Operator TUI updates when joints are ready.

Author: shamikarim

src/ms_operator/ms_operator/operator_tui.py

@@ -153,6 +153,8 @@ def __init__(self, node: OperatorNode):
             "selected_ik_legs": [],  # last node.selected_ik_legs
             "selected_joints": [],  # last node.selected_joints
             "selected_wheel_joints": [],  # last node.selected_wheel_joints
+            "joint_has_ready": False,
+            "wheel_has_ready": False,
         }
 
         # ───────────── CHECKBOX STORAGE ────────────────────────
@@ -278,10 +280,19 @@ def _refresh(self, loop, _data):
                         cb.set_state(leg in sel)
                     loop.draw_screen()
 
-        # if in joint_select, rebuild if legs changed
         elif mode == "joint_select":
-            if legs != self.state.get("leg_list", []):
+            joint_ready = any(
+                jh.ready.done() and jh.limb_number in self.node.selected_legs
+                for jh in self.node.joint_handlers
+            )
+
+            if (
+                legs != self.state.get("leg_list", [])
+                or joint_ready != self.state.get("joint_has_ready", False)
+            ):
+                # legs changed or ready state changed
                 self.state["leg_list"] = legs
+                self.state["joint_has_ready"] = joint_ready
                 self.rebuild_joint_select(legs)
                 loop.draw_screen()
             else:
@@ -290,7 +301,6 @@ def _refresh(self, loop, _data):
                 )
                 if current != self.state["selected_joints"]:
                     self.state["selected_joints"] = current
-                    # update each tri-state checkbox
                     for (leg, jn), cb in self.joint_checkboxes.items():
                         if (leg, jn) in self.node.selected_joints:
                             cb.set_state(True)
@@ -300,18 +310,26 @@ def _refresh(self, loop, _data):
                             cb.set_state(False)
                     loop.draw_screen()
 
-        # if in wheel_select, rebuild if legs changed
         elif mode == "wheel_select":
-            if legs != self.state.get("leg_list", []):
+            wheel_ready = any(
+                jh.ready.done() and jh.limb_number in self.node.selected_legs
+                for jh in self.node.joint_handlers
+            )
+
+            if (
+                legs != self.state.get("leg_list", [])
+                or wheel_ready != self.state.get("wheel_has_ready", False)
+            ):
                 self.state["leg_list"] = legs
+                self.state["wheel_has_ready"] = wheel_ready
                 self.rebuild_wheel_select(legs)
+                loop.draw_screen()
             else:
                 current = sorted(self.node.selected_wheel_joints) + sorted(
                     self.node.selected_wheel_joints_inv
                 )
                 if current != self.state["selected_wheel_joints"]:
                     self.state["selected_wheel_joints"] = current
-                    # update each tri-state checkbox
                     for (leg, jn), cb in self.joint_checkboxes.items():
                         if (leg, jn) in self.node.selected_wheel_joints:
                             cb.set_state(True)