Make sure newly created nodes get modify() called and replicated ones…

… do not.
ihmcrobotics · Dec 30, 2024 · bd090a5 · bd090a5
1 parent 3f6b951
commit bd090a5
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Showing 7 changed files with 33 additions and 17 deletions.
diff --git a/...viors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXAvailableBehaviorTreeDirectory.java b/...viors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXAvailableBehaviorTreeDirectory.java
@@ -129,6 +129,7 @@ public void renderImGuiWidgets(RDXBehaviorTreeNode<?, ?> relativeNode, BehaviorT
                         nodeToInsert = new RDXBehaviorTreeRootNode(behaviorTree.getAndIncrementNextID(),
                                                                    behaviorTree.getCRDTInfo(),
                                                                    behaviorTree.getSaveFileDirectory());
+                        nodeToInsert.getDefinition().modify();
                         topologyOperationQueue.queueAppendChildModify(nodeToInsert, loadedNode);
                      }
 

diff --git a/...haviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeNodeCreationMenu.java b/...haviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeNodeCreationMenu.java
@@ -151,7 +151,7 @@ private void renderNodeCreationClickable(RDXBehaviorTreeNode<?, ?> relativeNode,
                                                                         behaviorTree.getAndIncrementNextID(),
                                                                         behaviorTree.getCRDTInfo(),
                                                                         behaviorTree.getSaveFileDirectory());
-
+            newNode.getDefinition().modify();
             BehaviorTreeNodeInsertionDefinition<RDXBehaviorTreeNode<?, ?>> insertionDefinition
                   = new BehaviorTreeNodeInsertionDefinition<>(insertionType, newNode, relativeNode);
 

diff --git a/...rs/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeWidgetsVerticalLayout.java b/...rs/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeWidgetsVerticalLayout.java
@@ -93,13 +93,10 @@ public void renderImGuiWidgets(RDXBehaviorTreeNode<?, ?> node)
          ImGui.pushStyleColor(ImGuiCol.Text, ImGuiTools.RED);
          if (ImGui.menuItem(labels.get("Delete Node")))
          {
-            topologyOperationQueue.queueDestroySubtreeModify(node);
-
-            if (node.isRootNode()) // Root node
-            {
-               behaviorTree.setRootNode(null);
-               behaviorTree.getRootReferenceModification().modify();
-            }
+            if (node.isRootNode())
+               topologyOperationQueue.queueDestroyEntireTreeModify();
+            else
+               topologyOperationQueue.queueDestroySubtreeModify(node);
          }
          ImGui.popStyleColor();
 

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTree.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTree.java
@@ -85,9 +85,7 @@ public void modifyTreeTopology()
 
    public void deleteRootNode()
    {
-      modifyTreeTopology(topologyOperationQueue -> topologyOperationQueue.queueDestroySubtreeModify(getRootNode()));
-      setRootNode(null);
-      rootReferenceModification.modify();
+      modifyTreeTopology(BehaviorTreeTopologyOperationQueue::queueDestroyEntireTreeModify);
    }
 
    public void toMessage(BehaviorTreeStateMessage message)

diff --git a/...gh-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java b/...gh-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java
@@ -3,6 +3,7 @@
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
 import us.ihmc.avatar.ros2.ROS2ControllerHelper;
+import us.ihmc.behaviors.behaviorTree.topology.BehaviorTreeTopologyOperationQueue;
 import us.ihmc.communication.ros2.ROS2ActorDesignation;
 import us.ihmc.communication.ros2.sync.ROS2PeerClockOffsetEstimator;
 import us.ihmc.log.LogTools;
@@ -54,10 +55,7 @@ private void update(BehaviorTreeNodeExecutor<?, ?> node)
 
    public void destroy()
    {
-      if (rootNode != null)
-      {
-         modifyTreeTopology(topologyOperationQueue -> topologyOperationQueue.queueDestroySubtreeModify(rootNode));
-      }
+      modifyTreeTopology(BehaviorTreeTopologyOperationQueue::queueDestroyEntireTreeModify);
    }
 
    @Override
@@ -90,8 +88,9 @@ public void loadBehavior(String jsonFileName)
                else if (rootNode == null) // Automatically add a root node if there isn't one
                {
                   BehaviorTreeRootNodeExecutor newRootNode = new BehaviorTreeRootNodeExecutor(getAndIncrementNextID(),
-                                                                  getCRDTInfo(),
-                                                                  getSaveFileDirectory());
+                                                                                              getCRDTInfo(),
+                                                                                              getSaveFileDirectory());
+                  newRootNode.getDefinition().modify();
                   topologyOperationQueue.queueAppendChildModify(newRootNode, loadedNode);
                   topologyOperationQueue.queueSetRootNodeModify(newRootNode);
                }

diff --git a/...-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeFileLoader.java b/...-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeFileLoader.java
@@ -80,6 +80,7 @@ private HLT loadFromFile(WorkspaceResourceFile file, JsonNode jsonNode, HLT pare
                                            behaviorTree.getAndIncrementNextID(),
                                            behaviorTree.getCRDTInfo(),
                                            behaviorTree.getSaveFileDirectory());
+         node.getDefinition().modify();
          node.getDefinition().loadFromFile(jsonNode);
 
          // Make sure the node is named the same as the file including subdirectory

diff --git a/...main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeTopologyOperationQueue.java b/...main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeTopologyOperationQueue.java
@@ -50,6 +50,14 @@ public void queueInsertNodeModify(BehaviorTreeNodeInsertionDefinition<HLT> inser
       }
    }
 
+   public void queueSetRootNode(HLT rootNode)
+   {
+      topologyOperationQueue.add(() ->
+      {
+         behaviorTree.setRootNode(rootNode);
+      });
+   }
+
    public void queueSetRootNodeModify(HLT rootNode)
    {
       topologyOperationQueue.add(() ->
@@ -59,6 +67,18 @@ public void queueSetRootNodeModify(HLT rootNode)
       });
    }
 
+   public void queueDestroyEntireTreeModify()
+   {
+      topologyOperationQueue.add(() ->
+      {
+         HLT rootNode = behaviorTree.getRootNode();
+         behaviorTree.setRootNode(null);
+         behaviorTree.getRootReferenceModification().modify();
+         if (rootNode != null)
+            BehaviorTreeTopologyOperations.destroySubtreeModify(rootNode);
+      });
+   }
+
    public void queueDestroySubtreeModify(HLT subtreeRoot)
    {
       topologyOperationQueue.add(() -> BehaviorTreeTopologyOperations.destroySubtreeModify(subtreeRoot));