 g++-14 cmake ninja-build graphviz crudini
          version: 1.0
          execute_install_scripts: true

--- a/.gitignore
+++ b/.gitignore
@ -150,4 +150,3 @@ Session.vim
 !/.vscode
 /.env*
 !/.env*.example
-**/test_package/bin
--- a/recipes/linux-kbuild-tree/all/.gitignore
+++ b/recipes/linux-kbuild-tree/all/.gitignore
@ -1,3 +0,0 @@
-/build/
-/linux/
-*.txt
--- a/recipes/linux-kbuild-tree/all/conandata.yml
+++ b/recipes/linux-kbuild-tree/all/conandata.yml
@ -1,21 +0,0 @@
-sources:
-  "7.0.0":
-  "6.17.0":
-  "6.8.0":
-  "6.5.9":
-    url: "https://cdn.kernel.org/pub/linux/kernel/v6.x/linux-6.5.9.tar.gz"
-    sha256: "3c269612220746ba87dc9063bec2afcb2df04b4fdaa9f7e1f67751284966cf37"
-  "5.19.9":
-    url: "https://cdn.kernel.org/pub/linux/kernel/v5.x/linux-5.19.9.tar.gz"
-    sha256: "1f01b0ee846547737793103f23cc46a382e4694e7728e8cb8c48ea51a2bb7a8d"
-  "5.19.0":
-  "5.15.0":
-  "5.15.128":
-    url: "https://cdn.kernel.org/pub/linux/kernel/v5.x/linux-5.15.128.tar.gz"
-    sha256: "4ce1331bb3877bc92581ec5faff76d63d19e7b1fa174acdda1f5cba4a8f2abf7"
-  "5.14.9":
-    url: "https://cdn.kernel.org/pub/linux/kernel/v5.x/linux-5.14.9.tar.gz"
-    sha256: "b5cd37e6d193c8f6a98e41ce6f9d97260d178e0a3cfc43d7ff684f67c6c25f29"
-  "5.13.9":
-    url: "https://cdn.kernel.org/pub/linux/kernel/v5.x/linux-5.13.9.tar.gz"
-    sha256: "cc82e4461d5f759c820b74079164450d1f1ad09def9f3356a58814abd0268787"
--- a/recipes/linux-kbuild-tree/all/conanfile.py
+++ b/recipes/linux-kbuild-tree/all/conanfile.py
@ -1,318 +0,0 @@
-import os
-import re
-import shlex
-import subprocess
-
-from conan import ConanFile
-from conan.errors import ConanInvalidConfiguration
-from conan.tools.build import cross_building
-from conan.tools.files import copy, get, save
-
-
-class LinuxKbuildTreeConan(ConanFile):
-    name = "linux-kbuild-tree"
-    package_type = "unknown"
-    upload_policy = "skip"
-    build_policy = "missing"
-
-    settings = "os", "arch", "compiler", "build_type"
-
-    options = {
-        "url": ["ANY"],
-        "defconfig": ["ANY"],
-        "make_modules": [True, False],
-    }
-
-    default_options = {
-        "url": "",
-        "defconfig": "defconfig",
-        "make_modules": False,
-    }
-
-    exports_sources = "configs/*"
-
-    def layout(self):
-        self.folders.build = "build"
-        self.folders.generators = os.path.join(self.folders.build, "generators")
-
-    def package_id(self):
-        c_compiler = self._compiler_executable("c")
-        if c_compiler is not None:
-            self.info.conf.define("tools.build:compiler_executables", {"c": str(c_compiler)})
-
-    def validate(self):
-        if self.settings.os != "Linux":
-            raise ConanInvalidConfiguration("linux-kbuild-tree requires a Linux target")
-
-        if not self.version:
-            raise ConanInvalidConfiguration(
-                "linux-kbuild-tree requires a package version, e.g. "
-                "conan create recipes/linux-kbuild-tree --version=6.5.9"
-            )
-
-        self._kernel_arch
-
-        if cross_building(self) and self._cross_compile is None:
-            raise ConanInvalidConfiguration(
-                "Cross-building a kernel tree requires "
-                "tools.build:compiler_executables with a GCC-like C compiler"
-            )
-
-    def source(self):
-        source_url, sha256 = self._linux_source()
-        get(
-            self,
-            source_url,
-            sha256=sha256,
-            destination=os.path.join(self.source_folder, "linux"),
-            strip_root=True,
-        )
-
-    def build(self):
-        linux = os.path.join(self.source_folder, "linux")
-        arch = self._kernel_arch
-        cross_compile = self._cross_compile or ""
-        jobs = self.conf.get("tools.build:jobs", default=None)
-        make_jobs = f" -j{jobs}" if jobs else ""
-
-        make_base = (
-            f"make --no-print-directory -C {shlex.quote(linux)}{make_jobs} "
-            f"ARCH={shlex.quote(str(arch))} "
-            f"CROSS_COMPILE={shlex.quote(str(cross_compile))} "
-            f"{self._host_warning_flags_args}"
-        )
-
-        self._install_config(linux, make_base)
-
-        self.run(f"{make_base} olddefconfig prepare modules_prepare")
-
-        if self.options.make_modules:
-            # Required when CONFIG_MODVERSIONS=y and the target kernel exports
-            # symbols that are not available from a vendor-provided Module.symvers.
-            self.run(f"{make_base} modules")
-
-        kernelrelease = self._capture(f"{make_base} kernelrelease")
-        compiler = self._capture(f"{self._cross_gcc} --version").splitlines()[0]
-        source_url, sha256 = self._linux_source()
-
-        save(
-            self,
-            os.path.join(self.build_folder, "kbuild-tree-info.txt"),
-            "\n".join(
-                [
-                    f"url={source_url}",
-                    f"ref={self._linux_ref_from_version()}",
-                    f"sha256={sha256 or ''}",
-                    f"kernelrelease={kernelrelease}",
-                    f"arch={arch}",
-                    f"cross_compile={cross_compile}",
-                    f"compiler={compiler}",
-                    f"make_modules={self.options.make_modules}",
-                    "",
-                ]
-            ),
-        )
-
-    def package(self):
-        linux = os.path.join(self.source_folder, "linux")
-
-        # External module builds need source files, generated headers, scripts,
-        # .config, and often Module.symvers. Packaging the whole prepared tree is
-        # intentionally conservative and can be optimized after the flow is stable.
-        copy(self, "*", src=linux, dst=self.package_folder, excludes=(".git", ".git/*"))
-        copy(self, ".config", src=linux, dst=self.package_folder, keep_path=False)
-        copy(
-            self,
-            "kbuild-tree-info.txt",
-            src=self.build_folder,
-            dst=self.package_folder,
-            keep_path=False,
-        )
-
-    def package_info(self):
-        self.cpp_info.includedirs = []
-        self.cpp_info.libdirs = []
-        self.cpp_info.bindirs = []
-
-    def _linux_ref_from_version(self):
-        # Upstream Linux tags base releases as v6.8, while the kernel release
-        # and Conan package version are commonly represented as 6.8.0.
-        version_parts = str(self.version).split(".")
-        if len(version_parts) == 3 and version_parts[2] == "0":
-            return f"v{version_parts[0]}.{version_parts[1]}"
-        return f"v{self.version}"
-
-    def _linux_archive_version(self):
-        version_parts = str(self.version).split(".")
-        if len(version_parts) == 3 and version_parts[2] == "0":
-            return f"{version_parts[0]}.{version_parts[1]}"
-        return str(self.version)
-
-    def _linux_source(self):
-        source = self.conan_data.get("sources", {}).get(str(self.version)) or {}
-        source_url = source.get("url") or self._kernel_cdn_url()
-        return source_url, source.get("sha256")
-
-    def _kernel_cdn_url(self):
-        archive_version = self._linux_archive_version()
-        major = archive_version.split(".", 1)[0]
-        return (
-            f"https://cdn.kernel.org/pub/linux/kernel/v{major}.x/"
-            f"linux-{archive_version}.tar.gz"
-        )
-
-    @property
-    def _host_warning_flags_args(self):
-        hostcflags = []
-
-        if self._version_lt("5.16.0") and self._host_compiler_accepts(
-            "-Wno-error=use-after-free"
-        ):
-            # Older objtool builds use -Werror and trip GCC 14's realloc(ptr)
-            # use-after-free diagnostic in tools/lib/subcmd/subcmd-util.h.
-            hostcflags.append("-Wno-error=use-after-free")
-
-        if not hostcflags:
-            return ""
-
-        flags = shlex.quote(" ".join(hostcflags))
-        return f"HOSTCFLAGS={flags} EXTRA_CFLAGS={flags}"
-
-    def _host_compiler_accepts(self, flag):
-        try:
-            subprocess.run(
-                [
-                    "gcc",
-                    flag,
-                    "-x",
-                    "c",
-                    "-c",
-                    "-o",
-                    os.devnull,
-                    "-",
-                ],
-                input="int main(void) { return 0; }\n",
-                text=True,
-                stdout=subprocess.DEVNULL,
-                stderr=subprocess.DEVNULL,
-                check=True,
-            )
-        except (OSError, subprocess.CalledProcessError):
-            return False
-        return True
-
-    def _version_lt(self, other):
-        return self._version_tuple(str(self.version)) < self._version_tuple(other)
-
-    def _version_tuple(self, version):
-        return tuple(int(part) for part in version.split("."))
-
-    @property
-    def _kernel_arch(self):
-        arch = str(self.settings.arch)
-        arch_map = {
-            "x86": "x86",
-            "x86_64": "x86",
-            "armv5el": "arm",
-            "armv5hf": "arm",
-            "armv6": "arm",
-            "armv7": "arm",
-            "armv7hf": "arm",
-            "armv8": "arm64",
-            "armv8_32": "arm",
-            "armv8.3": "arm64",
-            "armv8.5": "arm64",
-            "armv8.6": "arm64",
-            "armv8.7": "arm64",
-            "armv8.8": "arm64",
-            "armv8.9": "arm64",
-            "ppc32": "powerpc",
-            "ppc64": "powerpc",
-            "ppc64le": "powerpc",
-            "riscv32": "riscv",
-            "riscv64": "riscv",
-            "s390": "s390",
-            "s390x": "s390",
-            "sparc": "sparc",
-            "sparcv9": "sparc",
-            "mips": "mips",
-            "mips64": "mips",
-        }
-        if arch not in arch_map:
-            raise ConanInvalidConfiguration(
-                f"Cannot derive Linux ARCH from settings.arch={arch!r}; "
-                "add this Conan architecture to the recipe arch map"
-            )
-        return arch_map[arch]
-
-    @property
-    def _cross_compile(self):
-        if not cross_building(self):
-            return ""
-
-        c_compiler = self._compiler_executable("c")
-        if not c_compiler:
-            return None
-
-        return self._cross_compile_from_executable(c_compiler)
-
-    def _cross_compile_from_compiler_executables(self):
-        c_compiler = self._compiler_executable("c")
-        if not c_compiler:
-            return None
-        return self._cross_compile_from_executable(c_compiler)
-
-    def _cross_compile_from_executable(self, c_compiler):
-        executable = os.path.basename(c_compiler)
-        match = re.match(r"^(.+?)(?:gcc|cc)(?:-\d+(?:\.\d+)*)?$", executable)
-        if not match:
-            return None
-        return match.group(1)
-
-    @property
-    def _cross_gcc(self):
-        cross_compile = self._cross_compile or ""
-        return shlex.quote(f"{cross_compile}gcc")
-
-    def _compiler_executable(self, language):
-        executables = self.conf.get("tools.build:compiler_executables", default={})
-        if not executables:
-            return None
-        if hasattr(executables, "get"):
-            return executables.get(language)
-        return None
-
-    def _install_config(self, linux, make_base):
-        defconfig = str(self.options.defconfig)
-        if not defconfig:
-            if not os.path.exists(os.path.join(linux, ".config")):
-                raise ConanInvalidConfiguration(
-                    "Missing kernel config: set linux-kbuild-tree/*:defconfig "
-                    "or provide a source tree with .config"
-                )
-            return
-
-        exported_config = os.path.join(self.source_folder, "configs", defconfig)
-        if os.path.isfile(exported_config):
-            copy(
-                self,
-                defconfig,
-                src=os.path.dirname(exported_config),
-                dst=linux,
-                keep_path=False,
-            )
-            os.replace(os.path.join(linux, defconfig), os.path.join(linux, ".config"))
-            return
-
-        self.run(f"{make_base} {shlex.quote(defconfig)}")
-
-    def _capture(self, command):
-        output = subprocess.check_output(
-            command,
-            shell=True,
-            stderr=subprocess.STDOUT,
-            text=True,
-        ).strip()
-        if not output:
-            raise ConanInvalidConfiguration(f"Command produced no output: {command}")
-        return output
--- a/recipes/linux-kbuild-tree/all/test_package/Makefile
+++ b/recipes/linux-kbuild-tree/all/test_package/Makefile
@ -1 +0,0 @@
-obj-m += test_kbuild_module.o
--- a/recipes/linux-kbuild-tree/all/test_package/conanfile.py
+++ b/recipes/linux-kbuild-tree/all/test_package/conanfile.py
@ -1,61 +0,0 @@
-import os
-import shlex
-
-from conan import ConanFile
-from conan.errors import ConanException
-from conan.tools.files import copy
-
-
-class TestPackageConan(ConanFile):
-    test_type = "explicit"
-
-    settings = "os", "compiler", "build_type", "arch"
-    exports_sources = "Makefile", "test_kbuild_module.c"
-
-    def requirements(self):
-        self.requires(self.tested_reference_str)
-
-    def layout(self):
-        self.folders.build = "build"
-        self.folders.generators = os.path.join(self.folders.build, "generators")
-
-    def build(self):
-        kernel_tree = self.dependencies["linux-kbuild-tree"].package_folder
-        module_dir = os.path.join(self.build_folder, "module")
-        copy(self, "*", src=self.source_folder, dst=module_dir)
-
-        tree_info = self._read_tree_info(kernel_tree)
-        arch = tree_info.get("arch", "")
-        cross_compile = tree_info.get("cross_compile", "")
-        jobs = self.conf.get("tools.build:jobs", default=None)
-        make_jobs = f" -j{jobs}" if jobs else ""
-
-        command = (
-            f"make --no-print-directory -C {shlex.quote(kernel_tree)}{make_jobs} "
-            f"M={shlex.quote(module_dir)} "
-            f"ARCH={shlex.quote(arch)} "
-            f"CROSS_COMPILE={shlex.quote(cross_compile)} "
-            "KBUILD_MODPOST_WARN=1 "
-            "modules"
-        )
-        self.run(command)
-
-    def test(self):
-        module_path = os.path.join(self.build_folder, "module", "test_kbuild_module.ko")
-        if not os.path.isfile(module_path):
-            raise ConanException(f"Kernel module was not built: {module_path}")
-
-    def _read_tree_info(self, kernel_tree):
-        path = os.path.join(kernel_tree, "kbuild-tree-info.txt")
-        if not os.path.isfile(path):
-            raise ConanException(f"Missing linux-kbuild-tree metadata: {path}")
-
-        result = {}
-        with open(path, encoding="utf-8") as tree_info:
-            for line in tree_info:
-                line = line.strip()
-                if not line or "=" not in line:
-                    continue
-                key, value = line.split("=", 1)
-                result[key] = value
-        return result
--- a/recipes/linux-kbuild-tree/all/test_package/test_kbuild_module.c
+++ b/recipes/linux-kbuild-tree/all/test_package/test_kbuild_module.c
@ -1,17 +0,0 @@
-#include <linux/init.h>
-#include <linux/module.h>
-
-static int __init test_kbuild_module_init(void)
-{
-    return 0;
-}
-
-static void __exit test_kbuild_module_exit(void)
-{
-}
-
-module_init(test_kbuild_module_init);
-module_exit(test_kbuild_module_exit);
-
-MODULE_DESCRIPTION("linux-kbuild-tree Conan test module");
-MODULE_LICENSE("GPL");
--- a/recipes/webots-controller/all/CMakeLists.txt
+++ b/recipes/webots-controller/all/CMakeLists.txt
@ -1,46 +0,0 @@
-cmake_minimum_required(VERSION 3.23)
-project(webots_controller LANGUAGES C CXX)
-
-option(WEBOTS_CONTROLLER_NO_PLUGINS "Disable runtime plugin loading (dlopen/LoadLibrary paths)." ON)
-
-if(NOT DEFINED WEBOTS_REPO_SOURCE_DIR)
-  set(WEBOTS_REPO_SOURCE_DIR "")
-endif()
-
-if(WEBOTS_REPO_SOURCE_DIR STREQUAL "")
-  message(FATAL_ERROR "WEBOTS_REPO_SOURCE_DIR must point to cloned Webots repository")
-endif()
-
-if(MSVC)
-  find_package(dirent CONFIG REQUIRED)
-
-  file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/cmake")
-  file(
-    DOWNLOAD
-    https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
-    "${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake"
-    EXPECTED_HASH
-      SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791)
-  include("${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake")
-
-  CPMAddPackage(
-    NAME libunistd
-    GITHUB_REPOSITORY robinrowe/libunistd
-    GIT_TAG v1.4
-    DOWNLOAD_ONLY YES)
-
-  add_library(webots_controller_msvc_unix_headers INTERFACE)
-  target_include_directories(
-    webots_controller_msvc_unix_headers
-    SYSTEM
-    INTERFACE "$<TARGET_PROPERTY:dirent::dirent,INTERFACE_INCLUDE_DIRECTORIES>"
-              "${libunistd_SOURCE_DIR}/unistd")
-  target_link_libraries(webots_controller_msvc_unix_headers
-                        INTERFACE dirent::dirent)
-  target_compile_definitions(webots_controller_msvc_unix_headers
-                             INTERFACE _CRT_DECLARE_NONSTDC_NAMES=0)
-  target_compile_options(webots_controller_msvc_unix_headers
-                         INTERFACE /FIunistd.h)
-endif()
-
-add_subdirectory(src/controller)
--- a/recipes/webots-controller/all/conandata.yml
+++ b/recipes/webots-controller/all/conandata.yml
@ -1,10 +0,0 @@
-sources:
-  "r2023a":
-    git_url: "https://github.com/cyberbotics/webots.git"
-    ref: "R2023a"
-  "r2023b":
-    git_url: "https://github.com/cyberbotics/webots.git"
-    ref: "R2023b"
-  "r2025a":
-    git_url: "https://github.com/cyberbotics/webots.git"
-    ref: "R2025a"
--- a/recipes/webots-controller/all/conanfile.py
+++ b/recipes/webots-controller/all/conanfile.py
@ -1,113 +0,0 @@
-from conan import ConanFile
-from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
-from conan.tools.files import copy
-from conan.tools.scm import Git
-from conan.tools.microsoft import is_msvc
-import os
-
-
-class WebotsControllerConan(ConanFile):
-    name = "webots-controller"
-    description = "Webots C/C++ robot controller libraries (Controller and CppController)"
-    license = "Apache-2.0"
-    url = "https://github.com/cyberbotics/webots"
-    homepage = "https://cyberbotics.com"
-    topics = ("robotics", "simulation", "webots", "controller")
-    package_type = "library"
-
-    settings = "os", "arch", "compiler", "build_type"
-    options = {
-        "shared": [True, False],
-        "fPIC": [True, False],
-        "no_plugins": [True, False],
-    }
-    default_options = {
-        "shared": True,
-        "fPIC": True,
-        "no_plugins": True,
-    }
-
-    exports_sources = (
-        "CMakeLists.txt",
-        "src/*",
-        "patches/*.patch",
-        "test_package/conanfile.py",
-        "test_package/CMakeLists.txt",
-        "test_package/test_package.cpp",
-        "test_package/test_package.c",
-    )
-
-    @property
-    def _source_subfolder(self):
-        return "source_subfolder"
-
-    def config_options(self):
-        if self.settings.os == "Windows":
-            self.options.rm_safe("fPIC")
-
-    def configure(self):
-        if self.options.get_safe("no_plugins", True):
-            return
-        if self.settings.os == "Windows" and is_msvc(self):
-            raise ValueError("Official Windows Webots is built with MinGW GCC, not MSVC.")
-
-    def source(self):
-        source_data = self.conan_data["sources"][self.version]
-        if "git_url" in source_data:
-            git = Git(self)
-            clone_args = ["--depth", "1"]
-            if "ref" in source_data:
-                clone_args.extend(["--branch", source_data["ref"]])
-            git.clone(url=source_data["git_url"], target=self._source_subfolder, args=clone_args)
-            if "ref" in source_data:
-                git.run(f"-C {self._source_subfolder} checkout {source_data['ref']}")
-            git.run("-C {} submodule update --init --recursive --depth 1".format(self._source_subfolder))
-            return
-        raise ValueError("conandata.yml sources entry must provide git_url/ref for this recipe")
-
-    def layout(self):
-        cmake_layout(self)
-
-    def generate(self):
-        deps = CMakeDeps(self)
-        deps.generate()
-
-        tc = CMakeToolchain(self)
-        tc.variables["WEBOTS_CONTROLLER_NO_PLUGINS"] = bool(self.options.no_plugins)
-        webots_repo_source_dir = os.path.join(self.source_folder, self._source_subfolder).replace("\\", "/")
-        tc.variables["WEBOTS_REPO_SOURCE_DIR"] = webots_repo_source_dir
-
-        libcontroller_version = str(self.version)
-        if libcontroller_version.startswith("r"):
-            libcontroller_version = f"R{libcontroller_version[1:]}"
-        tc.variables["LIBCONTROLLER_VERSION"] = libcontroller_version
-        tc.generate()
-
-    def build(self):
-        cmake = CMake(self)
-        cmake.configure()
-        cmake.build()
-
-    def package(self):
-        cmake = CMake(self)
-        cmake.install()
-        copy(self, "LICENSE", src=os.path.join(self.source_folder, self._source_subfolder), dst=os.path.join(self.package_folder, "licenses"))
-
-    def package_info(self):
-        self.cpp_info.set_property("cmake_file_name", "webots-controller")
-
-        controller = self.cpp_info.components["Controller"]
-        controller.libs = ["webots_controller"]
-        controller.includedirs = ["include", "include/controller/c"]
-        controller.set_property("cmake_target_name", "webots-controller::Controller")
-
-        cpp_controller = self.cpp_info.components["CppController"]
-        cpp_controller.libs = ["webots_cpp_controller"]
-        cpp_controller.includedirs = ["include", "include/controller/cpp", "include/controller/c"]
-        cpp_controller.requires = ["Controller"]
-        cpp_controller.set_property("cmake_target_name", "webots-controller::CppController")
-
-        if self.settings.os == "Linux":
-            controller.system_libs = ["m", "pthread", "rt"]
-            if not bool(self.options.no_plugins):
-                controller.system_libs.append("dl")
--- a/recipes/webots-controller/all/patches/msvc-controller-c.patch
+++ b/recipes/webots-controller/all/patches/msvc-controller-c.patch
@ -1,28 +0,0 @@
-diff --git a/motion.c b/motion.c
-index 02c5e62..3de3b2f 100644
--- a/motion.c
-+++ b/motion.c
-@@ -45,7 +45,7 @@ typedef struct WbMotionStructPrivate {
- extern void wb_motor_set_position_no_mutex(WbDeviceTag, double);
- 
- static const int UNDEFINED_TIME = -1;
-static const int MAX_LINE = 4096;
-+#define MAX_LINE 4096
- static const double UNDEFINED_POSITION = -9999999.9;
- static WbMotionRef head = NULL;
- static const char *HEADER = "#WEBOTS_MOTION";
-diff --git a/robot.c b/robot.c
-index 6bb2b81..4d4cb6b 100644
--- a/robot.c
-+++ b/robot.c
-@@ -65,6 +65,10 @@
- #include "supervisor_private.h"
- #include "tcp_client.h"
- 
-+#ifdef _WIN32
-+#undef wb_robot_init
-+#endif
-+
- #ifdef _WIN32
- #include <windows.h>  // GetCommandLine
- #else
--- a/recipes/webots-controller/all/src/controller/CMakeLists.txt
+++ b/recipes/webots-controller/all/src/controller/CMakeLists.txt
@ -1,2 +0,0 @@
-add_subdirectory(c)
-add_subdirectory(cpp)
--- a/recipes/webots-controller/all/src/controller/c/CMakeLists.txt
+++ b/recipes/webots-controller/all/src/controller/c/CMakeLists.txt
@ -1,178 +0,0 @@
-set(WEBOTS_HEADERS_ROOT "${WEBOTS_REPO_SOURCE_DIR}/include/controller/c")
-set(WEBOTS_INCLUDE_ROOT "${WEBOTS_REPO_SOURCE_DIR}/include")
-set(WEBOTS_STB_DIR "${WEBOTS_REPO_SOURCE_DIR}/src/stb")
-set(WEBOTS_CONTROLLER_C_SOURCE_DIR "${WEBOTS_REPO_SOURCE_DIR}/src/controller/c")
-
-file(GLOB_RECURSE WEBOTS_CONTROLLER_C_PUBLIC_HEADERS CONFIGURE_DEPENDS
-     "${WEBOTS_HEADERS_ROOT}/webots/*.h")
-file(GLOB_RECURSE WEBOTS_CONTROLLER_PLUGIN_PUBLIC_HEADERS CONFIGURE_DEPENDS
-     "${WEBOTS_INCLUDE_ROOT}/plugins/*.h")
-
-set(WEBOTS_CONTROLLER_C_CORE_SOURCES
-    abstract_camera.c
-    accelerometer.c
-    altimeter.c
-    ansi_codes.c
-    base64.c
-    brake.c
-    camera.c
-    compass.c
-    connector.c
-    console.c
-    default_robot_window.c
-    device.c
-    display.c
-    distance_sensor.c
-    emitter.c
-    file.c
-    g_image.c
-    g_pipe.c
-    gps.c
-    gyro.c
-    image.c
-    inertial_unit.c
-    joystick.c
-    keyboard.c
-    led.c
-    lidar.c
-    light_sensor.c
-    microphone.c
-    motion.c
-    motor.c
-    mouse.c
-    node.c
-    pen.c
-    percent.c
-    position_sensor.c
-    radar.c
-    range_finder.c
-    receiver.c
-    request.c
-    robot.c
-    scheduler.c
-    sha1.c
-    skin.c
-    speaker.c
-    string.c
-    supervisor.c
-    system.c
-    tcp_client.c
-    touch_sensor.c
-    vacuum_gripper.c)
-
-set(WEBOTS_CONTROLLER_C_PLUGIN_SOURCES dynamic_library.c html_robot_window.c
-                                       radio.c remote_control.c robot_window.c)
-
-set(WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_CORE_SOURCES})
-list(APPEND WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_PLUGIN_SOURCES})
-set(WEBOTS_CONTROLLER_C_SOURCE_PATHS)
-foreach(_src IN LISTS WEBOTS_CONTROLLER_C_SOURCES)
-  set(_candidate "${WEBOTS_CONTROLLER_C_SOURCE_DIR}/${_src}")
-  if(EXISTS "${_candidate}")
-    list(APPEND WEBOTS_CONTROLLER_C_SOURCE_PATHS "${_candidate}")
-  endif()
-endforeach()
-
-if(MSVC)
-  find_package(Git REQUIRED)
-  set(WEBOTS_CONTROLLER_MSVC_SOURCE_DIR
-      "${CMAKE_CURRENT_BINARY_DIR}/msvc-patched-source")
-  file(REMOVE_RECURSE "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
-  file(COPY "${WEBOTS_CONTROLLER_C_SOURCE_DIR}/"
-       DESTINATION "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
-  file(RELATIVE_PATH WEBOTS_CONTROLLER_MSVC_SOURCE_RELATIVE_DIR
-       "${CMAKE_SOURCE_DIR}" "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
-  execute_process(
-    COMMAND
-      "${GIT_EXECUTABLE}" apply
-      "--directory=${WEBOTS_CONTROLLER_MSVC_SOURCE_RELATIVE_DIR}"
-      "${CMAKE_SOURCE_DIR}/patches/msvc-controller-c.patch"
-    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
-    RESULT_VARIABLE WEBOTS_CONTROLLER_MSVC_PATCH_RESULT)
-  if(NOT WEBOTS_CONTROLLER_MSVC_PATCH_RESULT EQUAL 0)
-    message(FATAL_ERROR "Failed to apply MSVC controller C source patch")
-  endif()
-
-  set(_msvc_source_paths)
-  foreach(_src IN LISTS WEBOTS_CONTROLLER_C_SOURCES)
-    set(_candidate "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}/${_src}")
-    if(EXISTS "${_candidate}")
-      list(APPEND _msvc_source_paths "${_candidate}")
-    endif()
-  endforeach()
-  set(WEBOTS_CONTROLLER_C_SOURCE_PATHS ${_msvc_source_paths})
-endif()
-
-add_library(webots_controller ${WEBOTS_CONTROLLER_C_SOURCE_PATHS})
-add_library(webots-controller::webots_controller ALIAS webots_controller)
-add_library(webots-controller::Controller ALIAS webots_controller)
-
-target_sources(
-  webots_controller
-  PUBLIC FILE_SET
-         webots_c_headers
-         TYPE
-         HEADERS
-         BASE_DIRS
-         "${WEBOTS_HEADERS_ROOT}"
-         FILES
-         ${WEBOTS_CONTROLLER_C_PUBLIC_HEADERS}
-         FILE_SET
-         webots_plugin_headers
-         TYPE
-         HEADERS
-         BASE_DIRS
-         "${WEBOTS_INCLUDE_ROOT}"
-         FILES
-         ${WEBOTS_CONTROLLER_PLUGIN_PUBLIC_HEADERS})
-
-if(WIN32)
-  set_target_properties(webots_controller PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS
-                                                     ON)
-  target_link_libraries(webots_controller PRIVATE ws2_32)
-endif()
-
-if(MSVC)
-  target_sources(webots_controller
-                 PRIVATE "${libunistd_SOURCE_DIR}/unistd/clock_gettime.cpp")
-  target_link_libraries(webots_controller
-                        PRIVATE webots_controller_msvc_unix_headers)
-  target_compile_definitions(webots_controller PRIVATE _USE_MATH_DEFINES
-                                                       O_TEXT=_O_TEXT)
-  target_compile_options(webots_controller PRIVATE /utf-8)
-endif()
-
-target_include_directories(
-  webots_controller
-  PUBLIC $<BUILD_INTERFACE:${WEBOTS_INCLUDE_ROOT}>
-         $<BUILD_INTERFACE:${WEBOTS_HEADERS_ROOT}> $<INSTALL_INTERFACE:include>
-         $<INSTALL_INTERFACE:include/controller/c>
-  PRIVATE ${WEBOTS_STB_DIR} ${WEBOTS_CONTROLLER_C_SOURCE_DIR}
-          ${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR})
-
-target_compile_definitions(
-  webots_controller PRIVATE LIBCONTROLLER_VERSION="${LIBCONTROLLER_VERSION}")
-if(WEBOTS_CONTROLLER_NO_PLUGINS)
-  target_compile_definitions(webots_controller
-                             PUBLIC WEBOTS_CONTROLLER_NO_PLUGINS=1)
-endif()
-
-if(UNIX)
-  target_link_libraries(webots_controller PRIVATE m)
-  if(NOT APPLE)
-    target_link_libraries(webots_controller PRIVATE pthread rt)
-    if(NOT WEBOTS_CONTROLLER_NO_PLUGINS)
-      target_link_libraries(webots_controller PRIVATE dl)
-    endif()
-  endif()
-endif()
-
-install(
-  TARGETS webots_controller
-  RUNTIME DESTINATION "bin"
-  LIBRARY DESTINATION "lib"
-  ARCHIVE DESTINATION "lib"
-          FILE_SET webots_c_headers
-          DESTINATION "include/controller/c"
-          FILE_SET webots_plugin_headers
-          DESTINATION "include")
--- a/recipes/webots-controller/all/src/controller/cpp/CMakeLists.txt
+++ b/recipes/webots-controller/all/src/controller/cpp/CMakeLists.txt
@ -1,86 +0,0 @@
-set(WEBOTS_CONTROLLER_CPP_SOURCE_DIR "${WEBOTS_REPO_SOURCE_DIR}/src/controller/cpp")
-
-set(WEBOTS_CONTROLLER_CPP_SOURCES
-    Accelerometer.cpp
-    Altimeter.cpp
-    Brake.cpp
-    Camera.cpp
-    Compass.cpp
-    Connector.cpp
-    Device.cpp
-    Display.cpp
-    DistanceSensor.cpp
-    Emitter.cpp
-    Field.cpp
-    GPS.cpp
-    Gyro.cpp
-    InertialUnit.cpp
-    Joystick.cpp
-    Keyboard.cpp
-    LED.cpp
-    Lidar.cpp
-    LightSensor.cpp
-    Motion.cpp
-    Motor.cpp
-    Mouse.cpp
-    Node.cpp
-    Pen.cpp
-    PositionSensor.cpp
-    Proto.cpp
-    Radar.cpp
-    RangeFinder.cpp
-    Receiver.cpp
-    Robot.cpp
-    Skin.cpp
-    Speaker.cpp
-    Supervisor.cpp
-    TouchSensor.cpp
-    VacuumGripper.cpp)
-
-set(WEBOTS_CONTROLLER_CPP_SOURCE_PATHS)
-foreach(_src IN LISTS WEBOTS_CONTROLLER_CPP_SOURCES)
-  set(_candidate "${WEBOTS_CONTROLLER_CPP_SOURCE_DIR}/${_src}")
-  if(EXISTS "${_candidate}")
-    list(APPEND WEBOTS_CONTROLLER_CPP_SOURCE_PATHS "${_candidate}")
-  endif()
-endforeach()
-
-file(GLOB_RECURSE WEBOTS_CONTROLLER_CPP_PUBLIC_HEADERS CONFIGURE_DEPENDS
-     "${WEBOTS_REPO_SOURCE_DIR}/include/controller/cpp/webots/*.hpp")
-
-add_library(webots_cpp_controller ${WEBOTS_CONTROLLER_CPP_SOURCE_PATHS})
-add_library(webots-controller::webots_cpp_controller ALIAS
-            webots_cpp_controller)
-add_library(webots-controller::CppController ALIAS webots_cpp_controller)
-add_library(webots-controller::webots-controller ALIAS webots_cpp_controller)
-
-target_sources(
-  webots_cpp_controller
-  PUBLIC FILE_SET
-         webots_cpp_headers
-         TYPE
-         HEADERS
-         BASE_DIRS
-         "${WEBOTS_REPO_SOURCE_DIR}/include/controller/cpp"
-         FILES
-         ${WEBOTS_CONTROLLER_CPP_PUBLIC_HEADERS})
-
-if(WIN32)
-  set_target_properties(webots_cpp_controller
-                        PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
-endif()
-
-target_include_directories(
-  webots_cpp_controller
-  PUBLIC $<BUILD_INTERFACE:${WEBOTS_REPO_SOURCE_DIR}/include/controller/cpp>
-         $<INSTALL_INTERFACE:include/controller/cpp>)
-
-target_link_libraries(webots_cpp_controller PUBLIC webots_controller)
-
-install(
-  TARGETS webots_cpp_controller
-  RUNTIME DESTINATION "bin"
-  LIBRARY DESTINATION "lib"
-  ARCHIVE DESTINATION "lib"
-          FILE_SET webots_cpp_headers
-          DESTINATION "include/controller/cpp")
--- a/recipes/webots-controller/all/test_package/.gitignore
+++ b/recipes/webots-controller/all/test_package/.gitignore
@ -1,11 +0,0 @@
-# Ignore everything
-*
-# But do not ignore files with extensions (like .c, .py, .md)
-!*.*
-# Do not ignore directories
-!*/
-*.dll
-*.exe
-build/
-*.pyc
-*.json
--- a/recipes/webots-controller/all/test_package/CMakeLists.txt
+++ b/recipes/webots-controller/all/test_package/CMakeLists.txt
@ -1,58 +0,0 @@
-cmake_minimum_required(VERSION 3.23)
-project(test_package C CXX)
-
-find_package(webots-controller REQUIRED CONFIG)
-
-add_executable(test_package test_package.cpp)
-target_link_libraries(test_package PRIVATE webots-controller::CppController)
-
-add_executable(test_package_c test_package.c)
-target_link_libraries(test_package_c PRIVATE webots-controller::Controller)
-
-if(POLICY CMP0207)
-  cmake_policy(SET CMP0207 NEW)
-endif()
-
-set(_extra_runtime_dirs)
-if(CMAKE_PREFIX_PATH)
-  foreach(prefix IN LISTS CMAKE_PREFIX_PATH)
-    list(APPEND _extra_runtime_dirs "${prefix}/lib")
-  endforeach()
-endif()
-if(WIN32 AND DEFINED ENV{MINGW_HOME})
-  list(APPEND _extra_runtime_dirs "$ENV{MINGW_HOME}/bin")
-endif()
-
-# Webots controllers rely on seeing shared deps in the same directory as the
-# executable. Destination therefore change to "."
-install(
-  TARGETS test_package test_package_c RUNTIME_DEPENDENCY_SET
-          test_package_runtime_deps
-  RUNTIME DESTINATION .
-  LIBRARY DESTINATION .
-  ARCHIVE DESTINATION .)
-
-if(WIN32)
-  set(_runtime_dep_pre_excludes "^api-ms-win-.*" "^ext-ms-.*")
-  set(_runtime_dep_post_excludes ".*/system32/.*" ".*/Windows/.*"
-                                 ".*/SysWOW64/.*")
-else()
-  set(_runtime_dep_pre_excludes
-      [[libc\.so\..*]] [[libgcc_s\.so\..*]] [[libm\.so\..*]]
-      [[libstdc\+\+\.so\..*]] [[ld-linux-x86-64\.so\..*]])
-  set(_runtime_dep_post_excludes [[^/lib.*]] [[^/usr/lib.*]])
-endif()
-
-install(
-  RUNTIME_DEPENDENCY_SET
-  test_package_runtime_deps
-  PRE_EXCLUDE_REGEXES
-  ${_runtime_dep_pre_excludes}
-  POST_EXCLUDE_REGEXES
-  ${_runtime_dep_post_excludes}
-  DIRECTORIES
-  ${CONAN_RUNTIME_LIB_DIRS}
-  ${CMAKE_SYSROOT}/lib
-  ${_extra_runtime_dirs}
-  DESTINATION
-  .)
--- a/recipes/webots-controller/all/test_package/conanfile.py
+++ b/recipes/webots-controller/all/test_package/conanfile.py
@ -1,31 +0,0 @@
-from conan import ConanFile
-from conan.tools.build import can_run
-from conan.tools.cmake import CMake, cmake_layout
-import os
-
-
-class TestPackageConan(ConanFile):
-    test_type = "explicit"
-    settings = "os", "arch", "compiler", "build_type"
-    generators = "CMakeDeps", "CMakeToolchain"
-
-    def requirements(self):
-        self.requires(self.tested_reference_str)
-
-    def layout(self):
-        cmake_layout(self)
-
-    def build(self):
-        cmake = CMake(self)
-        cmake.configure()
-        cmake.build()
-
-    def test(self):
-        # check if RUNTIME_DEPENDENCY_SET work
-        cmake = CMake(self)
-        cmake.install()
-        if can_run(self):
-            exe = os.path.join(self.source_folder, "test_package")
-            self.run(exe, env="conanrun")
-            exe = os.path.join(self.source_folder, "test_package_c")
-            self.run(exe, env="conanrun")
--- a/recipes/webots-controller/all/test_package/test_package.c
+++ b/recipes/webots-controller/all/test_package/test_package.c
@ -1,7 +0,0 @@
-#include <webots/robot.h>
-
-int main(void) {
-  double (*c_symbol)(void) = &wb_robot_get_time;
-  (void)c_symbol;
-  return 0;
-}
--- a/recipes/webots-controller/all/test_package/test_package.cpp
+++ b/recipes/webots-controller/all/test_package/test_package.cpp
@ -1,12 +0,0 @@
-#include <webots/Robot.hpp>
-#include <webots/robot.h>
-#include <iostream>
-
-int main() {
-  auto cpp_symbol = &webots::Robot::getBasicTimeStep;
-  auto c_symbol = &wb_robot_get_time;
-  (void)cpp_symbol;
-  (void)c_symbol;
-  std::cout << "Success!" << std::endl;
-  return 0;
-}