Fix crash during PROTO regeneration due to invalid search of parent f…

…ield (cyberbotics#5724)

* Fix crash during regeneration due to invalid search of parent field

* Add entry in ChangeLog

docs/reference/changelog-r2023.md

@@ -33,6 +33,7 @@ Released on ??
     - Fixed performance issues when retrieving multiple times a node's field defined in a PROTO body using the [Supervisor API](supervisor.md) ([#5774](https://github.com/cyberbotics/webots/pull/5774)).
     - Fixed failure to detect that a port was already in use on some platforms ([#5806](https://github.com/cyberbotics/webots/pull/5806)).
     - Fixed thread-safety issue when robots collide. This was only an issue if physics multi-threading was enabled (which is not the default and rarely used) ([#5796](https://github.com/cyberbotics/webots/pull/5796)).
+    - Fixed crash during PROTO regeneration triggered by nested PROTO in parameter ([#5724](https://github.com/cyberbotics/webots/pull/5724)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

src/webots/nodes/utils/WbTemplateManager.cpp

@@ -118,8 +118,7 @@ bool WbTemplateManager::nodeNeedsToSubscribe(WbNode *node) {
   if (!node->isProtoInstance())
     return false;
 
-  QVector<WbField *> fields = node->fieldsOrParameters();
-  foreach (WbField *field, fields) {
+  foreach (WbField *field, node->fieldsOrParameters()) {
     if (!field->alias().isEmpty())
       return true;
   }
@@ -296,7 +295,10 @@ void WbTemplateManager::regenerateNode(WbNode *node, bool restarted) {
 
   bool ancestorTemplateRegeneration = upperTemplateNode != NULL;
   if (node->isProtoParameterNode()) {
-    const QVector<WbField *> &parentFields = parent->fieldsOrParameters();
+    // internal PROTO child could be regenerated due to a parameter exposed in the parent PROTO node
+    // so for parent PROTO instances both fields and parameters needs to be checked
+    const QList<WbField *> parentFields = (parent->isProtoInstance() ? parent->parameters() : QList<WbField *>())
+                                          << parent->fields();
     foreach (WbField *const parentField, parentFields) {
       if (parentField->type() == WB_SF_NODE) {
         WbSFNode *sfnode = static_cast<WbSFNode *>(parentField->value());
@@ -311,9 +313,11 @@ void WbTemplateManager::regenerateNode(WbNode *node, bool restarted) {
             regenerateNode(upperTemplateNode);
             return;
           }
+          break;
         }
       } else if (parentField->type() == WB_MF_NODE) {
         WbMFNode *mfnode = static_cast<WbMFNode *>(parentField->value());
+        bool found = false;
         for (int i = 0; i < mfnode->size(); ++i) {
           WbNode *n = mfnode->item(i);
           if (n == node) {
@@ -328,9 +332,12 @@ void WbTemplateManager::regenerateNode(WbNode *node, bool restarted) {
               regenerateNode(upperTemplateNode);
               return;
             }
+            found = true;
             break;
           }
         }
+        if (found)
+          break;
       }
     }
   } else {