Add documentation, rename a few methods.

ihmcrobotics · Feb 4, 2025 · a3d3d16 · a3d3d16
1 parent d73bd60
commit a3d3d16
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Showing 5 changed files with 14 additions and 9 deletions.
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
@@ -30,6 +30,7 @@ public abstract class RDXLeafNode<S extends LeafNodeState<D>,
    private final ImGuiFlashingColors isExecutingFlashingColor = new ImGuiFlashingColors(0.1, ImGuiTools.PURPLE, ImGuiTools.DARK_PURPLE);
    private final ImGuiHollowArrowRenderer hollowArrowRenderer = new ImGuiHollowArrowRenderer();
    private final ImGuiFlashingText flashingDescriptionColor = new ImGuiFlashingText(ImGuiTools.RED);
+   /** Used to trigger a UI notification when the action goes from !failed -> failed. */
    private boolean wasFailed = false;
 
    public RDXLeafNode(S state)
@@ -109,7 +110,7 @@ else if (definition.getExecuteAfterBeginning().getValue())
          }
          else
          {
-            LeafNodeState<?> executeAfterNode = state.findExecuteAfterLeaf();
+            LeafNodeState<?> executeAfterNode = state.getExecuteAfterLeaf();
             selectedText = executeAfterNode.getDefinition().getName();
          }
 

diff --git a/...-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java b/...-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java
@@ -67,8 +67,8 @@ public void update()
          int j = i - 1;
          for (; j >= 0; j--)
          {
-            int thisExecuteAfterLeafIndex = state.getOrderedLeaves().get(i).calculateExecuteAfterLeafIndex();
-            int executeAfterLeafIndexToCompare = state.getOrderedLeaves().get(j).calculateExecuteAfterLeafIndex();
+            int thisExecuteAfterLeafIndex = state.getOrderedLeaves().get(i).getExecuteAfterLeafIndex();
+            int executeAfterLeafIndexToCompare = state.getOrderedLeaves().get(j).getExecuteAfterLeafIndex();
             if (thisExecuteAfterLeafIndex == executeAfterLeafIndexToCompare)
             {
                state.getOrderedLeaves().get(i).setConcurrencyRank(2);
@@ -88,7 +88,7 @@ else if (i == executionNextIndex)
          {
             state.getOrderedLeaves().get(i).setIsNextForExecution(true);
          }
-         else if (state.getOrderedLeaves().get(i).calculateExecuteAfterLeafIndex() < executionNextIndex)
+         else if (state.getOrderedLeaves().get(i).getExecuteAfterLeafIndex() < executionNextIndex)
          {
             state.getOrderedLeaves().get(i).setIsNextForExecution(true);
          }
@@ -283,7 +283,7 @@ private boolean shouldExecuteNextLeaf()
 
       if (state.getConcurrencyEnabled())
       {
-         int executeAfterLeafIndex = nextNodeToExecute.getState().calculateExecuteAfterLeafIndex();
+         int executeAfterLeafIndex = nextNodeToExecute.getState().getExecuteAfterLeafIndex();
 
          if (executeAfterLeafIndex < 0) // Execute after beginning
          {

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/FallbackNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/FallbackNodeExecutor.java
@@ -52,7 +52,7 @@ public void update()
 
          for (LeafNodeExecutor<?, ?> child : leafChildren)
          {
-            if (child.getState().calculateExecuteAfterLeafIndex() < firstLeafIndex)
+            if (child.getState().getExecuteAfterLeafIndex() < firstLeafIndex)
             {
                tryLeaves.add(child);
             }

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/LeafNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/LeafNodeExecutor.java
@@ -15,6 +15,7 @@ public LeafNodeExecutor(S state)
       this.state = state;
    }
 
+   /** Message to print when {@link LeafNodeState#getCanExecute()} is false, to communicate the problem to the operator. */
    public String getCantExecuteMessage()
    {
       return "";

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
@@ -119,6 +119,7 @@ public void setLeafIndex(int leafIndex)
       this.leafIndex = leafIndex;
    }
 
+   /** The index of the leaf, depth first over the entire tree. The first leaf is 0. */
    public int getLeafIndex()
    {
       return leafIndex;
@@ -186,15 +187,16 @@ public boolean getIsExecuting()
       return isExecuting.getValue();
    }
 
-   public int calculateExecuteAfterLeafIndex()
+   /** @return the index of the leaf to execute after as part of the concurrency system */
+   public int getExecuteAfterLeafIndex()
    {
       if (definition.getExecuteAfterBeginning().getValue())
       {
          return -1;
       }
       else if (!definition.getExecuteAfterPrevious().getValue())
       {
-         LeafNodeState<?> executeAfterNode = findExecuteAfterLeaf();
+         LeafNodeState<?> executeAfterNode = getExecuteAfterLeaf();
 
          if (executeAfterNode != null)
             return executeAfterNode.getLeafIndex();
@@ -203,7 +205,8 @@ else if (!definition.getExecuteAfterPrevious().getValue())
       return leafIndex - 1; // previous
    }
 
-   public LeafNodeState<?> findExecuteAfterLeaf()
+   /** @return the leaf to execute after as part of the concurrency system */
+   public LeafNodeState<?> getExecuteAfterLeaf()
    {
       long executeAfterID = definition.getExecuteAfterNodeID().getValue();