Sync libcontroller develop

webots_ros2_driver/webots/include/controller/c/webots/supervisor.h

@@ -97,13 +97,14 @@ WbNodeType wb_supervisor_node_get_type(WbNodeRef node);
 WbFieldRef wb_supervisor_node_get_field(WbNodeRef node, const char *field_name);
 WbFieldRef wb_supervisor_node_get_field_by_index(WbNodeRef node, const int index);
 int wb_supervisor_node_get_number_of_fields(WbNodeRef node);
-WbFieldRef wb_supervisor_node_get_proto_field(WbNodeRef node, const char *field_name);
-WbFieldRef wb_supervisor_node_get_proto_field_by_index(WbNodeRef node, int index);
-int wb_supervisor_node_get_proto_number_of_fields(WbNodeRef node);
+WbFieldRef wb_supervisor_node_get_base_node_field(WbNodeRef node, const char *field_name);
+WbFieldRef wb_supervisor_node_get_base_node_field_by_index(WbNodeRef node, int index);
+int wb_supervisor_node_get_number_of_base_node_fields(WbNodeRef node);
 void wb_supervisor_node_remove(WbNodeRef node);
 void wb_supervisor_node_save_state(WbNodeRef node, const char *state_name);
 void wb_supervisor_node_load_state(WbNodeRef node, const char *state_name);
 void wb_supervisor_node_set_joint_position(WbNodeRef node, double position, int index);
+WbProtoRef wb_supervisor_node_get_proto(WbNodeRef node);
 
 const char *wb_supervisor_node_get_def(WbNodeRef node);
 const char *wb_supervisor_node_get_type_name(WbNodeRef node);
@@ -139,6 +140,7 @@ const char *wb_supervisor_field_get_name(WbFieldRef field);
 WbFieldType wb_supervisor_field_get_type(WbFieldRef field);
 const char *wb_supervisor_field_get_type_name(WbFieldRef field);
 int wb_supervisor_field_get_count(WbFieldRef field);
+WbFieldRef wb_supervisor_field_get_actual_field(WbFieldRef field);
 
 void wb_supervisor_field_enable_sf_tracking(WbFieldRef field, int sampling_period);
 void wb_supervisor_field_disable_sf_tracking(WbFieldRef field);
@@ -199,6 +201,13 @@ void wb_supervisor_field_import_mf_node_from_string(WbFieldRef field, int positi
 void wb_supervisor_field_remove_sf(WbFieldRef field);
 void wb_supervisor_field_import_sf_node_from_string(WbFieldRef field, const char *node_string);
 
+const char *wb_supervisor_proto_get_type_name(WbProtoRef proto);
+bool wb_supervisor_proto_is_derived(WbProtoRef proto);
+WbProtoRef wb_supervisor_proto_get_parent(WbProtoRef proto);
+WbFieldRef wb_supervisor_proto_get_field(WbProtoRef proto, const char *field_name);
+WbFieldRef wb_supervisor_proto_get_field_by_index(WbProtoRef proto, int index);
+int wb_supervisor_proto_get_number_of_fields(WbProtoRef proto);
+
 bool wb_supervisor_virtual_reality_headset_is_used();
 const double *wb_supervisor_virtual_reality_headset_get_position();
 const double *wb_supervisor_virtual_reality_headset_get_orientation();

webots_ros2_driver/webots/include/controller/c/webots/types.h

@@ -36,6 +36,7 @@ typedef unsigned short WbDeviceTag;  // identifier of a device
 typedef struct WbImageStructPrivate *WbImageRef;
 typedef struct WbMotionStructPrivate *WbMotionRef;
 typedef struct WbNodeStructPrivate *WbNodeRef;
+typedef struct WbProtoInfoStructPrivate *WbProtoRef;
 typedef struct WbFieldStructPrivate *WbFieldRef;
 
 // define "bool" type for C controllers

webots_ros2_driver/webots/include/controller/cpp/webots/Field.hpp

@@ -55,6 +55,7 @@ namespace webots {
     Type getType() const;
     std::string getTypeName() const;
     int getCount() const;
+    Field *getActualField() const;
 
     void enableSFTracking(int samplingPeriod);
     void disableSFTracking();

webots_ros2_driver/webots/include/controller/cpp/webots/Node.hpp

@@ -18,6 +18,7 @@
 #define WB_USING_CPP_API
 #include <string>
 #include <webots/Field.hpp>
+#include <webots/Proto.hpp>
 #include "../../c/webots/contact_point.h"
 #include "../../c/webots/types.h"
 
@@ -27,6 +28,7 @@ namespace webots {
   typedef WbContactPoint ContactPoint;
 
   class Field;
+  class Proto;
   class Node {
   public:
     typedef enum {
@@ -133,13 +135,14 @@ namespace webots {
     std::string getBaseTypeName() const;
     Node *getParentNode() const;
     bool isProto() const;
+    Proto *getProto() const;
     Node *getFromProtoDef(const std::string &name) const;
     int getNumberOfFields() const;
-    int getProtoNumberOfFields() const;
+    int getNumberOfBaseNodeFields() const;
     Field *getField(const std::string &fieldName) const;
-    Field *getProtoField(const std::string &fieldName) const;
+    Field *getBaseNodeField(const std::string &fieldName) const;
     Field *getFieldByIndex(const int index) const;
-    Field *getProtoFieldByIndex(const int index) const;
+    Field *getBaseNodeFieldByIndex(const int index) const;
     const double *getPosition() const;
     const double *getOrientation() const;
     const double *getPose() const;

webots_ros2_driver/webots/include/controller/cpp/webots/Proto.hpp

@@ -0,0 +1,46 @@
+// Copyright 1996-2023 Cyberbotics Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PROTO_HPP
+#define PROTO_HPP
+
+#define WB_USING_CPP_API
+#include <string>
+#include <webots/Field.hpp>
+#include "../../c/webots/types.h"
+
+namespace webots {
+  class Field;
+  class Proto {
+  public:
+    std::string getTypeName() const;
+    bool isDerived() const;
+    Proto *getParent() const;
+    Field *getField(const std::string &fieldName) const;
+    Field *getFieldByIndex(const int index) const;
+    int getNumberOfFields() const;
+
+    // DO NOT USE THESE FUNCTIONS: THEY ARE RESERVED FOR INTERNAL USE:
+    static Proto *findProto(WbProtoRef ref);
+    static void cleanup();
+
+  private:
+    Proto(WbProtoRef ref);
+    ~Proto() {}
+
+    WbProtoRef protoRef;
+  };
+}  // namespace webots
+
+#endif  // PROTO_HPP

webots_ros2_driver/webots/lib/controller/python/controller/__init__.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from controller.field import Field                             # noqa
+from controller.proto import Proto                             # noqa
 from controller.node import Node, ContactPoint                 # noqa
 from controller.ansi_codes import AnsiCodes                    # noqa
 from controller.accelerometer import Accelerometer             # noqa
@@ -52,6 +53,6 @@
 __all__ = [
     Accelerometer, Altimeter, AnsiCodes, Brake, Camera, CameraRecognitionObject, Compass, Connector, ContactPoint, Display,
     DistanceSensor, Emitter, Field, GPS, Gyro, InertialUnit, Joystick, Keyboard, LED, Lidar, LidarPoint, LightSensor, Motion,
-    Motor, Mouse, MouseState, Node, PositionSensor, Radar, RadarTarget, RangeFinder, Receiver, Robot, Skin, Speaker,
+    Motor, Mouse, MouseState, Node, PositionSensor, Proto, Radar, RadarTarget, RangeFinder, Receiver, Robot, Skin, Speaker,
     Supervisor, TouchSensor, VacuumGripper
 ]

webots_ros2_driver/webots/lib/controller/python/controller/field.py

@@ -41,10 +41,7 @@ class Field:
 
     wb.wb_supervisor_field_get_name.restype = ctypes.c_char_p
     wb.wb_supervisor_field_get_type_name.restype = ctypes.c_char_p
-    wb.wb_supervisor_node_get_proto_field.restype = ctypes.c_void_p
-    wb.wb_supervisor_node_get_proto_field_by_index.restype = ctypes.c_void_p
-    wb.wb_supervisor_node_get_field.restype = ctypes.c_void_p
-    wb.wb_supervisor_node_get_field_by_index.restype = ctypes.c_void_p
+    wb.wb_supervisor_field_get_actual_field.restype = ctypes.c_void_p
     wb.wb_supervisor_field_get_sf_float.restype = ctypes.c_double
     wb.wb_supervisor_field_get_sf_vec2f.restype = ctypes.POINTER(ctypes.c_double)
     wb.wb_supervisor_field_get_sf_vec3f.restype = ctypes.POINTER(ctypes.c_double)
@@ -65,17 +62,8 @@ class Field:
     wb.wb_supervisor_virtual_reality_headset_get_position = ctypes.POINTER(ctypes.c_double)
     wb.wb_supervisor_virtual_reality_headset_get_orientation = ctypes.POINTER(ctypes.c_double)
 
-    def __init__(self, node, name: typing.Optional[str] = None, index: typing.Optional[int] = None, proto: bool = False):
-        if proto:
-            if name is not None:
-                self._ref = ctypes.c_void_p(wb.wb_supervisor_node_get_proto_field(node._ref, str.encode(name)))
-            else:
-                self._ref = ctypes.c_void_p(wb.wb_supervisor_node_get_proto_field_by_index(node._ref, index))
-        else:
-            if name is not None:
-                self._ref = ctypes.c_void_p(wb.wb_supervisor_node_get_field(node._ref, str.encode(name)))
-            else:
-                self._ref = ctypes.c_void_p(wb.wb_supervisor_node_get_field_by_index(node._ref, index))
+    def __init__(self, ref: ctypes.c_void_p):
+        self._ref = ref
         if self._ref:
             self.type = wb.wb_supervisor_field_get_type(self._ref)
         else:
@@ -93,6 +81,10 @@ def getTypeName(self) -> str:
     def getCount(self) -> int:
         return self.count
 
+    def getActualField(self) -> 'Field':
+        field = wb.wb_supervisor_field_get_actual_field(self._ref)
+        return Field(field) if field else None
+
     def enableSFTracking(self, samplingPeriod: int):
         wb.wb_supervisor_field_enable_sf_tracking(self._ref, samplingPeriod)
 

webots_ros2_driver/webots/lib/controller/python/controller/node.py

@@ -16,6 +16,7 @@
 from .wb import wb
 from .constants import constant
 from .field import Field
+from .proto import Proto
 import struct
 import typing
 
@@ -40,6 +41,11 @@ class Node:
     wb.wb_supervisor_node_get_root.restype = ctypes.c_void_p
     wb.wb_supervisor_node_get_selected.restype = ctypes.c_void_p
     wb.wb_supervisor_node_get_from_def.restype = ctypes.c_void_p
+    wb.wb_supervisor_node_get_proto.restype = ctypes.c_void_p
+    wb.wb_supervisor_node_get_field.restype = ctypes.c_void_p
+    wb.wb_supervisor_node_get_field_by_index.restype = ctypes.c_void_p
+    wb.wb_supervisor_node_get_base_node_field.restype = ctypes.c_void_p
+    wb.wb_supervisor_node_get_base_node_field_by_index.restype = ctypes.c_void_p
     wb.wb_supervisor_node_get_self.restype = ctypes.c_void_p
     wb.wb_supervisor_node_get_from_device.restype = ctypes.c_void_p
     wb.wb_supervisor_node_get_from_id.restype = ctypes.c_void_p
@@ -90,6 +96,10 @@ def getParentNode(self) -> Node:
     def isProto(self) -> bool:
         return wb.wb_supervisor_node_is_proto(self._ref) != 0
 
+    def getProto(self) -> Proto:
+        proto = wb.wb_supervisor_node_get_proto(self._ref)
+        return Proto(proto) if proto else None
+
     def getFromProtoDef(self, DEF: str) -> Node:
         node = wb.wb_supervisor_node_get_from_proto_def(self._ref, str.encode(DEF))
         return Node(ref=node) if node else None
@@ -109,24 +119,27 @@ def remove(self):
     def exportString(self):
         return wb.wb_supervisor_node_export_string(self._ref).decode()
 
-    def getField(self, name: str) -> Field:
-        field = Field(self, name=name)
-        return field if field._ref else None
+    def getField(self, fieldName: str) -> Field:
+        field = wb.wb_supervisor_node_get_field(self._ref, str.encode(fieldName))
+        return Field(field) if field else None
 
     def getFieldByIndex(self, index: int) -> Field:
-        field = Field(self, index=index)
-        return field if field._ref else None
+        field = wb.wb_supervisor_node_get_field_by_index(self._ref, index)
+        return Field(field) if field else None
 
     def getNumberOfFields(self) -> int:
         return self.number_of_fields
 
-    def getProtoField(self, name: str) -> Field:
-        field = Field(self, name=name, proto=True)
-        return field if field._ref else None
+    def getBaseNodeField(self, fieldName: str) -> Field:
+        field = wb.wb_supervisor_node_get_base_node_field(self._ref, str.encode(fieldName))
+        return Field(field) if field else None
+
+    def getBaseNodeFieldByIndex(self, index: int) -> Field:
+        field = wb.wb_supervisor_node_get_base_node_field_by_index(self._ref, index)
+        return Field(field) if field else None
 
-    def getProtoFieldByIndex(self, index: int) -> Field:
-        field = Field(self, index=index, proto=True)
-        return field if field._ref else None
+    def getNumberOfBaseNodeFields(self) -> int:
+        return self.number_of_base_node_fields
 
     def getPosition(self) -> typing.List[float]:
         p = wb.wb_supervisor_node_get_position(self._ref)
@@ -235,6 +248,10 @@ def base_type_name(self) -> str:
     def number_of_fields(self) -> int:
         return wb.wb_supervisor_node_get_number_of_fields(self._ref)
 
+    @property
+    def number_of_base_node_fields(self) -> int:
+        return wb.wb_supervisor_node_get_number_of_base_node_fields(self._ref)
+
 
 Node.NO_NODE = constant('NODE_NO_NODE')
 Node.APPEARANCE = constant('NODE_APPEARANCE')

webots_ros2_driver/webots/lib/controller/python/controller/proto.py

@@ -0,0 +1,60 @@
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import ctypes
+from .wb import wb
+from .field import Field
+
+
+class Proto:
+    wb.wb_supervisor_proto_get_type_name.restype = ctypes.c_char_p
+    wb.wb_supervisor_proto_get_parent.restype = ctypes.c_void_p
+    wb.wb_supervisor_proto_get_field.restype = ctypes.c_void_p
+    wb.wb_supervisor_proto_get_field_by_index.restype = ctypes.c_void_p
+
+    def __init__(self, ref: ctypes.c_void_p):
+        self._ref = ref
+
+    def getTypeName(self) -> str:
+        return self.type_name
+
+    def getParent(self) -> 'Proto':
+        proto = wb.wb_supervisor_proto_get_parent(self._ref)
+        return Proto(proto) if proto else None
+
+    def getField(self, name: str) -> Field:
+        field = wb.wb_supervisor_proto_get_field(self._ref, str.encode(name))
+        return Field(field) if field else None
+
+    def getFieldByIndex(self, index: int) -> Field:
+        field = wb.wb_supervisor_proto_get_field_by_index(self._ref, index)
+        return Field(field) if field else None
+
+    def getNumberOfFields(self) -> int:
+        return self.number_of_fields
+
+    def isDerived(self) -> bool:
+        return self.is_derived
+
+    @property
+    def type_name(self) -> str:
+        return wb.wb_supervisor_proto_get_type_name(self._ref).decode()
+
+    @property
+    def number_of_fields(self) -> int:
+        return wb.wb_supervisor_proto_get_number_of_fields(self._ref)
+
+    @property
+    def is_derived(self) -> bool:
+        return wb.wb_supervisor_proto_is_derived(self._ref) != 0

webots_ros2_driver/webots/src/controller/c/Controller.def

@@ -462,6 +462,7 @@ wb_supervisor_animation_stop_recording
 wb_supervisor_export_image
 wb_supervisor_field_disable_sf_tracking
 wb_supervisor_field_enable_sf_tracking
+wb_supervisor_field_get_actual_field
 wb_supervisor_field_get_count
 wb_supervisor_field_get_name
 wb_supervisor_field_get_mf_bool
@@ -525,6 +526,8 @@ wb_supervisor_node_enable_contact_point_tracking
 wb_supervisor_node_enable_contact_points_tracking
 wb_supervisor_node_enable_pose_tracking
 wb_supervisor_node_export_string
+wb_supervisor_node_get_base_node_field
+wb_supervisor_node_get_base_node_field_by_index
 wb_supervisor_node_get_base_type_name
 wb_supervisor_node_get_def
 wb_supervisor_node_get_field
@@ -538,15 +541,14 @@ wb_supervisor_node_get_contact_point
 wb_supervisor_node_get_contact_points
 wb_supervisor_node_get_contact_point_node
 wb_supervisor_node_get_id
-wb_supervisor_node_get_number_of_fields
+wb_supervisor_node_get_number_of_base_node_fields
 wb_supervisor_node_get_number_of_contact_points
+wb_supervisor_node_get_number_of_fields
 wb_supervisor_node_get_orientation
 wb_supervisor_node_get_parent_node
 wb_supervisor_node_get_pose
 wb_supervisor_node_get_position
-wb_supervisor_node_get_proto_field
-wb_supervisor_node_get_proto_field_by_index
-wb_supervisor_node_get_proto_number_of_fields
+wb_supervisor_node_get_proto
 wb_supervisor_node_get_root
 wb_supervisor_node_get_selected
 wb_supervisor_node_get_self
@@ -564,6 +566,12 @@ wb_supervisor_node_save_state
 wb_supervisor_node_set_joint_position
 wb_supervisor_node_set_velocity
 wb_supervisor_node_set_visibility
+wb_supervisor_proto_get_field
+wb_supervisor_proto_get_field_by_index
+wb_supervisor_proto_get_number_of_fields
+wb_supervisor_proto_get_parent
+wb_supervisor_proto_get_type_name
+wb_supervisor_proto_is_derived
 wb_supervisor_set_label
 wb_supervisor_simulation_get_mode
 wb_supervisor_simulation_physics_reset

webots_ros2_driver/webots/src/controller/c/messages.h

@@ -98,6 +98,7 @@
 #define C_SUPERVISOR_NODE_RESET_STATE 75
 #define C_SUPERVISOR_NODE_SET_JOINT_POSITION 76
 #define C_SUPERVISOR_NODE_EXPORT_STRING 77
+#define C_SUPERVISOR_NODE_GET_PROTO 78
 
 // ctr <-> sim
 #define C_ROBOT_WAIT_FOR_USER_INPUT_EVENT 80