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Allow Indirect Field Accesses in Proto Templates (#6614)
* allow indirectly referencing proto fields * update other regular expression * add test * fix test worlds * update changelog * use spaces for indentation * update proto headers * run clang-format * enable fields variable with a tag * update regex tests * update docs * update changelog * run clang-format * add curly brackets * fix comment indentation * fix proto name * fix controller name * update the changelog * fix indentation Co-authored-by: Olivier Michel <[email protected]> --------- Co-authored-by: Olivier Michel <[email protected]>
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1 change: 1 addition & 0 deletions
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tests/protos/controllers/template_indirect_field_access/.gitignore
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| /template_indirect_field_access |
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tests/protos/controllers/template_indirect_field_access/Makefile
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| # 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. | ||
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| ### Do not modify: this includes Webots global Makefile.include | ||
| null := | ||
| space := $(null) $(null) | ||
| WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) | ||
| include $(WEBOTS_HOME_PATH)/resources/Makefile.include |
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tests/protos/controllers/template_indirect_field_access/template_indirect_field_access.c
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| #include <webots/motor.h> | ||
| #include <webots/robot.h> | ||
| #include <webots/supervisor.h> | ||
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| #include "../../../lib/ts_assertion.h" | ||
| #include "../../../lib/ts_utils.h" | ||
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| #define TIME_STEP 32 | ||
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| int main(int argc, char **argv) { | ||
| ts_setup(argv[1]); // give the controller args | ||
| WbNodeRef proto = wb_supervisor_node_get_from_def("PROTO_template_indirect_field_access"); | ||
| WbFieldRef radarCrossSection = wb_supervisor_node_get_proto_field(proto, "radarCrossSection"); | ||
| ts_assert_double_in_delta(wb_supervisor_field_get_sf_float(radarCrossSection), 6.0, 0.0001, | ||
| "radarCrossSection should be 6.0"); | ||
| ts_send_success(); | ||
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| return EXIT_SUCCESS; | ||
| } |
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| #VRML_SIM R2024a utf8 | ||
| # tags: indirectFieldAccess | ||
| # template language: javascript | ||
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| PROTO TemplateIndirectFieldAccess [ | ||
| unconnectedField SFFloat field1 1 | ||
| unconnectedField SFFloat field2 5 | ||
| ] | ||
| { | ||
| Solid { | ||
| %< | ||
| function sum(fieldsObj) { | ||
| return fieldsObj.field1.value + fieldsObj.field2.value; | ||
| } | ||
| >% | ||
| radarCrossSection %<= sum(fields) >% | ||
| } | ||
| } |
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| #VRML_SIM R2024a utf8 | ||
| # tags: indirectFieldAccess | ||
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| PROTO TemplateIndirectFieldAccessLua [ | ||
| unconnectedField SFFloat field1 1 | ||
| unconnectedField SFFloat field2 5 | ||
| ] | ||
| { | ||
| Solid { | ||
| %{ | ||
| function sum(fieldsObj) | ||
| return fieldsObj.field1.value + fieldsObj.field2.value; | ||
| end | ||
| }% | ||
| radarCrossSection %{= sum(fields) }% | ||
| } | ||
| } |
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| #VRML_SIM R2024a utf8 | ||
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| EXTERNPROTO "webots://tests/protos/protos/TemplateIndirectFieldAccess.proto" | ||
| EXTERNPROTO "webots://tests/default/protos/TestSuiteEmitter.proto" | ||
| EXTERNPROTO "webots://tests/default/protos/TestSuiteSupervisor.proto" | ||
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| WorldInfo { | ||
| coordinateSystem "NUE" | ||
| lineScale 1 | ||
| } | ||
| Viewpoint { | ||
| orientation -0.8999515417256047 0.42450878383113183 0.0993957493855782 0.509061 | ||
| position 0.303563 0.46348 0.936228 | ||
| } | ||
| Background { | ||
| skyColor [ | ||
| 0 0.811765 0.992157 | ||
| ] | ||
| } | ||
| DirectionalLight { | ||
| direction 0 0.5 -1 | ||
| } | ||
| Robot { | ||
| translation 0.1 0 0.15 | ||
| rotation 0 1 0 1.5708 | ||
| children [ | ||
| DEF PROTO_template_indirect_field_access TemplateIndirectFieldAccess { | ||
| } | ||
| TestSuiteEmitter { | ||
| } | ||
| ] | ||
| controller "template_indirect_field_access" | ||
| controllerArgs [ | ||
| "template_indirect_field_access" | ||
| ] | ||
| supervisor TRUE | ||
| } | ||
| TestSuiteSupervisor { | ||
| } |
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tests/protos/worlds/template_indirect_field_access_lua.wbt
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| #VRML_SIM R2024a utf8 | ||
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| EXTERNPROTO "webots://tests/protos/protos/TemplateIndirectFieldAccessLua.proto" | ||
| EXTERNPROTO "webots://tests/default/protos/TestSuiteEmitter.proto" | ||
| EXTERNPROTO "webots://tests/default/protos/TestSuiteSupervisor.proto" | ||
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| WorldInfo { | ||
| coordinateSystem "NUE" | ||
| lineScale 1 | ||
| } | ||
| Viewpoint { | ||
| orientation -0.8999515417256047 0.42450878383113183 0.0993957493855782 0.509061 | ||
| position 0.303563 0.46348 0.936228 | ||
| } | ||
| Background { | ||
| skyColor [ | ||
| 0 0.811765 0.992157 | ||
| ] | ||
| } | ||
| DirectionalLight { | ||
| direction 0 0.5 -1 | ||
| } | ||
| Robot { | ||
| translation 0.1 0 0.15 | ||
| rotation 0 1 0 1.5708 | ||
| children [ | ||
| DEF PROTO_template_indirect_field_access TemplateIndirectFieldAccessLua { | ||
| } | ||
| TestSuiteEmitter { | ||
| } | ||
| ] | ||
| controller "template_indirect_field_access" | ||
| controllerArgs [ | ||
| "template_indirect_field_access (lua)" | ||
| ] | ||
| supervisor TRUE | ||
| } | ||
| TestSuiteSupervisor { | ||
| } |