Fixing manual task assignment issues

open-robotics/src/main/java/com/openrobotics/controllers/SetupController.java

@@ -796,8 +796,9 @@ private SimulationEngine buildEngineFromSetup() {
         CoordinationPolicy policy = buildCoordinationPolicy();
 
         Dispatcher dispatcher = new Dispatcher();
-        // Seed the dispatcher with the initial rack-to-station workload.
-        if (maxTasks > 0 && map != null) {
+
+        // Seed the dispatcher with the initial rack-to-station workload if not in manual mode
+        if (!isManualMode && maxTasks > 0 && map != null) {
             generateFixedTasks(map, seed, maxTasks, dispatcher);
         }
 

open-robotics/src/main/java/com/openrobotics/controllers/SimulationController.java

@@ -1100,7 +1100,7 @@ private void onViewportMousePressed(MouseEvent e) {
                 }
             } else {
                 cancelDropoffPicking();
-                log("Dropoff assignment cancelled.");
+                log("Dropoff assignment cancelled. Please select a drop off station");
             }
             return;
         }
@@ -1432,7 +1432,7 @@ private void showPropertiesFor(MapEntity entity) {
         xSpinner.setPrefWidth(60);
         ySpinner.setPrefWidth(60);
         xSpinner.valueProperty().addListener((obs, oldVal, newVal) -> {
-            if (newVal == null || oldVal == null) return;
+            if (newVal == null || oldVal == null || newVal == (int) entity.getPosition().getX()) return;
             if (guardEditor("move")) { xSpinner.getValueFactory().setValue(oldVal); return; }
             int targetX = newVal;
             int targetY = (int) entity.getPosition().getY();
@@ -1449,7 +1449,7 @@ private void showPropertiesFor(MapEntity entity) {
             }
         });
         ySpinner.valueProperty().addListener((obs, oldVal, newVal) -> {
-            if (newVal == null || oldVal == null) return;
+            if (newVal == null || oldVal == null || newVal == (int) entity.getPosition().getY()) return;
             if (guardEditor("move")) { ySpinner.getValueFactory().setValue(oldVal); return; }
             int targetX = (int) entity.getPosition().getX();
             int targetY = newVal;
@@ -1545,20 +1545,18 @@ private void showPropertiesFor(MapEntity entity) {
             });
 
             batterySpinner.valueProperty().addListener((obs, oldVal, newVal) -> {
-                if (newVal != null && oldVal != null && !newVal.equals(oldVal)) {
-                    if (guardEditor("change battery")) {
-                        // Revert spinner if editor is locked
+                if (newVal == null || oldVal == null || newVal.floatValue() == robot.getBattery()) return;
+                if (guardEditor("change battery")) {
+                    // Revert spinner if editor is locked
                         Platform.runLater(() -> batterySpinner.getValueFactory().setValue(oldVal));
-                        return;
-                    }
-
+                    return;
+                }
                     float newBat = newVal.floatValue();
                     float oldBat = oldVal.floatValue();
 
                     robot.setBattery(newBat);
-                    drawViewport();
-                    pushAction(new BatteryChangeAction(robot, oldBat, newBat));
-                }
+                drawViewport();
+                pushAction(new BatteryChangeAction(robot, oldBat, newBat));
             });
 
             batteryBox.getChildren().addAll(new Label("Battery:"), batterySpinner);
@@ -1577,30 +1575,54 @@ private void showPropertiesFor(MapEntity entity) {
             if (globalManual) {
                 HBox boxCountBox = new HBox(8);
                 boxCountBox.setAlignment(javafx.geometry.Pos.CENTER_LEFT);
+
                 Spinner<Integer> boxCountSpinner = new Spinner<>(
-                        new SpinnerValueFactory.IntegerSpinnerValueFactory(1, 99, rack.getBoxCount()));
+                        new SpinnerValueFactory.IntegerSpinnerValueFactory(0, 99, rack.getBoxCount()));
                 boxCountSpinner.setPrefWidth(80);
                 boxCountSpinner.setEditable(true);
+
+                // Restrict input to positive integers only (no decimals, no negatives)
+                boxCountSpinner.getEditor().setTextFormatter(new TextFormatter<>(change -> {
+                    if (change.getControlNewText().matches("\\d*")) {
+                        return change;
+                    }
+                    return null; // Reject non-digit characters
+                }));
+
+                // Force spinner to commit text value when the user clicks away
+                boxCountSpinner.getEditor().focusedProperty().addListener((obs, wasFocused, isFocused) -> {
+                    if (!isFocused) {
+                        boxCountSpinner.increment(0);
+                    }
+                });
+
                 boxCountSpinner.valueProperty().addListener((obs, oldV, newV) -> {
-                    if (newV == null || oldV == null || newV.equals(oldV)) return;
+                    if (newV == null || oldV == null || newV.equals(rack.getBoxCount())) return;
+
                     if (guardEditor("change box count")) {
-                        boxCountSpinner.getValueFactory().setValue(oldV);
+                        // Revert spinner if editor is locked
+                        javafx.application.Platform.runLater(() -> boxCountSpinner.getValueFactory().setValue(oldV));
                         return;
                     }
+
                     rack.setBoxCount(newV);
                     persistEditorChanges();
                 });
-                boxCountBox.getChildren().addAll(new Label("Number of boxes:"), boxCountSpinner);
+
+                boxCountBox.getChildren().addAll(new Label("Number of tasks:"), boxCountSpinner);
                 propertiesPanel.getChildren().add(boxCountBox);
 
                 HBox manualBox = new HBox(8);
                 manualBox.setAlignment(javafx.geometry.Pos.CENTER_LEFT);
                 CheckBox manualCheck = new CheckBox("Manual dropoff assignment");
                 manualCheck.setSelected(rack.isManualDropoffAssignment());
+
                 VBox dropoffArrayBox = new VBox(4);
                 dropoffArrayBox.setVisible(rack.isManualDropoffAssignment());
                 dropoffArrayBox.setManaged(rack.isManualDropoffAssignment());
+
                 manualCheck.selectedProperty().addListener((obs, oldV, newV) -> {
+                    if (newV == rack.isManualDropoffAssignment()) return;
                     if (guardEditor("toggle manual assignment")) {
                         manualCheck.setSelected(oldV);
                         return;
@@ -1611,6 +1633,7 @@ private void showPropertiesFor(MapEntity entity) {
                     renderRackDropoffArray(rack, dropoffArrayBox);
                     persistEditorChanges();
                 });
+
                 manualBox.getChildren().add(manualCheck);
                 propertiesPanel.getChildren().add(manualBox);
 
@@ -1945,15 +1968,18 @@ private void onPlay() {
                 } else {
                     generated = com.openrobotics.task.TaskGenerator.generateAutomaticTasks(
                             engine.getMap(), engine.getMaxTasks(), engine.getSeed());
+
+                    // No task assignments could be generated due to invalid map configuration
+                    if (generated.isEmpty()) {
+                        log("\u26a0 No tasks could be generated.");
+                        engine.setSimulationError(SimulationError.INVALID_MAP_CONFIGURATION);
+                        handleSimulationFailure();
+                        return;
+                    }
                 }
                 if (!generated.isEmpty()) {
                     engine.getDispatcher().addTasks(generated);
                     log("Auto-generated " + generated.size() + " tasks from map racks and delivery stations.");
-                } else {
-                    log("\u26a0 No tasks could be generated.");
-                    engine.setSimulationError(SimulationError.INVALID_MAP_CONFIGURATION);
-                    handleSimulationFailure();
-                    return;
                 }
             }
 

open-robotics/src/main/java/com/openrobotics/map/entities/environment/Rack.java

@@ -21,7 +21,7 @@ public class Rack extends MapEntity {
      */
     public Rack(String name, Vector2D position) {
         super(name, position);
-        this.boxCount = 1;
+        this.boxCount = 0;
         this.validDropoffIds = new ArrayList<>();
     }
 
@@ -34,7 +34,7 @@ public Rack(String name, Vector2D position) {
      */
     public Rack(UUID id, String name, Vector2D position) {
         super(id, name, position);
-        this.boxCount = 1;
+        this.boxCount = 0;
         this.validDropoffIds = new ArrayList<>();
     }
 
@@ -47,7 +47,7 @@ public Rack(UUID id, String name, Vector2D position) {
      */
     public void setBoxCount(int boxCount) {
         // a rack always has at least 1 box; 0 would mean nothing to pick up
-        this.boxCount = Math.max(1, boxCount);
+        this.boxCount = Math.max(0, boxCount);
     }
 
     public List<UUID> getValidDropoffIds() { return validDropoffIds; }

open-robotics/src/main/java/com/openrobotics/simulationcore/Dispatcher.java

@@ -76,7 +76,6 @@ public int assignTasks(Robot[] robots) {
             return 0; // there are no tasks available, no assignments are made
         }
 
-        int currentTick = AppState.getEngine().getTickCounter(); // getting the current simulation tick from global app state
         int assignmentCount = 0;
 
         for (Robot robot : robots) {

open-robotics/src/main/java/com/openrobotics/simulationcore/SimulationEngine.java

@@ -484,14 +484,27 @@ public boolean tick() {
             return false;
         }
 
+        // guard against ticking when no tasks were ever added to the dispatcher
+        if (dispatcher.getTotalTasksAdded() == 0) {
+            this.running = false;
+
+            // differentiate between no tasks because of manual assignment (user didn't add any) vs. automatic generation (generation failed)
+            if (manualTaskAssignment) {
+                simulationError = SimulationError.NO_TASKS_ASSIGNED;
+            } else {
+                simulationError = SimulationError.NO_TASKS_GENERATED;
+            }
+
+            return false;
+        }
+
         if (tickCounter >= maxTicks) {
             this.running = false;
             return false;
         }
 
-        // "No configured tasks" is treated as sandbox mode: ticks still run.
-        // Only short-circuit when a workload was actually configured and is now finished.
-        if (dispatcher.getTotalTasksAdded() > 0 && workloadComplete()) {
+        // Check if workload complete before ticking
+        if (workloadComplete()) {
             this.running = false;
 
             SimulationRunRecordBuilder recordBuilder = new SimulationRunRecordBuilder(this);

open-robotics/src/main/java/com/openrobotics/simulationcore/SimulationError.java

@@ -5,7 +5,9 @@ public enum SimulationError {
     NONE("No errors detected. Simulation is running smoothly."),
     ALL_ROBOTS_DEAD("All robots have depleted their batteries. Simulation cannot continue.\nConsider adding more charging stations to the map."),
     NO_ROBOTS_SPAWNED("No robots were spawned in the simulation. Simulation cannot run.\nPlease add robots to the simulation"),
-    INVALID_MAP_CONFIGURATION("The map configuration is invalid. Simulation cannot run.\nEnsure the map has at least one rack and one delivery station.");
+    INVALID_MAP_CONFIGURATION("The map configuration is invalid. Simulation cannot run.\nEnsure the map has at least one rack and one delivery station."),
+    NO_TASKS_ASSIGNED("No tasks were added to the simulation. Simulation cannot run.\nPlease manually add tasks to the simulation by configuring racks on the map."),
+    NO_TASKS_GENERATED("No tasks were generated for the simulation. Simulation cannot continue.\nThere was likely an error with automatic task generation.");
 
     private final String message;
 

open-robotics/src/test/java/com/openrobotics/controllers/SimulationControllerTest.java

@@ -336,18 +336,18 @@ void sync_task_positions_updates_pickup_and_dropoff_references() {
         assertTrue(outliner().getItems().stream().anyMatch(item -> item.contains("(2, 1) → (4, 1)")));
     }
 
-    /** Verifies single-step frame advances simulation tick/progress/status and logs. */
+    /** Verifies single-step frame fails to advance simulation tick/progress/status and logs. */
     @Test
-    void next_frame_with_engine_advances_tick_status_progress_and_console() {
+    void next_frame_with_engine_does_not_advance_tick_status_progress_and_console() {
         loadScreenWith(emptyEngine(), null, 30, 30);
         Label simStatus = installOptionalStatusLabel();
 
         invokeOnFx("onNextFrame", new Class<?>[0]);
 
-        assertEquals("STEPPING", simStatus.getText());
-        assertEquals("TICK 1", tickLabel().getText());
-        assertEquals(0.001, progressBar().getProgress(), 0.0001);
-        assertTrue(consoleText().contains("Step → TICK 1"));
+        assertEquals("FAILURE", simStatus.getText());
+        assertEquals("TICK 0", tickLabel().getText());
+        assertEquals(0.0, progressBar().getProgress(), 0.0001);
+        assertTrue(consoleText().contains("Step → TICK 0"));
     }
 
     /** Verifies completion path updates status/progress without incrementing tick counter. */
@@ -471,7 +471,7 @@ void sidebar_and_console_toggles_collapse_and_restore_split_panes() {
         assertEquals(0.83, consoleSplit.getDividerPositions()[0], 0.08);
     }
 
-    /** Verifies restart with valid engine resets run state and rotates run identifier. */
+    /** Verifies restart with invalid engine resets run state and rotates run identifier. */
     @Test
     void restart_with_engine_resets_tick_progress_status_and_updates_run_id() {
         SimulationEngine engine = emptyEngine();
@@ -480,7 +480,7 @@ void restart_with_engine_resets_tick_progress_status_and_updates_run_id() {
         UUID originalRunId = engine.getRunId();
 
         invokeOnFx("onNextFrame", new Class<?>[0]);
-        assertEquals("TICK 1", tickLabel().getText());
+        assertEquals("TICK 0", tickLabel().getText());
 
         fireButtonByText("↺");
 

open-robotics/src/test/java/com/openrobotics/integration/simulation/ReservationKIntegrationTest.java

@@ -1,6 +1,9 @@
 package com.openrobotics.integration.simulation;
 
+import com.openrobotics.AppState;
 import com.openrobotics.integration.SimulationIntegrationTestSupport;
+import com.openrobotics.logging.Logger;
+import com.openrobotics.logging.LoggerMode;
 import com.openrobotics.map.Map;
 import com.openrobotics.robot.Robot;
 import com.openrobotics.robot.RobotState;
@@ -51,13 +54,20 @@ void reservationKMakesTrailingRobotWaitForLeadRobotsWindow() {
         map.addEntity(leadRobot);
         map.addEntity(trailingRobot);
 
+        Dispatcher dispatcher = new Dispatcher();
+        dispatcher.addTask(trailingTask); // adding task so ticking doesn't fail
+
         SimulationEngine engine = new SimulationEngine(
                 map,
                 new Robot[]{leadRobot, trailingRobot},
-                new Dispatcher(),
+                dispatcher,
                 new ReservationKPolicy(2)
         );
 
+        // Setting global state for logging
+        AppState.setEngine(engine);
+        Logger.setMode(LoggerMode.NO_OP);
+
         engine.tick();
         assertEquals(pos(2, 0), leadRobot.getPosition());
         assertEquals(pos(0, 0), trailingRobot.getPosition());

open-robotics/src/test/java/com/openrobotics/integration/simulation/TrafficRulesIntegrationTest.java

@@ -97,10 +97,13 @@ void trafficRulesKeepsIntersectionExclusiveAcrossTicks() {
                 map.getTile(2, 1)
         ));
 
+        Dispatcher dispatcher = new Dispatcher();
+        dispatcher.addTask(taskA); // adding task so ticking doesn't fail
+
         SimulationEngine engine = new SimulationEngine(
                 map,
                 new Robot[]{robotA, robotB},
-                new Dispatcher(),
+                dispatcher,
                 policy
         );
 

open-robotics/src/test/java/com/openrobotics/map/entities/environment/RackTest.java

@@ -53,14 +53,14 @@ void togglingManualOffPreservesValidDropoffIds() {
     }
 
     /**
-     * Verifies box count setter clamps invalid low values to minimum supported count of one.
+     * Verifies box count setter clamps invalid low values to minimum supported count of zero.
      */
     @Test
-    void boxCountSetterEnforcesMinimumOfOne() {
+    void boxCountSetterEnforcesMinimumOfZero() {
         Rack rack = new Rack("r1", new Vector2D(0, 0));
         rack.setBoxCount(0);
-        assertEquals(1, rack.getBoxCount());
+        assertEquals(0, rack.getBoxCount());
         rack.setBoxCount(-5);
-        assertEquals(1, rack.getBoxCount());
+        assertEquals(0, rack.getBoxCount());
     }
 }