Enhancement: Consider Node Ancestry in Proto Type Restrictions (#6574)

* allow programatic determination of base node model ancestry Signed-off-by: CoolSpy3 <[email protected]> * consider node ancestry in proto type restrictions Signed-off-by: CoolSpy3 <[email protected]> * update documentation * update test suite * run clang-format Signed-off-by: CoolSpy3 <[email protected]> * workaround Transform edge case * fix spacing in documentation * update changelog * initialize mParentModel in constructor * fix typo * fix DerivedAppearanceProto file extension * add proto_allowed_mf_field_value test * fix DerivedAppearanceProto filename * fix test suite * fix test suite * create WbFieldValueRestriction * add parsing of '=' syntax to reenable old behavior * keep track of proto parents * update field validation checks * switch to '+' syntax * check if old field validation behavior should be used * fix parsing of '+' * update tests * clarify error messages to indicate whether subtypes are allowed * more tests * bug fixes * update docs * documentation clarification * update changelog * clarify function name * run clang-format * improve node insertion validity api * bug fixes * fix file formatting * additional documentation * fix isAllowedToInsert * address comments from PR Co-authored-by: Olivier Michel <[email protected]> --------- Signed-off-by: CoolSpy3 <[email protected]> Co-authored-by: Olivier Michel <[email protected]>
cyberbotics · Jul 11, 2024 · 7ddffc6 · 7ddffc6
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diff --git a/docs/reference/changelog-r2024.md b/docs/reference/changelog-r2024.md
@@ -4,6 +4,7 @@
 Released on December **th, 2023.
   - New Features
     - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
+    - Added a method to include all subtypes of a node type in a PROTO field restriction ([#6574](https://github.com/cyberbotics/webots/pull/6574)).
   - Enhancements
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
   - Cleanup
@@ -12,4 +13,3 @@ Released on December **th, 2023.
     - 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))
-
diff --git a/docs/reference/proto-definition.md b/docs/reference/proto-definition.md
@@ -77,11 +77,15 @@ 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{}+, Pose{}}            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.
+For `SFNode`/`MFNode` fields, the `<NodeType>{}+` syntax allows the field to also accept nodes which derive from a specific node type.
+
+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 [Pose](pose.md) nodes, PROTOs whose base type is [Pose](pose.md), [Solid](solid.md) nodes, nodes derived from [Solid](solid.md), and PROTOs derived from [Solid](solid.md) or a type that inherits from [Solid](../reference/solid.md). Note that because  `Pose{}` is not followed by a `+`, `extensionSlot` does not accept nodes that derive from [Pose](pose.md) (e.g. [Transform](transform.md) or [Fluid](fluid.md)) or PROTOs whose base type is not [Pose](pose.md).
+
+Because [Solid](solid.md) derives from [Pose](pose.md), we could have allowed all the same node types by using `MFNode{Pose{}+}`, but this would also allow other descendants of [Pose](pose.md) such as [Transform](transform.md) or [Fluid](fluid.md).
 
 ### IS Statements
 

diff --git a/resources/nodes/Accelerometer.wrl b/resources/nodes/Accelerometer.wrl
@@ -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:

diff --git a/resources/nodes/Altimeter.wrl b/resources/nodes/Altimeter.wrl
@@ -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:

diff --git a/resources/nodes/BallJoint.wrl b/resources/nodes/BallJoint.wrl
@@ -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

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

diff --git a/resources/nodes/Billboard.wrl b/resources/nodes/Billboard.wrl
@@ -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:

diff --git a/resources/nodes/Camera.wrl b/resources/nodes/Camera.wrl
@@ -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:

diff --git a/resources/nodes/Charger.wrl b/resources/nodes/Charger.wrl
@@ -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:

diff --git a/resources/nodes/Compass.wrl b/resources/nodes/Compass.wrl
@@ -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:

diff --git a/resources/nodes/Connector.wrl b/resources/nodes/Connector.wrl
@@ -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:

diff --git a/resources/nodes/Display.wrl b/resources/nodes/Display.wrl
@@ -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:

diff --git a/resources/nodes/DistanceSensor.wrl b/resources/nodes/DistanceSensor.wrl
@@ -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:

diff --git a/resources/nodes/Emitter.wrl b/resources/nodes/Emitter.wrl
@@ -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:

diff --git a/resources/nodes/Fluid.wrl b/resources/nodes/Fluid.wrl
@@ -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:

diff --git a/resources/nodes/GPS.wrl b/resources/nodes/GPS.wrl
@@ -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:

diff --git a/resources/nodes/Gyro.wrl b/resources/nodes/Gyro.wrl
@@ -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:

diff --git a/resources/nodes/Hinge2Joint.wrl b/resources/nodes/Hinge2Joint.wrl
@@ -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

diff --git a/resources/nodes/HingeJointParameters.wrl b/resources/nodes/HingeJointParameters.wrl
@@ -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)

diff --git a/resources/nodes/InertialUnit.wrl b/resources/nodes/InertialUnit.wrl
@@ -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:

diff --git a/resources/nodes/LED.wrl b/resources/nodes/LED.wrl
@@ -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:

diff --git a/resources/nodes/Lidar.wrl b/resources/nodes/Lidar.wrl
@@ -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:

diff --git a/resources/nodes/LightSensor.wrl b/resources/nodes/LightSensor.wrl
@@ -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:

diff --git a/resources/nodes/Microphone.wrl b/resources/nodes/Microphone.wrl
@@ -1,3 +1,4 @@
+# parent: Solid
 Microphone {
   # fields that inherit from the Solid node:
   w3dField SFVec3f    translation         0 0 0

diff --git a/resources/nodes/Pen.wrl b/resources/nodes/Pen.wrl
@@ -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:

diff --git a/resources/nodes/Pose.wrl b/resources/nodes/Pose.wrl
@@ -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:

diff --git a/resources/nodes/PositionSensor.wrl b/resources/nodes/PositionSensor.wrl
@@ -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()

diff --git a/resources/nodes/Propeller.wrl b/resources/nodes/Propeller.wrl
@@ -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)

diff --git a/resources/nodes/Radar.wrl b/resources/nodes/Radar.wrl
@@ -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:

diff --git a/resources/nodes/Radio.wrl b/resources/nodes/Radio.wrl
@@ -1,4 +1,5 @@
 # Experimental Radio node.
+# parent: Solid
 
 Radio {
   #fields that inherit from the Solid node:

diff --git a/resources/nodes/RangeFinder.wrl b/resources/nodes/RangeFinder.wrl
@@ -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:

diff --git a/resources/nodes/Receiver.wrl b/resources/nodes/Receiver.wrl
@@ -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:

diff --git a/resources/nodes/Robot.wrl b/resources/nodes/Robot.wrl
@@ -1,4 +1,5 @@
 # The Robot node is a generic type of robot.
+# parent: Solid
 
 Robot {
   #fields that inherit from the Solid node:

diff --git a/resources/nodes/Solid.wrl b/resources/nodes/Solid.wrl
@@ -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:

diff --git a/resources/nodes/Speaker.wrl b/resources/nodes/Speaker.wrl
@@ -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:

diff --git a/resources/nodes/TouchSensor.wrl b/resources/nodes/TouchSensor.wrl
@@ -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:

diff --git a/resources/nodes/Track.wrl b/resources/nodes/Track.wrl
@@ -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:

diff --git a/resources/nodes/TrackWheel.wrl b/resources/nodes/TrackWheel.wrl
@@ -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:

diff --git a/resources/nodes/Transform.wrl b/resources/nodes/Transform.wrl
@@ -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:

diff --git a/resources/nodes/VacuumGripper.wrl b/resources/nodes/VacuumGripper.wrl
@@ -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:

diff --git a/scripts/packaging/generate_proto_list.py b/scripts/packaging/generate_proto_list.py
@@ -33,6 +33,7 @@ def __init__(self, path, name):
         self.path = path.replace('\\', '/')  # use cross-platform forward slashes
         self.proto_type = None  # direct node type, ex: for RoadSegment is Road
         self.base_type = None   # lowest node type, ex: for RoadSegment is Solid
+        self.parents = []       # all proto types this type extends, ex: for Road Segment is [Road]
         self.license = None
         self.license_url = None
         self.description = ''
@@ -154,6 +155,7 @@ def generate_proto_list(current_tag=None, silent=False):
             if info.base_type not in protos:  # the current proto depends on a sub-proto: iterate until a base node is reached
                 raise RuntimeError(f'Error: "{info.base_type}" proto node does not exist. Either it was skipped or the regex '
                                    'that retrieves the proto_type is incorrect.')
+            info.parents.append(info.base_type)
             sub_proto = protos[info.base_type]
             info.base_type = sub_proto.proto_type
 
@@ -201,6 +203,7 @@ def generate_proto_list(current_tag=None, silent=False):
         proto_element = ET.SubElement(root, 'proto')
         ET.SubElement(proto_element, 'name').text = info.name
         ET.SubElement(proto_element, 'base-type').text = info.base_type
+        ET.SubElement(proto_element, 'parents').text = ','.join(info.parents)
         ET.SubElement(proto_element, 'url').text = info.path.replace(WEBOTS_HOME + '/', prefix)
 
         if info.license is not None:

diff --git a/src/webots/Makefile b/src/webots/Makefile
@@ -290,6 +290,7 @@ QT_SOURCES = WbAboutBox.cpp \
   WbFieldIntSpinBox.cpp \
   WbFieldLineEdit.cpp \
   WbFindReplaceDialog.cpp \
+  WbFieldValueRestriction.cpp \
   WbFluid.cpp \
   WbFocus.cpp \
   WbFog.cpp \

diff --git a/src/webots/nodes/utils/WbDictionary.cpp b/src/webots/nodes/utils/WbDictionary.cpp
@@ -120,8 +120,8 @@ bool WbDictionary::updateDef(WbBaseNode *&node, WbSFNode *sfNode, WbMFNode *mfNo
         definitionNode = static_cast<WbBaseNode *>(defNodes[defIndex]);
         QString error;
         assert(node->parentField() && node->parentNode());
-        typeMatch = WbNodeUtilities::isAllowedToInsert(node->parentField(), definitionNode->nodeModelName(), node->parentNode(),
-                                                       error, nodeUse, QString(), QStringList(definitionNode->nodeModelName()));
+        typeMatch = WbNodeUtilities::isAllowedToInsert(node->parentField(), node->parentNode(), error, nodeUse, QString(),
+                                                       definitionNode);
         match = typeMatch && !definitionNode->isAnAncestorOf(node);
       }
 
@@ -137,9 +137,8 @@ bool WbDictionary::updateDef(WbBaseNode *&node, WbSFNode *sfNode, WbMFNode *mfNo
           definitionNode = static_cast<WbBaseNode *>(matchingNode->defNode());
           QString error;
           assert(node->parentField() && node->parentNode());
-          typeMatch =
-            WbNodeUtilities::isAllowedToInsert(node->parentField(), definitionNode->nodeModelName(), node->parentNode(), error,
-                                               nodeUse, QString(), QStringList(definitionNode->nodeModelName()));
+          typeMatch = WbNodeUtilities::isAllowedToInsert(node->parentField(), node->parentNode(), error, nodeUse, QString(),
+                                                         definitionNode);
         }
       }
 
@@ -464,8 +463,7 @@ bool WbDictionary::checkBoundingObjectConstraints(const WbBaseNode *defNode, QSt
       if (sfnode) {
         const WbNode *const n = sfnode->value();
         if (n) {
-          if (!WbNodeUtilities::isAllowedToInsert(fields[i], n->nodeModelName(), parentNode, errorMessage, nodeUse, QString(),
-                                                  QStringList(n->nodeModelName()), false))
+          if (!WbNodeUtilities::isAllowedToInsert(fields[i], parentNode, errorMessage, nodeUse, QString(), n, false))
             return false;
           subNodes << n;
         }
@@ -476,8 +474,7 @@ bool WbDictionary::checkBoundingObjectConstraints(const WbBaseNode *defNode, QSt
           for (int j = 0; j < size; ++j) {
             const WbNode *const n = mfnode->item(j);
             if (n) {
-              if (!WbNodeUtilities::isAllowedToInsert(fields[i], n->nodeModelName(), parentNode, errorMessage, nodeUse,
-                                                      QString(), QStringList(n->nodeModelName()), false))
+              if (!WbNodeUtilities::isAllowedToInsert(fields[i], parentNode, errorMessage, nodeUse, QString(), n, false))
                 return false;
 
               subNodes << n;
@@ -535,8 +532,7 @@ bool WbDictionary::isSuitable(const WbNode *defNode, const QString &type) const
   assert(mTargetField);
   QString errorMessage;
   const WbNode::NodeUse targetNodeUse = static_cast<WbBaseNode *>(mTargetNode)->nodeUse();
-  if (!WbNodeUtilities::isAllowedToInsert(mTargetField, defNode->nodeModelName(), mTargetNode, errorMessage, targetNodeUse,
-                                          type, QStringList(defNode->nodeModelName()), true))
+  if (!WbNodeUtilities::isAllowedToInsert(mTargetField, mTargetNode, errorMessage, targetNodeUse, type, defNode, true))
     return false;
 
   const WbBaseNode *defBaseNode = dynamic_cast<const WbBaseNode *>(defNode);

diff --git a/src/webots/nodes/utils/WbNodeOperations.cpp b/src/webots/nodes/utils/WbNodeOperations.cpp
@@ -182,9 +182,8 @@ WbNodeOperations::OperationResult WbNodeOperations::importNode(WbNode *parentNod
   foreach (WbNode *node, nodes) {
     childNode = static_cast<WbBaseNode *>(node);
     QString errorMessage;
-    if (WbNodeUtilities::isAllowedToInsert(field, childNode->nodeModelName(), parentNode, errorMessage, nodeUse,
-                                           WbNodeUtilities::slotType(childNode),
-                                           QStringList() << childNode->nodeModelName() << childNode->modelName(), false)) {
+    if (WbNodeUtilities::isAllowedToInsert(field, parentNode, errorMessage, nodeUse, WbNodeUtilities::slotType(childNode),
+                                           childNode, false)) {
       if (avoidIntersections)
         tryToAvoidIntersections(childNode);
       const OperationResult result = initNewNode(childNode, parentNode, field, nodeIndex, true);