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Clean up node executor state machine some #2266

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Merged
lamont-granquist merged 1 commit into from
Jun 22, 2026
Merged

Clean up node executor state machine some #2266

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70 changes: 48 additions & 22 deletions MechJeb2/MechJebModuleNodeExecutor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -84,12 +84,11 @@ public void ExecuteAllNodes(object controller)

private void Init()
{
State = States.WARPALIGN;
_direction = Vector3d.zero;
_dvLeft = Vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(Orbit).magnitude;
Core.Thrust.ThrustOff();
Core.Attitude.Users.Add(this);
Core.Thrust.Users.Add(this);
TransitionTo(States.WARPALIGN);
}

public void Abort()
Expand Down Expand Up @@ -194,30 +193,53 @@ public override void OnFixedUpdate()
// note that in principia after our node disappears this value will change to -1
_ignitionUT = CalculateIgnitionUT();

if (VesselState.Time >= _ignitionUT - LeadTime && State != States.BURN)
State = States.LEAD;
UpdateState();
TickState();
}

if (VesselState.Time >= _ignitionUT && Aligned())
State = States.BURN;
private void UpdateState()
{
States desired = DetermineState(State);
if (desired != State) TransitionTo(desired);
}

switch (State)
private States DetermineState(States desired)
{
if (desired == States.WARPALIGN && VesselState.Time >= _ignitionUT - LeadTime)
desired = States.LEAD;

if ((desired == States.WARPALIGN || desired == States.LEAD) && VesselState.Time >= _ignitionUT && Aligned())
desired = States.BURN;

return desired;
}

private void TransitionTo(States next)
{
State = next;
switch (next)
{
case States.WARPALIGN:
StateWarpAlign();
return;
case States.LEAD:
StateLeadTime();
return;
case States.BURN:
StateBurn();
return;
case States.WARPALIGN: OnEnterWarpAlign(); break;
case States.LEAD: OnEnterLead(); break;
case States.BURN: OnEnterBurn(); break;
case States.IDLE: OnEnterIdle(); break;
}
}

private void StateWarpAlign()
private void TickState()
{
Core.Thrust.ThrustOff();
switch (State)
{
case States.WARPALIGN: TickWarpAlign(); break;
case States.LEAD: TickLead(); break;
case States.BURN: TickBurn(); break;
}
}

private void OnEnterWarpAlign() => Core.Thrust.ThrustOff();

private void TickWarpAlign()
{
if (!Autowarp)
{
SetAttitude();
Expand Down Expand Up @@ -248,10 +270,10 @@ private void StateWarpAlign()
SetAttitude();
}

private void StateLeadTime()
{
Core.Thrust.ThrustOff();
private void OnEnterLead() => Core.Thrust.ThrustOff();

private void TickLead()
{
if (!MuUtils.PhysicsRunning())
{
Core.Warp.MinimumWarp();
Expand All @@ -267,7 +289,11 @@ private void StateLeadTime()
DecrementDvLeft();
}

private void StateBurn()
private void OnEnterBurn() { }

private void OnEnterIdle() { }

private void TickBurn()
{
if (!MuUtils.PhysicsRunning())
{
Expand Down
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