Merge branch '2.3' into 2.6

* 2.3:
  Fix quoting style consistency.
  [DependencyInjection] Fail when dumping a Definition with no class nor factory
  Normalizing recursively - see #9096
  No change - the normalizeParams is a copy-and-paste of the earlier logic
  fixes issue with logging array of non-utf8 data
  fix validation for Maestro UK card numbers

Author: fabpot

Http/Firewall/DigestAuthenticationListener.php

@@ -101,7 +101,7 @@ public function handle(GetResponseEvent $event)
 
         if ($serverDigestMd5 !== $digestAuth->getResponse()) {
             if (null !== $this->logger) {
-                $this->logger->debug(sprintf("Expected response: '%s' but received: '%s'; is AuthenticationDao returning clear text passwords?", $serverDigestMd5, $digestAuth->getResponse()));
+                $this->logger->debug(sprintf('Expected response: "%s" but received: "%s"; is AuthenticationDao returning clear text passwords?', $serverDigestMd5, $digestAuth->getResponse()));
             }
 
             $this->fail($event, $request, new BadCredentialsException('Incorrect response'));