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Sync libcontroller master #606

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merged 1 commit into from
Jan 26, 2023
Merged

Sync libcontroller master #606

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2 changes: 2 additions & 0 deletions webots_ros2_driver/webots/lib/controller/python/controller/field.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,8 @@ def __init__(self, node, name: typing.Optional[str] = None, index: typing.Option
self._ref = ctypes.c_void_p(wb.wb_supervisor_node_get_field_by_index(node._ref, index))
if self._ref:
self.type = wb.wb_supervisor_field_get_type(self._ref)
else:
self.type = None

def getName(self) -> str:
return self.name
Expand Down
40 changes: 21 additions & 19 deletions webots_ros2_driver/webots/src/controller/c/supervisor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,9 @@ typedef struct WbFieldStructPrivate {
WbFieldType type; // WB_SF_* or WB_MT_* as defined in supervisor.h
int count; // used in MF fields only
int node_unique_id;
int id; // attributed by Webots
bool is_proto_internal; // internal field can't be changed
int id; // attributed by Webots
bool is_proto_internal_field; // TRUE if this is a PROTO field, FALSE in case of PROTO parameter or NODE field
bool is_read_only; // only fields visible from the scene tree can be modified from the Supervisor API
union WbFieldData data;
WbFieldRef next;
double last_update;
Expand Down Expand Up @@ -112,7 +113,7 @@ typedef struct WbNodeStructPrivate {
bool static_balance;
double *solid_velocity; // double[6] (linear[3] + angular[3])
bool is_proto;
bool is_proto_internal;
bool is_proto_internal; // FALSE if the node is visible in the scene tree, otherwise TRUE
WbNodeRef parent_proto;
int tag;
WbNodeRef next;
Expand Down Expand Up @@ -174,23 +175,23 @@ static char *supervisor_strdup(const char *src) {
}

// find field in field_list
static WbFieldStruct *find_field_by_name(const char *field_name, int node_id, bool is_proto_internal) {
static WbFieldStruct *find_field_by_name(const char *field_name, int node_id, bool is_proto_internal_field) {
// TODO: Hash map needed
WbFieldStruct *field = field_list;
while (field) {
if (field->node_unique_id == node_id && strcmp(field_name, field->name) == 0 &&
field->is_proto_internal == is_proto_internal)
field->is_proto_internal_field == is_proto_internal_field)
return field;
field = field->next;
}
return NULL;
}

static WbFieldStruct *find_field_by_id(int node_id, int field_id, bool is_proto_internal) {
static WbFieldStruct *find_field_by_id(int node_id, int field_id, bool is_proto_internal_field) {
// TODO: Hash map needed
WbFieldStruct *field = field_list;
while (field) {
if (field->node_unique_id == node_id && field->id == field_id && field->is_proto_internal == is_proto_internal)
if (field->node_unique_id == node_id && field->id == field_id && field->is_proto_internal_field == is_proto_internal_field)
return field;
field = field->next;
}
Expand Down Expand Up @@ -325,7 +326,7 @@ static void remove_internal_proto_nodes_and_fields_from_list() {
WbFieldStruct *field = field_list;
WbFieldStruct *previous_field = NULL;
while (field) {
if (field->is_proto_internal) {
if (field->is_read_only) { // field not visible from the scene tree and thus defined inside a PROTO node
if (previous_field)
previous_field->next = field->next;
else
Expand Down Expand Up @@ -588,7 +589,7 @@ static void supervisor_write_request(WbDevice *d, WbRequest *r) {
request_write_uchar(r, C_SUPERVISOR_FIELD_CHANGE_TRACKING_STATE);
request_write_int32(r, field_change_tracking.field->node_unique_id);
request_write_int32(r, field_change_tracking.field->id);
request_write_uchar(r, field_change_tracking.field->is_proto_internal ? 1 : 0);
request_write_uchar(r, field_change_tracking.field->is_proto_internal_field ? 1 : 0);
request_write_uchar(r, field_change_tracking.enable);
if (field_change_tracking.enable)
request_write_int32(r, field_change_tracking.sampling_period);
Expand All @@ -608,7 +609,7 @@ static void supervisor_write_request(WbDevice *d, WbRequest *r) {
request_write_uchar(r, C_SUPERVISOR_FIELD_GET_VALUE);
request_write_uint32(r, f->node_unique_id);
request_write_uint32(r, f->id);
request_write_uchar(r, f->is_proto_internal ? 1 : 0);
request_write_uchar(r, f->is_proto_internal_field ? 1 : 0);
if (request->index != -1)
request_write_uint32(r, request->index); // MF fields only
} else if (request->type == SET) {
Expand Down Expand Up @@ -952,7 +953,7 @@ static void supervisor_read_answer(WbDevice *d, WbRequest *r) {
case C_SUPERVISOR_FIELD_GET_FROM_NAME: {
const int field_ref = request_read_int32(r);
const WbFieldType field_type = request_read_int32(r);
const bool is_proto_internal = request_read_uchar(r) == 1;
const bool is_proto_internal_field = request_read_uchar(r) == 1;
const int field_count = request_read_int32(r);
const char *name = request_read_string(r);
if (field_ref == -1) {
Expand All @@ -966,7 +967,8 @@ static void supervisor_read_answer(WbDevice *d, WbRequest *r) {
f->count = field_count;
f->node_unique_id = node_ref;
f->name = name;
f->is_proto_internal = is_proto_internal;
f->is_proto_internal_field = is_proto_internal_field;
f->is_read_only = is_proto_internal_field;
f->last_update = -DBL_MAX;
f->data.sf_string = NULL;
field_list = f;
Expand Down Expand Up @@ -1303,7 +1305,7 @@ static bool check_field(WbFieldRef f, const char *function, WbFieldType type, bo
return false;
}

if (check_type_internal && ((WbFieldStruct *)f)->is_proto_internal) {
if (check_type_internal && ((WbFieldStruct *)f)->is_read_only) {
fprintf(stderr, "Error: %s() called on a read-only PROTO internal field.\n", function);
return false;
}
Expand Down Expand Up @@ -2320,7 +2322,7 @@ WbFieldRef wb_supervisor_node_get_field_by_index(WbNodeRef node, int index) {
else
result = find_field_by_id(node->id, index, false);
if (result && node->is_proto_internal)
result->is_proto_internal = true;
result->is_read_only = true;
}
robot_mutex_unlock();
return result;
Expand Down Expand Up @@ -2357,7 +2359,7 @@ WbFieldRef wb_supervisor_node_get_proto_field_by_index(WbNodeRef node, int index
else
result = find_field_by_id(node->id, index, true);
if (result)
result->is_proto_internal = true;
result->is_read_only = true;
allow_search_in_proto = false;
}
robot_mutex_unlock();
Expand Down Expand Up @@ -2391,7 +2393,7 @@ WbFieldRef wb_supervisor_node_get_field(WbNodeRef node, const char *field_name)
requested_field_name = NULL;
result = field_list; // was just inserted at list head
if (result && node->is_proto_internal)
result->is_proto_internal = true;
result->is_read_only = true;
}
}
robot_mutex_unlock();
Expand Down Expand Up @@ -2479,7 +2481,7 @@ WbFieldRef wb_supervisor_node_get_proto_field(WbNodeRef node, const char *field_
requested_field_name = NULL;
result = field_list; // was just inserted at list head
if (result)
result->is_proto_internal = true;
result->is_read_only = true;
}
allow_search_in_proto = false;
}
Expand Down Expand Up @@ -3103,7 +3105,7 @@ WbNodeRef wb_supervisor_field_get_sf_node(WbFieldRef field) {
if (id <= 0)
return NULL;
WbNodeRef result = find_node_by_id(id);
if (result && ((WbFieldStruct *)field)->is_proto_internal)
if (result && ((WbFieldStruct *)field)->is_read_only)
result->is_proto_internal = true;
return result;
}
Expand Down Expand Up @@ -3178,7 +3180,7 @@ WbNodeRef wb_supervisor_field_get_mf_node(WbFieldRef field, int index) {

field_operation(field, GET, index, __FUNCTION__);
WbNodeRef result = find_node_by_id(((WbFieldStruct *)field)->data.sf_node_uid);
if (result && ((WbFieldStruct *)field)->is_proto_internal)
if (result && ((WbFieldStruct *)field)->is_read_only)
result->is_proto_internal = true;
return result;
}
Expand Down