Avoid crashes and better warn when getting PROTO

Avoid crashes and better warn when getting the PROTO in `WbSupervisorUtilities::getProtoParameterNodeInstance()`. Signed-off-by: Gaël Écorchard <gael@km-robotics.cz>
cyberbotics · Jan 11, 2024 · f5d25cb · f5d25cb
1 parent 26e08bb
commit f5d25cb
Showing 1 changed file with 30 additions and 3 deletions.
diff --git a/src/webots/nodes/utils/WbSupervisorUtilities.cpp b/src/webots/nodes/utils/WbSupervisorUtilities.cpp
@@ -503,7 +503,13 @@ WbNode *WbSupervisorUtilities::getProtoParameterNodeInstance(int nodeId, const Q
     mRobot->warn(tr("%1: node not found.").arg(functionName));
     return NULL;
   }
-  return static_cast<WbBaseNode *>(node)->getFirstFinalizedProtoInstance();
+  WbBaseNode *proto = static_cast<WbBaseNode *>(node)->getFirstFinalizedProtoInstance();
+  if (!proto)
+  {
+    mRobot->warn(tr("Cannot get the PROTO instance for node `%1` (type %2).").arg(node->modelName(), node->nodeModelName()));
+    return NULL;
+  }
+  return proto;
 }
 
 void WbSupervisorUtilities::changeSimulationMode(int newMode) {
@@ -594,15 +600,21 @@ void WbSupervisorUtilities::handleMessage(QDataStream &stream) {
       stream >> nodeId;
       const QString &stateName = readString(stream);
       WbNode *const node = getProtoParameterNodeInstance(nodeId, "wb_supervisor_node_load_state()");
-      node->reset(stateName);
+      if (node)
+      {
+        node->reset(stateName);
+      }
       return;
     }
     case C_SUPERVISOR_NODE_SAVE_STATE: {
       unsigned int nodeId;
       stream >> nodeId;
       const QString &stateName = readString(stream);
       WbNode *const node = getProtoParameterNodeInstance(nodeId, "wb_supervisor_node_save_state()");
-      node->save(stateName);
+      if (node)
+      {
+        node->save(stateName);
+      }
       return;
     }
     case C_SUPERVISOR_NODE_SET_JOINT_POSITION: {
@@ -1058,6 +1070,11 @@ void WbSupervisorUtilities::handleMessage(QDataStream &stream) {
       stream >> relative;
 
       WbNode *const node = getProtoParameterNodeInstance(id, "wb_supervisor_node_add_force()");
+      if (!node)
+      {
+        mRobot->warn(QString{"Cannot get node with id "} + QString::number(id));
+        return;
+      }
       WbSolid *const solid = dynamic_cast<WbSolid *>(node);
       if (solid) {
         WbVector3 force(fx, fy, fz);
@@ -1090,6 +1107,11 @@ void WbSupervisorUtilities::handleMessage(QDataStream &stream) {
       stream >> relative;
 
       WbNode *const node = getProtoParameterNodeInstance(id, "wb_supervisor_node_add_force_with_offset()");
+      if (!node)
+      {
+        mRobot->warn(tr("Cannot get node with id ") + QString::number(id));
+        return;
+      }
       WbSolid *const solid = dynamic_cast<WbSolid *>(node);
       if (solid) {
         const dBodyID body = solid->bodyMerger();
@@ -1119,6 +1141,11 @@ void WbSupervisorUtilities::handleMessage(QDataStream &stream) {
       stream >> relative;
 
       WbNode *const node = getProtoParameterNodeInstance(id, "wb_supervisor_node_add_torque()");
+      if (!node)
+      {
+        mRobot->warn(tr("Cannot get node with id ") + QString::number(id));
+        return;
+      }
       WbSolid *const solid = dynamic_cast<WbSolid *>(node);
       if (solid) {
         WbVector3 torque(tx, ty, tz);