Fix #6578 Devices with Duplicate Names Cause Unexpected Behavior (#…

…6579) * add device constructors that accept a WbDeviceTag rather than a name * create populate Robot::deviceList by tag rather than name * update python api * remove duplicate Brake destructor * define WbDeviceTag in Robot * update java api * add api test * bug fixes * fix Java getDevice implementation * update documentation * fix warnings in test * run clang-format * make test objects constant Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * update changelog * minor clarification * fix capitalization of API Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * allow checking if const pointers are null * use non-const Robot --------- Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>
cyberbotics · Jul 10, 2024 · a01ffad · a01ffad
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diff --git a/docs/reference/changelog-r2024.md b/docs/reference/changelog-r2024.md
@@ -12,4 +12,4 @@ 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))
-
+    - Fixed handling of device objects with the same name in the controller API ([#6579](https://github.com/cyberbotics/webots/pull/6579))
diff --git a/docs/reference/robot.md b/docs/reference/robot.md
@@ -766,11 +766,12 @@ WbDeviceTag wb_robot_get_device(const char *name);
 namespace webots {
   class Robot {
     Accelerometer *getAccelerometer(const std::string &name);
-    Altimeter *getAltimeter(const std::string &name);    
+    Altimeter *getAltimeter(const std::string &name);
     Brake *getBrake(const std::string &name);
     Camera *getCamera(const std::string &name);
     Compass *getCompass(const std::string &name);
     Connector *getConnector(const std::string &name);
+    Device *getDevice(const std::string &name);
     Display *getDisplay(const std::string &name);
     DistanceSensor *getDistanceSensor(const std::string &name);
     Emitter *getEmitter(const std::string &name);
@@ -826,6 +827,7 @@ public class Robot {
   public Camera getCamera(String name);
   public Compass getCompass(String name);
   public Connector getConnector(String name);
+  public Device getDevice(String name);
   public Display getDisplay(String name);
   public DistanceSensor getDistanceSensor(String name);
   public Emitter getEmitter(String name);
@@ -874,7 +876,7 @@ Devices are available through their services.
 
 *get a unique identifier to a device*
 
-The `wb_robot_get_device` function (available in C, Python and MATLAB) returns a unique identifier for a device corresponding to a specified `name`.
+The `wb_robot_get_device` function returns a unique identifier for a device corresponding to a specified `name`.
 For example, if a robot contains a [DistanceSensor](distancesensor.md) node whose `name` field is "ds1", the function will return the unique identifier of that device.
 This `WbDeviceTag` identifier will be used subsequently for enabling, sending commands to, or reading data from this device.
 If the specified device is not found, the function returns 0 in C and MATLAB or `None` in Python.
@@ -885,6 +887,8 @@ Depending on the called function, this object can be an instance of a `Device` s
 For example, if a robot contains a [DistanceSensor](distancesensor.md) node whose `name` field is "ds1", the function `getDistanceSensor` will return a reference to a [DistanceSensor](distancesensor.md) object.
 If the specified device is not found, the function returns `NULL` in C++ or `null` in Java.
 
+Note that if any two devices share the same name, `wb_robot_get_device` will return the first one it finds. In order to distinguish between devices with the same name, users should consider iterating over a robot's devices using `wb_robot_get_device_by_index` and `wb_robot_get_number_of_devices`.
+
 ---
 
 #### `wb_robot_get_device_by_index`

diff --git a/include/controller/cpp/webots/Accelerometer.hpp b/include/controller/cpp/webots/Accelerometer.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Accelerometer : public Device {
   public:
     explicit Accelerometer(const std::string &name) : Device(name) {}  // Use Robot::getAccelerometer() instead
+    explicit Accelerometer(WbDeviceTag tag) : Device(tag) {}
     virtual ~Accelerometer() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Altimeter.hpp b/include/controller/cpp/webots/Altimeter.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Altimeter : public Device {
   public:
     explicit Altimeter(const std::string &name) : Device(name) {}  // Use Robot::getAltimeter instead
+    explicit Altimeter(WbDeviceTag tag) : Device(tag) {}
     virtual ~Altimeter() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Brake.hpp b/include/controller/cpp/webots/Brake.hpp
@@ -30,6 +30,7 @@ namespace webots {
       Device(name),
       motor(NULL),
       positionSensor(NULL) {}  // Use Robot::getBrake() instead
+    explicit Brake(WbDeviceTag tag) : Device(tag), motor(NULL), positionSensor(NULL) {}
     virtual ~Brake() {}
     Type getType() const;
     void setDampingConstant(double dampingConstant) const;

diff --git a/include/controller/cpp/webots/Camera.hpp b/include/controller/cpp/webots/Camera.hpp
@@ -24,6 +24,7 @@ namespace webots {
   class Camera : public Device {
   public:
     explicit Camera(const std::string &name) : Device(name) {}  // Use Robot::getCamera() instead
+    explicit Camera(WbDeviceTag tag) : Device(tag) {}
     virtual ~Camera() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Compass.hpp b/include/controller/cpp/webots/Compass.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Compass : public Device {
   public:
     explicit Compass(const std::string &name) : Device(name) {}  // Use Robot::getCompass() instead
+    explicit Compass(WbDeviceTag tag) : Device(tag) {}
     virtual ~Compass() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Connector.hpp b/include/controller/cpp/webots/Connector.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Connector : public Device {
   public:
     explicit Connector(const std::string &name) : Device(name) {}  // Use Robot::getConnector() instead
+    explicit Connector(WbDeviceTag tag) : Device(tag) {}
     virtual ~Connector() {}
     virtual void enablePresence(int samplingPeriod);
     virtual void disablePresence();

diff --git a/include/controller/cpp/webots/Device.hpp b/include/controller/cpp/webots/Device.hpp
@@ -32,6 +32,7 @@ namespace webots {
 
   protected:
     explicit Device(const std::string &name);
+    explicit Device(WbDeviceTag tag);
 
   private:
     WbDeviceTag tag;

diff --git a/include/controller/cpp/webots/Display.hpp b/include/controller/cpp/webots/Display.hpp
@@ -24,6 +24,7 @@ namespace webots {
   public:
     enum { RGB = 3, RGBA, ARGB, BGRA, ABGR };
     explicit Display(const std::string &name) : Device(name) {}  // Use Robot::getDisplay() instead
+    explicit Display(WbDeviceTag tag) : Device(tag) {}
     virtual ~Display() {}
     int getWidth() const;
     int getHeight() const;

diff --git a/include/controller/cpp/webots/DistanceSensor.hpp b/include/controller/cpp/webots/DistanceSensor.hpp
@@ -23,6 +23,7 @@ namespace webots {
     typedef enum { GENERIC = 0, INFRA_RED, SONAR, LASER } Type;
 
     explicit DistanceSensor(const std::string &name) : Device(name) {}  // Use Robot::getDistanceSensor() instead
+    explicit DistanceSensor(WbDeviceTag tag) : Device(tag) {}
     virtual ~DistanceSensor() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Emitter.hpp b/include/controller/cpp/webots/Emitter.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Emitter : public Device {
   public:
     explicit Emitter(const std::string &name) : Device(name) {}  // Use Robot::getEmitter() instead
+    explicit Emitter(WbDeviceTag tag) : Device(tag) {}
     virtual ~Emitter() {}
     enum { CHANNEL_BROADCAST = -1 };
     virtual int send(const void *data, int size);

diff --git a/include/controller/cpp/webots/GPS.hpp b/include/controller/cpp/webots/GPS.hpp
@@ -23,6 +23,7 @@ namespace webots {
     typedef enum { LOCAL = 0, WGS84 } CoordinateSystem;
 
     explicit GPS(const std::string &name) : Device(name) {}  // Use Robot::getGPS() instead
+    explicit GPS(WbDeviceTag tag) : Device(tag) {}
     virtual ~GPS() {}
 
     virtual void enable(int samplingPeriod);

diff --git a/include/controller/cpp/webots/Gyro.hpp b/include/controller/cpp/webots/Gyro.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Gyro : public Device {
   public:
     explicit Gyro(const std::string &name) : Device(name) {}  // Use Robot::getGyro() instead
+    explicit Gyro(WbDeviceTag tag) : Device(tag) {}
     virtual ~Gyro() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/InertialUnit.hpp b/include/controller/cpp/webots/InertialUnit.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class InertialUnit : public Device {
   public:
     explicit InertialUnit(const std::string &name) : Device(name) {}  // Use Robot::getInertialUnit() instead
+    explicit InertialUnit(WbDeviceTag tag) : Device(tag) {}
     virtual ~InertialUnit() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/LED.hpp b/include/controller/cpp/webots/LED.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class LED : public Device {
   public:
     explicit LED(const std::string &name) : Device(name) {}  // Use Robot::getLED() instead
+    explicit LED(WbDeviceTag tag) : Device(tag) {}
     virtual ~LED() {}
     virtual void set(int value);
     int get() const;

diff --git a/include/controller/cpp/webots/Lidar.hpp b/include/controller/cpp/webots/Lidar.hpp
@@ -24,6 +24,7 @@ namespace webots {
   class Lidar : public Device {
   public:
     explicit Lidar(const std::string &name) : Device(name) {}  // Use Robot::getLidar() instead
+    explicit Lidar(WbDeviceTag tag) : Device(tag) {}
     virtual ~Lidar() {}
     virtual void enable(int samplingPeriod);
     void enablePointCloud();

diff --git a/include/controller/cpp/webots/LightSensor.hpp b/include/controller/cpp/webots/LightSensor.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class LightSensor : public Device {
   public:
     explicit LightSensor(const std::string &name) : Device(name) {}  // Use Robot::getLightSensor() instead
+    explicit LightSensor(WbDeviceTag tag) : Device(tag) {}
     virtual ~LightSensor() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Motor.hpp b/include/controller/cpp/webots/Motor.hpp
@@ -31,6 +31,7 @@ namespace webots {
       Device(name),
       brake(NULL),
       positionSensor(NULL) {}  // Use Robot::getMotor() instead
+    explicit Motor(WbDeviceTag tag) : Device(tag), brake(NULL), positionSensor(NULL) {}
     virtual ~Motor() {}
 
     virtual void setPosition(double position);

diff --git a/include/controller/cpp/webots/Pen.hpp b/include/controller/cpp/webots/Pen.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Pen : public Device {
   public:
     explicit Pen(const std::string &name) : Device(name) {}  // Use Robot::getPen() instead
+    explicit Pen(WbDeviceTag tag) : Device(tag) {}
     virtual ~Pen() {}
     virtual void write(bool write);
     virtual void setInkColor(int color, double density);

diff --git a/include/controller/cpp/webots/PositionSensor.hpp b/include/controller/cpp/webots/PositionSensor.hpp
@@ -29,6 +29,7 @@ namespace webots {
       Device(name),
       brake(NULL),
       motor(NULL) {}  // Use Robot::getPositionSensor() instead
+    explicit PositionSensor(WbDeviceTag tag) : Device(tag), brake(NULL), motor(NULL) {}
     virtual ~PositionSensor() {}
     virtual void enable(int samplingPeriod);  // milliseconds
     virtual void disable();

diff --git a/include/controller/cpp/webots/Radar.hpp b/include/controller/cpp/webots/Radar.hpp
@@ -24,6 +24,7 @@ namespace webots {
   class Radar : public Device {
   public:
     explicit Radar(const std::string &name) : Device(name) {}  // Use Robot::getRadar() instead
+    explicit Radar(WbDeviceTag tag) : Device(tag) {}
     virtual ~Radar() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/RangeFinder.hpp b/include/controller/cpp/webots/RangeFinder.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class RangeFinder : public Device {
   public:
     explicit RangeFinder(const std::string &name) : Device(name) {}  // Use Robot::getRangeFinder() instead
+    explicit RangeFinder(WbDeviceTag tag) : Device(tag) {}
     virtual ~RangeFinder() {}
     virtual void enable(int samplingPeriod);
     virtual void disable();

diff --git a/include/controller/cpp/webots/Receiver.hpp b/include/controller/cpp/webots/Receiver.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Receiver : public Device {
   public:
     explicit Receiver(const std::string &name) : Device(name) {}  // Use Robot::getReceiver() instead
+    explicit Receiver(WbDeviceTag tag) : Device(tag) {}
     virtual ~Receiver() {}
     enum { CHANNEL_BROADCAST = -1 };
     virtual void enable(int samplingPeriod);

diff --git a/include/controller/cpp/webots/Robot.hpp b/include/controller/cpp/webots/Robot.hpp
@@ -18,6 +18,8 @@
 #include <iostream>
 #include <vector>
 
+#include "../../c/webots/types.h"
+
 namespace webots {
   class Accelerometer;
   class Altimeter;
@@ -141,31 +143,31 @@ namespace webots {
 
   protected:
     static Robot *cInstance;
-    virtual Accelerometer *createAccelerometer(const std::string &name) const;
-    virtual Altimeter *createAltimeter(const std::string &name) const;
-    virtual Brake *createBrake(const std::string &name) const;
-    virtual Camera *createCamera(const std::string &name) const;
-    virtual Compass *createCompass(const std::string &name) const;
-    virtual Connector *createConnector(const std::string &name) const;
-    virtual Display *createDisplay(const std::string &name) const;
-    virtual DistanceSensor *createDistanceSensor(const std::string &name) const;
-    virtual Emitter *createEmitter(const std::string &name) const;
-    virtual GPS *createGPS(const std::string &name) const;
-    virtual Gyro *createGyro(const std::string &name) const;
-    virtual InertialUnit *createInertialUnit(const std::string &name) const;
-    virtual LED *createLED(const std::string &name) const;
-    virtual Lidar *createLidar(const std::string &name) const;
-    virtual LightSensor *createLightSensor(const std::string &name) const;
-    virtual Motor *createMotor(const std::string &name) const;
-    virtual Pen *createPen(const std::string &name) const;
-    virtual PositionSensor *createPositionSensor(const std::string &name) const;
-    virtual Radar *createRadar(const std::string &name) const;
-    virtual RangeFinder *createRangeFinder(const std::string &name) const;
-    virtual Receiver *createReceiver(const std::string &name) const;
-    virtual Skin *createSkin(const std::string &name) const;
-    virtual Speaker *createSpeaker(const std::string &name) const;
-    virtual TouchSensor *createTouchSensor(const std::string &name) const;
-    virtual VacuumGripper *createVacuumGripper(const std::string &name) const;
+    virtual Accelerometer *createAccelerometer(WbDeviceTag tag) const;
+    virtual Altimeter *createAltimeter(WbDeviceTag tag) const;
+    virtual Brake *createBrake(WbDeviceTag tag) const;
+    virtual Camera *createCamera(WbDeviceTag tag) const;
+    virtual Compass *createCompass(WbDeviceTag tag) const;
+    virtual Connector *createConnector(WbDeviceTag tag) const;
+    virtual Display *createDisplay(WbDeviceTag tag) const;
+    virtual DistanceSensor *createDistanceSensor(WbDeviceTag tag) const;
+    virtual Emitter *createEmitter(WbDeviceTag tag) const;
+    virtual GPS *createGPS(WbDeviceTag tag) const;
+    virtual Gyro *createGyro(WbDeviceTag tag) const;
+    virtual InertialUnit *createInertialUnit(WbDeviceTag tag) const;
+    virtual LED *createLED(WbDeviceTag tag) const;
+    virtual Lidar *createLidar(WbDeviceTag tag) const;
+    virtual LightSensor *createLightSensor(WbDeviceTag tag) const;
+    virtual Motor *createMotor(WbDeviceTag tag) const;
+    virtual Pen *createPen(WbDeviceTag tag) const;
+    virtual PositionSensor *createPositionSensor(WbDeviceTag tag) const;
+    virtual Radar *createRadar(WbDeviceTag tag) const;
+    virtual RangeFinder *createRangeFinder(WbDeviceTag tag) const;
+    virtual Receiver *createReceiver(WbDeviceTag tag) const;
+    virtual Skin *createSkin(WbDeviceTag tag) const;
+    virtual Speaker *createSpeaker(WbDeviceTag tag) const;
+    virtual TouchSensor *createTouchSensor(WbDeviceTag tag) const;
+    virtual VacuumGripper *createVacuumGripper(WbDeviceTag tag) const;
 
   private:
     Keyboard *mKeyboard;

diff --git a/include/controller/cpp/webots/Skin.hpp b/include/controller/cpp/webots/Skin.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Skin : public Device {
   public:
     explicit Skin(const std::string &name) : Device(name) {}
+    explicit Skin(WbDeviceTag tag) : Device(tag) {}
     virtual ~Skin() {}
     void setBoneOrientation(int index, const double orientation[4], bool absolute);
     void setBonePosition(int index, const double position[3], bool absolute);

diff --git a/include/controller/cpp/webots/Speaker.hpp b/include/controller/cpp/webots/Speaker.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class Speaker : public Device {
   public:
     explicit Speaker(const std::string &name) : Device(name) {}  // Use Robot::getSpeaker() instead
+    explicit Speaker(WbDeviceTag tag) : Device(tag) {}
     virtual ~Speaker() {}
     static void playSound(Speaker *left, Speaker *right, const std::string &sound, double volume, double pitch, double balance,
                           bool loop);

diff --git a/include/controller/cpp/webots/TouchSensor.hpp b/include/controller/cpp/webots/TouchSensor.hpp
@@ -23,6 +23,7 @@ namespace webots {
     typedef enum { BUMPER = 0, FORCE, FORCE3D } Type;
 
     explicit TouchSensor(const std::string &name) : Device(name) {}  // Use Robot::getTouchSensor() instead
+    explicit TouchSensor(WbDeviceTag tag) : Device(tag) {}
     virtual ~TouchSensor() {}
 
     virtual void enable(int samplingPeriod);

diff --git a/include/controller/cpp/webots/VacuumGripper.hpp b/include/controller/cpp/webots/VacuumGripper.hpp
@@ -21,6 +21,7 @@ namespace webots {
   class VacuumGripper : public Device {
   public:
     explicit VacuumGripper(const std::string &name) : Device(name) {}  // Use Robot::getVacuumGripper() instead
+    explicit VacuumGripper(WbDeviceTag tag) : Device(tag) {}
     virtual ~VacuumGripper() {}
     virtual void enablePresence(int samplingPeriod);
     virtual void disablePresence();

diff --git a/lib/controller/python/controller/robot.py b/lib/controller/python/controller/robot.py
@@ -136,7 +136,7 @@ def __init__(self):
             if type == Node.ACCELEROMETER:
                 self.devices[name] = Accelerometer(tag)
             elif type == Node.ALTIMETER:
-                self.devices[name] = Altimeter(name)
+                self.devices[name] = Altimeter(tag)
             elif type == Node.BRAKE:
                 self.devices[name] = Brake(tag)
             elif type == Node.CAMERA:

diff --git a/src/controller/cpp/Device.cpp b/src/controller/cpp/Device.cpp
@@ -26,6 +26,10 @@ Device::Device(const string &deviceName) : name(deviceName) {
   tag = wb_robot_get_device(name.c_str());
 }
 
+Device::Device(WbDeviceTag deviceTag) : tag(deviceTag) {
+  name = wb_device_get_name(deviceTag);
+}
+
 int Device::getNodeType() const {
   return wb_device_get_node_type(tag);
 }