Fix up goto node.

ihmcrobotics · Jan 31, 2025 · 2a9af87 · 2a9af87
1 parent 25c8bc9
commit 2a9af87
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Showing 7 changed files with 22 additions and 27 deletions.
diff --git a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/logic/RDXGotoNode.java b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/logic/RDXGotoNode.java
@@ -44,7 +44,7 @@ protected void renderImGuiWidgetsInternal()
 
       // Validate state in case something earlier in this UI tick messed with things.
       // This happens with the Undo non-topological changes button.
-      state.updateAndValidateGotoNode(rootNode.getOrderedLeaves());
+      state.validateFields(rootNode.getOrderedLeaves());
 
       String selectedText;
       if (definition.getGotoNext().getValue())

diff --git a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/sequence/RDXLeafNode.java b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/sequence/RDXLeafNode.java
@@ -96,7 +96,7 @@ public void renderNodeSettingsWidgets()
       {
          // Validate state in case something earlier in this UI tick messed with things.
          // This happens with the Undo non-topological changes button.
-         state.updateAndValidateExecuteAfter(actionSequence.getOrderedLeaves());
+         state.validateFields(actionSequence.getOrderedLeaves());
 
          String selectedText;
          if (definition.getExecuteAfterPrevious().getValue())

diff --git a/...level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeRootNode.java b/...level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeRootNode.java
@@ -57,7 +57,7 @@ public void update()
 
       for (RDXLeafNode<?, ?> leaf : orderedLeaves)
       {
-         leaf.getState().updateAndValidateExecuteAfter(state.getOrderedLeaves());
+         leaf.getState().validateFields(state.getOrderedLeaves());
       }
    }
 
@@ -109,7 +109,7 @@ public void renderExecutionControlAndProgressWidgets()
       ImGuiTools.previousWidgetTooltip("Go to next leaf");
 
       boolean endOfSequence = getState().getExecutionNextIndex() >= getState().getOrderedLeaves().size();
-      if (!endOfSequence)
+      ImGui.beginDisabled(endOfSequence); // Use disabled so stuff doesn't glitch around
       {
          ImGui.sameLine();
          ImGui.text("Execute");
@@ -120,27 +120,25 @@ public void renderExecutionControlAndProgressWidgets()
             getDefinition().modify();
 
          ImGuiTools.previousWidgetTooltip("Enables autonomous execution. Will immediately start executing when checked.");
-         if (!getState().getAutomaticExecution())
+
+         ImGui.beginDisabled(getState().getAutomaticExecution());
          {
             ImGui.sameLine();
 
             boolean disableManuallyExecuteButton = getState().getManualExecutionRequested();
-            if (disableManuallyExecuteButton)
-               ImGui.beginDisabled();
-            if (ImGui.button(labels.get("Manually")))
+            ImGui.beginDisabled(disableManuallyExecuteButton);
             {
-               getState().setManualExecutionRequested();
+               if (ImGui.button(labels.get("Manually")))
+               {
+                  getState().setManualExecutionRequested();
+               }
             }
-            if (disableManuallyExecuteButton)
-               ImGui.endDisabled();
+            ImGui.endDisabled();
             ImGuiTools.previousWidgetTooltip("Executes the next leaf.");
          }
-
-         if (endOfSequence)
-         {
-            ImGui.text("End of sequence.");
-         }
+         ImGui.endDisabled();
       }
+      ImGui.endDisabled();
 
       ImGui.sameLine();
       concurrencyEnabledCheckbox.renderImGuiWidget();

diff --git a/...-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java b/...-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java
@@ -56,7 +56,7 @@ public void update()
 
       for (LeafNodeExecutor<?, ?> leaf : orderedLeaves)
       {
-         leaf.getState().updateAndValidateExecuteAfter(state.getOrderedLeaves());
+         leaf.getState().validateFields(state.getOrderedLeaves());
       }
 
       // Update concurrency ranks

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/logic/GotoNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/logic/GotoNodeExecutor.java
@@ -22,18 +22,12 @@ public GotoNodeExecutor(long id, CRDTInfo crdtInfo, WorkspaceResourceDirectory s
    @Override
    public void updateCurrentlyExecuting()
    {
-      state.setIsExecuting(false); // Completes immediately
-   }
-
-   @Override
-   public void triggerExecution()
-   {
-      super.triggerExecution();
-
       if (!definition.getGotoNext().getValue())
       {
          LeafNodeState<?> nodeToGoto = state.findNodeToGoto();
          BehaviorTreeTools.findRootNode(this).getState().setExecutionNextIndex(nodeToGoto.getLeafIndex());
       }
+
+      state.setIsExecuting(false); // Completes immediately
    }
 }
diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/logic/GotoNodeState.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/logic/GotoNodeState.java
@@ -27,8 +27,11 @@ public GotoNodeState(long id, CRDTInfo crdtInfo, WorkspaceResourceDirectory save
     * saving an up to date human readable name in the JSON.
     * It also finds the correct node upon loading the name from JSON.
     */
-   public void updateAndValidateGotoNode(List<LeafNodeState<?>> leafNodes)
+   @Override
+   public void validateFields(List<LeafNodeState<?>> leafNodes)
    {
+      super.validateFields(leafNodes);
+
       String gotoNodeName = null;
 
       if (!definition.getGotoNext().getValue())

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/LeafNodeState.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/LeafNodeState.java
@@ -42,7 +42,7 @@ public LeafNodeState(long id, D definition, CRDTInfo crdtInfo)
     * saving an up to date human readable name in the JSON.
     * It also finds the correct node upon loading the name from JSON.
     */
-   public void updateAndValidateExecuteAfter(List<LeafNodeState<?>> leaves)
+   public void validateFields(List<LeafNodeState<?>> leaves)
    {
       String executeAfterLeafName = null;