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Feature/automated behavior testing #464

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Feature/automated behavior testing #464

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87 changes: 52 additions & 35 deletions ...haviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXBehaviorTreeNodeCreationMenu.java
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Original file line number Diff line number Diff line change
Expand Up @@ -140,44 +140,11 @@ public void renderImGuiWidgets(RDXBehaviorTreeNode<?, ?> relativeNode, BehaviorT
ImGui.indent();
for (RDXAvailableBehaviorTreeFile indexedTreeFile : indexedTreeFiles)
{
String textToDisplay = "%s".formatted(indexedTreeFile.getTreeFile().getFileName(),
indexedTreeFile.getNumberOfFramesInWorld(),
indexedTreeFile.getReferenceFrameNames().size());
if (ImGuiTools.textWithUnderlineOnHover(textToDisplay))
if (ImGuiTools.textWithUnderlineOnHover(indexedTreeFile.getTreeFile().getFileName()))
{
if (ImGui.isMouseClicked(ImGuiMouseButton.Left))
{
RDXBehaviorTreeNode<?, ?> loadedNode = null;
try
{
loadedNode = tree.getFileLoader().loadFromFile(indexedTreeFile, topologyOperationQueue);
}
catch (Exception e)
{
LogTools.error("""
Error loading {}.
Please run the JSON sanitizer in debug mode with the NullPointerException breakpoint enabled.
Error: {}
""", textToDisplay, e.getMessage());
}

if (loadedNode != null)
{
RDXBehaviorTreeNode<?, ?> nodeToInsert = loadedNode;

if (tree.getRootNode() == null) // Automatically add a root node if there isn't one
{
nodeToInsert = new RDXBehaviorTreeRootNode(tree.getBehaviorTreeState().getAndIncrementNextID(),
tree.getBehaviorTreeState().getCRDTInfo(),
tree.getBehaviorTreeState().getSaveFileDirectory());
topologyOperationQueue.queueAddAndFreezeNode(loadedNode, nodeToInsert);
}

BehaviorTreeNodeInsertionDefinition<RDXBehaviorTreeNode<?, ?>> insertionDefinition
= BehaviorTreeNodeInsertionDefinition.build(nodeToInsert, tree.getBehaviorTreeState(), tree::setRootNode, relativeNode, insertionType);

complete(insertionDefinition);
}
loadTreeFromFile(relativeNode, insertionType, indexedTreeFile);
}
}

Expand Down Expand Up @@ -216,6 +183,56 @@ public void renderImGuiWidgets(RDXBehaviorTreeNode<?, ?> relativeNode, BehaviorT
}
}

public void loadTreeFromFile(String fileName)
{
for (RDXAvailableBehaviorTreeFile indexedTreeFile : indexedTreeFiles)
{
if (indexedTreeFile.getTreeFile().getFileName().equals(fileName))
{
loadTreeFromFile(null, BehaviorTreeNodeInsertionType.INSERT_ROOT, indexedTreeFile);
}
}

LogTools.error("Failed to load behavior. File not found: {}", fileName);
}

private void loadTreeFromFile(RDXBehaviorTreeNode<?, ?> relativeNode,
BehaviorTreeNodeInsertionType insertionType,
RDXAvailableBehaviorTreeFile indexedTreeFile)
{
RDXBehaviorTreeNode<?, ?> loadedNode = null;
try
{
loadedNode = tree.getFileLoader().loadFromFile(indexedTreeFile, topologyOperationQueue);
}
catch (Exception e)
{
LogTools.error("""
Error loading {}.
Please run the JSON sanitizer in debug mode with the NullPointerException breakpoint enabled.
Error: {}
""", indexedTreeFile.getTreeFile().getFileName(), e.getMessage());
}

if (loadedNode != null)
{
RDXBehaviorTreeNode<?, ?> nodeToInsert = loadedNode;

if (tree.getRootNode() == null) // Automatically add a root node if there isn't one
{
nodeToInsert = new RDXBehaviorTreeRootNode(tree.getBehaviorTreeState().getAndIncrementNextID(),
tree.getBehaviorTreeState().getCRDTInfo(),
tree.getBehaviorTreeState().getSaveFileDirectory());
topologyOperationQueue.queueAddAndFreezeNode(loadedNode, nodeToInsert);
}

BehaviorTreeNodeInsertionDefinition<RDXBehaviorTreeNode<?, ?>> insertionDefinition
= BehaviorTreeNodeInsertionDefinition.build(nodeToInsert, tree.getBehaviorTreeState(), tree::setRootNode, relativeNode, insertionType);

complete(insertionDefinition);
}
}

private void renderNodeCreationClickable(RDXBehaviorTreeNode<?, ?> relativeNode,
BehaviorTreeNodeInsertionType insertionType,
String nodeTypeName,
Expand Down
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