cyberbotics · omichel · Jul 11, 2024 · Jul 3, 2024 · Jul 3, 2024 · Jul 3, 2024
@@ -6,10 +6,10 @@ Released on December **th, 2023.
     - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
   - Enhancements
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
+    - Updated proto node restrictions to consider node ancestry ([#6574](https://github.com/cyberbotics/webots/pull/6574)).
   - 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))
-
@@ -77,11 +77,11 @@ PROTO MyProto [
   field SFString                            name          "my proto"
   field SFColor{0 0 0, 0.5 0.5 0.5, 1 1 1}  color         0.5 0.5 0.5
   field SFNode                              physics       NULL
-  field MFNode{Solid{}, Pose{}}             extensionSlot []
+  field MFNode{Solid{}, Transform{}}        extensionSlot []
 ]
 ```
 
-In this example, the `color` field value can only be `0 0 0`, `0.5 0.5 0.5` or `1 1 1` and the `extensionSlot` field can only accept [Solid](../reference/solid.md) and [Pose](../reference/pose.md) nodes.
+In this example, the `color` field value can only be `0 0 0`, `0.5 0.5 0.5` or `1 1 1` and the `extensionSlot` field can only accept [Solid](../reference/solid.md), [Transform](../reference/transform.md) nodes, and nodes that inherit from them.
 
 ### IS Statements
 

@@ -2,6 +2,7 @@
 # simulation. The acceleration is measured along the 3 axes (X, Y and Z) and is
 # expressed in m/s^2. It is mostly used to measure the direction of the
 # gravity, but can be used for many other purposes.
+# parent: Solid
 
 Accelerometer {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # The Altimeter node can be used to determine the global altitude of a robot or of a robot part.
+# parent: Solid
 
 Altimeter {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # A BallJoint node can be used to simulate a rotating motion with 3 DOF (ball and socket).
+# parent: Hinge2Joint
 
 BallJoint {
   field SFNode jointParameters  NULL  # BallJointParameters specifying the joint anchor and spring and damper constants, minStop, maxStop related to the first axis

@@ -1,4 +1,5 @@
 # The BallJointParamaters node defines the parameters of a BallJoint node.
+# parent: JointParameters
 
 BallJointParameters {
   field SFFloat position        0      # current position (rad)

@@ -1,5 +1,6 @@
 # A Billboard node contains children nodes that rotate and translate automatically to face the viewpoint.
 # It is otherwise similar to a Group node.
+# parent: Group
 
 Billboard {
   #field that inherits from the Group node:

@@ -1,4 +1,5 @@
 # The Camera node is used to model an on-board camera.
+# parent: Solid
 
 Camera {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # The Charger node is used to model a special kind of battery charger for the robots.
 # When a robot gets close to a Charger, the robot's battery gets recharged.
+# parent: Solid
 
 Charger {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # A Compass node can be used to simulate 1, 2 and 3-axis digital compasses.
 # It indicates the direction of the simulated magnetic north which is specified in the WorldInfo node.
+# parent: Solid
 
 Compass {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # Connector nodes are used to simulate mechanical docking systems, or any other type of device that
 # can dynamically create a rigid link with a similar device.
 # The physical connection between two Connectors can be created and destroyed at run time by the robot controller program.
+# parent: Solid
 
 Connector {
   #fields that inherit from the Solid node:

@@ -4,6 +4,7 @@
 # It can model an embedded screen or it can display any graphical
 # information such as graphs, text, robot trajectory, filtered camera
 # images and so on.
+# parent: Solid
 
 Display {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # The DistanceSensor node can be used to model an ultrasound sonar, an infra-red sensor,
 # a single-ray laser or any type of device that measures the distance to objects.
 # To model a Lidar sensor, you should rather use a Lidar node.
+# parent: Solid
 
 DistanceSensor {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # The Emitter node is used to model a radio, or infra-red emitter.
 # It can be used to send data packets to Receiver nodes (onboard other robots).
 # An Emitter cannot receive data: bidirectional communication requires two Emitter/Receiver pairs.
+# parent: Solid
 
 Emitter {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # A Fluid node can be used to represent a collection of fluid volumes where hydrostatic and hydrodynamic forces apply.
+# parent: Pose
 
 Fluid {
   #fields that inherit from the Pose node:

@@ -1,4 +1,5 @@
 # The GPS node can be used to determine the global position of a robot or of a robot part.
+# parent: Solid
 
 GPS {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # A Gyro node measures the angular velocity about 3 orthogonal axes (X, Y and Z).
 # The output is in rad/s. The Gyro node is mostly used for balance control.
+# parent: Solid
 
 Gyro {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # A Hinge2Joint can be used to simulate a combination of two rotating motions along axes which intersect.
 # It is equivalent to two HingeJoint nodes but it spares the creation of an intermediate solid and is therefore more stable.
 # Spring and damping behavior can be specified.
+# parent: HingeJoint
 
 Hinge2Joint {
   field SFNode jointParameters  NULL  # HingeJointParameters specifying anchor, axis, spring and damper constants, minStop, maxStop, suspension

@@ -1,4 +1,5 @@
 # A HingeJointParameters defines the parameters of a HingeJoint node.
+# parent: JointParameters
 
 HingeJointParameters {
   field SFFloat position                  0      # current position (m or rad)

@@ -1,6 +1,7 @@
 # The InertialUnit node simulates an Inertial Measurement Unit (IMU).
 # The InertialUnit node computes and returns the roll, pitch and yaw angles of the
 # robot with respect to the global coordinate system defined in the WorldInfo node.
+# parent: Solid
 
 InertialUnit {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # The LED node can be used to model a light emitting diode (LED) that can be controlled by the robot.
+# parent: Solid
 
 LED {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # The Lidar node is used to model an on-board lidar.
 # A lidar is used to measure the distance to obstacles.
+# parent: Solid
 
 Lidar {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # A LightSensor node can be used to model a phototransistor, a photodiode or any type
 # of device that measures the irradiance of light on its surface.
 # A LightSensor node detects the light emitted by PointLight, SpotLight and DirectionalLight nodes.
+# parent: Solid
 
 LightSensor {
   # fields inherited from the Solid node:

@@ -1,3 +1,4 @@
+# parent: Solid
 Microphone {
   # fields that inherit from the Solid node:
   w3dField SFVec3f    translation         0 0 0

@@ -1,5 +1,6 @@
 # A Pen node can be used to model a pen attached to a mobile robot.
 # It can draw the trajectory of the robot on a textured ground.
+# parent: Solid
 
 Pen {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # The Pose node is a grouping node that defines a coordinate system for its children that is
 # relative to the coordinate system of its parent.
+# parent: Group
 
 Pose {
   #fields specific to the AbstractPose node:

@@ -1,4 +1,5 @@
 # A PositionSensor allows a robot controller to read the position of a joint with respect to its main axis.
+# parent: Solid
 
 PositionSensor {
   field SFString name       "position sensor"  # used by wb_robot_get_device()

@@ -1,5 +1,6 @@
 # The Propeller node is used to model a motorized helix propeller.
 # It can be used to propel underwater robots, flying robots, floating robots or even wheeled robots.
+# parent: Solid
 
 Propeller {
   field    SFVec3f shaftAxis          1 0 0  # thrust direction (m)

@@ -1,4 +1,5 @@
 # The Radar node is used to model a radar device, commonly found in automobiles.
+# parent: Solid
 
 Radar {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # Experimental Radio node.
+# parent: Solid
 
 Radio {
   #fields that inherit from the Solid node:

@@ -1,5 +1,6 @@
 # The RangeFinder node is used to model an on-board range finder.
 # A range finder is used to measure the distance to obstacles.
+# parent: Solid
 
 RangeFinder {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # A Receiver node models a radio or infra-red receiver.
 # It can be used to receive data packets emitted by Emitter nodes (onboard other robots).
 # A Receiver cannot emit data: bidirectional communication requires two Emitter/Receiver pairs.
+# parent: Solid
 
 Receiver {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # The Robot node is a generic type of robot.
+# parent: Solid
 
 Robot {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # A Solid node can be used to represent objects in the simulated environment (e.g. obstacles, walls, ground, robot parts, etc.).
 # Solid nodes can be collision detected (boundingObject) and therefore can prevent objects from intersecting.
 # In addition, Solid nodes can have an optional Physics node that allow them to be simulated with the physics engine.
+# parent: Pose
 
 Solid {
   #fields that inherit from the Pose node:

@@ -1,6 +1,7 @@
 # The Speaker node is used to model a loudspeaker device.
 # It can be used to playback wav sound files as well as text-to-speech.
 # The sounds are localized in the 3D space and rendered at the main viewpoint in stereo.
+# parent: Solid
 
 Speaker {
   #fields that inherit from the Solid node:

@@ -1,6 +1,7 @@
 # A TouchSensor can be used to measure contact force ("force", "force-3d") or simply detect collisions ("bumper").
 # It is critical that 'boundingObject' of a TouchSensor is defined and placed appropriately.
 # Refer to the Webots reference manual for more information on this.
+# parent: Solid
 
 TouchSensor { #models a bumper, button, cat whisker, force sensor etc.
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # The Track node can be used to simulate tracks of tank robots or conveyor belts.
+# parent: Solid
 
 Track {
   #fields that inherit from the Solid node:

@@ -1,4 +1,5 @@
 # A TrackWheel node can be used to simulate a wheel that it is part of a track system.
+# parent: Group
 
 TrackWheel {
 #fields specific to the TrackWheel node:

@@ -1,6 +1,7 @@
 # The Transform node is a grouping node that defines a coordinate system for its children that is
 # relative to the coordinate system of its parent.
 # The 'scale' field of a Transform node can be adjusted only in a graphical context and not in a 'boundingObject' context.
+# parent: Pose
 
 Transform {
   #fields specific to the AbstractTransform node:

@@ -1,5 +1,6 @@
 # VacuumGripper nodes are used to simulate vacuum suction systems.
 # The physical connection with a Solid can be created and destroyed at run time by the robot controller program.
+# parent: Solid
 
 VacuumGripper {
   #fields that inherit from the Solid node:

@@ -212,8 +212,9 @@ bool WbFieldModel::isValueAccepted(const WbValue *value, int *refusedIndex) cons
         assert(mfNode);
         foreach (const WbVariant acceptedVariant, mAcceptedValues) {
           const WbNode *nodeAccepted = acceptedVariant.toNode();
-          if (nodeAccepted && (mfNode->item(i)->nodeModelName() == nodeAccepted->modelName() ||
-                               mfNode->item(i)->modelName() == nodeAccepted->modelName())) {
+          if (nodeAccepted && (nodeAccepted->isProtoInstance() ?
+                                 isProtoNodeTypeAccepted(nodeAccepted->modelName(), mfNode->item(i)->proto()) :
+                                 isBaseNodeTypeAccepted(nodeAccepted->nodeModelName(), mfNode->item(i)->model()))) {
             accepted = true;
             break;
           }
@@ -242,8 +243,8 @@ bool WbFieldModel::isValueAccepted(const WbValue *value, int *refusedIndex) cons
           return true;
         const WbNode *nodeAccepted = acceptedVariant.toNode();
         assert(nodeAccepted);
-        if (sfNode->value()->nodeModelName() == nodeAccepted->modelName() ||
-            sfNode->value()->modelName() == nodeAccepted->modelName())
+        if (nodeAccepted->isProtoInstance() ? isProtoNodeTypeAccepted(nodeAccepted->modelName(), sfNode->value()->proto()) :
+                                              isBaseNodeTypeAccepted(nodeAccepted->nodeModelName(), sfNode->value()->model()))
           return true;
       } else if (singleValue->variantValue() == acceptedVariant)
         return true;
@@ -253,6 +254,18 @@ bool WbFieldModel::isValueAccepted(const WbValue *value, int *refusedIndex) cons
   return false;
 }
 
+bool WbFieldModel::isBaseNodeTypeAccepted(const QString &expectedType, const WbNodeModel *actualType) const {
+  if (!actualType)
+    return false;
+  return expectedType == actualType->name() || isBaseNodeTypeAccepted(expectedType, actualType->parentModel());
+}
+
+bool WbFieldModel::isProtoNodeTypeAccepted(const QString &expectedType, const WbProtoModel *actualType) const {
+  if (!actualType)
+    return false;
+  return expectedType == actualType->name() || isProtoNodeTypeAccepted(expectedType, actualType->ancestorProtoModel());
+}
+
 bool WbFieldModel::isMultiple() const {
   return dynamic_cast<WbMultipleValue *>(mDefaultValue);
 }

@@ -21,6 +21,8 @@
 //
 
 #include <QtCore/QString>
+#include <WbNodeModel.hpp>
+#include <WbProtoModel.hpp>
 #include <WbValue.hpp>
 #include <WbVariant.hpp>
 
@@ -53,6 +55,8 @@ class WbFieldModel {
 
   // accepted values
   bool isValueAccepted(const WbValue *value, int *refusedIndex) const;
+  bool isBaseNodeTypeAccepted(const QString &expectedType, const WbNodeModel *actualType) const;
+  bool isProtoNodeTypeAccepted(const QString &expectedType, const WbProtoModel *actualType) const;
   bool hasRestrictedValues() const { return !mAcceptedValues.isEmpty(); }
   const QList<WbVariant> acceptedValues() const { return mAcceptedValues; }
 

@@ -34,7 +34,11 @@ void WbNodeModel::cleanup() {
     delete it.next().value();
 }
 
-WbNodeModel::WbNodeModel(WbTokenizer *tokenizer) : mInfo(tokenizer->info()), mName(tokenizer->nextWord()) {
+WbNodeModel::WbNodeModel(WbTokenizer *tokenizer) :
+  mInfo(tokenizer->info()),
+  mName(tokenizer->nextWord()),
+  mParentName(tokenizer->parent()),
+  mParentModel(NULL) {
   tokenizer->skipToken("{");
 
   while (tokenizer->peekWord() != "}") {
@@ -78,6 +82,13 @@ void WbNodeModel::readAllModels() {
       cModels.insert(model->name(), model);
   }
 
+  // Now that all the models are loaded, populate the ancestry tree
+  foreach (QString baseModelName, baseModelNames()) {
+    WbNodeModel *baseModel = findModel(baseModelName);
+    if (baseModel)
+      baseModel->mParentModel = findModel(baseModel->mParentName);
+  }
+
   qAddPostRoutine(WbNodeModel::cleanup);
 }
 

@@ -51,6 +51,11 @@ class WbNodeModel {
   const QList<WbFieldModel *> &fieldModels() const { return mFieldModels; }
   QStringList fieldNames();
 
+  // parent nodes (only defined for base nodes. For proto nodes, see
+  // WbProtoModel::ancestorProtoName/ancestorProtoNameModel/baseType)
+  const QString parentName() const { return mParentName; };
+  const WbNodeModel *parentModel() const { return mParentModel; };
+
   QStringList documentationBookAndPage() const { return QStringList() << "reference" << mName.toLower(); }
 
 private:
@@ -60,6 +65,8 @@ class WbNodeModel {
   QString mInfo;
   QString mName;
   QList<WbFieldModel *> mFieldModels;
+  QString mParentName;
+  WbNodeModel *mParentModel;
 
   static WbNodeModel *readModel(const QString &fileName);
   static void readAllModels();