it works

src/api/java/baritone/api/process/IBaritoneProcess.java

@@ -44,4 +44,6 @@ public interface IBaritoneProcess {
     double priority(); // tenor be like
 
     IBaritone associatedWith(); // which bot is this associated with (5000000iq forward thinking)
+
+    String displayName();
 }

src/api/java/baritone/api/process/PathingCommandType.java

@@ -18,10 +18,12 @@
 package baritone.api.process;
 
 public enum PathingCommandType {
-    SET_GOAL_AND_PATH, // if you do this one with a null goal it should continue
+    SET_GOAL_AND_PATH, // self explanatory, if you do this one with a null goal it should continue
-    REQUEST_PAUSE,
 
-    // if you do this one with a null goal it should cancel
+    REQUEST_PAUSE, // this one just pauses. it doesn't change the goal.
-    REVALIDATE_GOAL_AND_PATH, // idkkkkkkk
+
-    FORCE_REVALIDATE_GOAL_AND_PATH // idkkkkkkkkkkkkkkkkkkkkkkkk
+    CANCEL_AND_SET_GOAL, // cancel the current path, and set the goal (regardless of if it's null)
+
+    REVALIDATE_GOAL_AND_PATH, // set the goal, revalidate if cancelOnGoalInvalidation is true, then path. if the goal is null, it will cancel (but only if that setting is true)
+    FORCE_REVALIDATE_GOAL_AND_PATH // set the goal, revalidate current goal (cancel if no longer valid), cancel if the provided goal is null
 }

src/main/java/baritone/Baritone.java

@@ -21,7 +21,6 @@ import baritone.api.BaritoneAPI;
 import baritone.api.IBaritone;
 import baritone.api.Settings;
 import baritone.api.event.listener.IGameEventListener;
-import baritone.api.process.IBaritoneProcess;
 import baritone.behavior.Behavior;
 import baritone.behavior.LookBehavior;
 import baritone.behavior.MemoryBehavior;
@@ -114,8 +113,8 @@ public enum Baritone implements IBaritone {
             followProcess = new FollowProcess(this);
             mineProcess = new MineProcess(this);
             new ExampleBaritoneControl(this);
-            new CustomGoalProcess(this); // very high iq
+            customGoalProcess = new CustomGoalProcess(this); // very high iq
-            new GetToBlockProcess(this);
+            getToBlockProcess = new GetToBlockProcess(this);
         }
         if (BaritoneAutoTest.ENABLE_AUTO_TEST) {
             registerEventListener(BaritoneAutoTest.INSTANCE);
@@ -160,8 +159,12 @@ public enum Baritone implements IBaritone {
         this.registerEventListener(behavior);
     }
 
-    public void registerProcess(IBaritoneProcess process) {
+    public CustomGoalProcess getCustomGoalProcess() {
+        return customGoalProcess;
+    }
 
+    public GetToBlockProcess getGetToBlockProcess() { // very very high iq
+        return getToBlockProcess;
     }
 
     @Override

src/main/java/baritone/behavior/PathingBehavior.java

@@ -52,6 +52,9 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
 
     private Goal goal;
 
+    private boolean safeToCancel;
+    private boolean pauseRequestedLastTick;
+
     private volatile boolean isPathCalcInProgress;
     private final Object pathCalcLock = new Object();
 
@@ -81,7 +84,7 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
     public void onTick(TickEvent event) {
         dispatchEvents();
         if (event.getType() == TickEvent.Type.OUT) {
-            cancel();
+            secretInternalSegmentCancel();
             return;
         }
         tickPath();
@@ -89,10 +92,17 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
     }
 
     private void tickPath() {
+        baritone.getPathingControlManager().doTheThingWithTheStuff();
+        if (pauseRequestedLastTick && safeToCancel) {
+            pauseRequestedLastTick = false;
+            baritone.getInputOverrideHandler().clearAllKeys();
+            BlockBreakHelper.stopBreakingBlock();
+            return;
+        }
         if (current == null) {
             return;
         }
-        boolean safe = current.onTick();
+        safeToCancel = current.onTick();
         synchronized (pathPlanLock) {
             if (current.failed() || current.finished()) {
                 current = null;
@@ -134,7 +144,7 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
                 return;
             }
             // at this point, we know current is in progress
-            if (safe && next != null && next.snipsnapifpossible()) {
+            if (safeToCancel && next != null && next.snipsnapifpossible()) {
                 // a movement just ended; jump directly onto the next path
                 logDebug("Splicing into planned next path early...");
                 queuePathEvent(PathEvent.SPLICING_ONTO_NEXT_EARLY);
@@ -191,13 +201,13 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
         return Optional.of(current.getPath().ticksRemainingFrom(current.getPosition()));
     }
 
-    public void setGoal(Goal goal) {
+    public void secretInternalSetGoal(Goal goal) {
         this.goal = goal;
     }
 
-    public boolean setGoalAndPath(Goal goal) {
+    public boolean secretInternalSetGoalAndPath(Goal goal) {
-        setGoal(goal);
+        secretInternalSetGoal(goal);
-        return path();
+        return secretInternalPath();
     }
 
     @Override
@@ -225,22 +235,40 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
         return this.current != null;
     }
 
+    public boolean isSafeToCancel() {
+        return current == null || safeToCancel;
+    }
+
+    public void requestPause() {
+        pauseRequestedLastTick = true;
+    }
+
+    public boolean cancelSegmentIfSafe() {
+        if (isSafeToCancel()) {
+            secretInternalSegmentCancel();
+            return true;
+        }
+        return false;
+    }
+
     @Override
     public void cancelEverything() {
-
+        secretInternalSegmentCancel();
+        baritone.getPathingControlManager().cancelEverything();
     }
 
     // just cancel the current path
-    public void cancel() {
+    public void secretInternalSegmentCancel() {
         queuePathEvent(PathEvent.CANCELED);
         current = null;
         next = null;
-        Baritone.INSTANCE.getInputOverrideHandler().clearAllKeys();
+        baritone.getInputOverrideHandler().clearAllKeys();
         AbstractNodeCostSearch.getCurrentlyRunning().ifPresent(AbstractNodeCostSearch::cancel);
         BlockBreakHelper.stopBreakingBlock();
     }
 
     public void forceCancel() { // NOT exposed on public api
+        cancelEverything();
         isPathCalcInProgress = false;
     }
 
@@ -249,7 +277,7 @@ public final class PathingBehavior extends Behavior implements IPathingBehavior,
      *
      * @return true if this call started path calculation, false if it was already calculating or executing a path
      */
-    public boolean path() {
+    public boolean secretInternalPath() {
         if (goal == null) {
             return false;
         }

src/main/java/baritone/process/CustomGoalProcess.java

@@ -22,8 +22,11 @@ import baritone.api.pathing.goals.Goal;
 import baritone.api.process.ICustomGoalProcess;
 import baritone.api.process.PathingCommand;
 import baritone.api.process.PathingCommandType;
+import baritone.pathing.calc.AbstractNodeCostSearch;
 import baritone.utils.BaritoneProcessHelper;
 
+import java.util.Objects;
+
 /**
  * As set by ExampleBaritoneControl or something idk
  *
@@ -31,35 +34,72 @@ import baritone.utils.BaritoneProcessHelper;
  */
 public class CustomGoalProcess extends BaritoneProcessHelper implements ICustomGoalProcess {
     private Goal goal;
-    private boolean active;
+    private State state;
+    private int ticksExecuting;
 
     public CustomGoalProcess(Baritone baritone) {
-        super(baritone);
+        super(baritone, 3);
     }
 
     @Override
     public void setGoal(Goal goal) {
         this.goal = goal;
+        state = State.GOAL_SET;
     }
 
     @Override
     public void path() {
-        active = true;
+        if (goal == null) {
+            goal = baritone.getPathingBehavior().getGoal();
+        }
+        state = State.PATH_REQUESTED;
+    }
+
+    private enum State {
+        NONE,
+        GOAL_SET,
+        PATH_REQUESTED,
+        EXECUTING,
+
     }
 
     @Override
     public boolean isActive() {
-        return active;
+        return state != State.NONE;
     }
 
     @Override
     public PathingCommand onTick() {
-        active = false; // only do this once
+        switch (state) {
-        return new PathingCommand(goal, PathingCommandType.SET_GOAL_AND_PATH);
+            case GOAL_SET:
+                if (!baritone.getPathingBehavior().isPathing() && Objects.equals(baritone.getPathingBehavior().getGoal(), goal)) {
+                    state = State.NONE;
+                }
+                return new PathingCommand(goal, PathingCommandType.CANCEL_AND_SET_GOAL);
+            case PATH_REQUESTED:
+                PathingCommand ret = new PathingCommand(goal, PathingCommandType.SET_GOAL_AND_PATH);
+                state = State.EXECUTING;
+                ticksExecuting = 0;
+                return ret;
+            case EXECUTING:
+                if (ticksExecuting++ > 2 && !baritone.getPathingBehavior().isPathing() && !AbstractNodeCostSearch.getCurrentlyRunning().isPresent()) {
+                    onLostControl();
+                }
+                return new PathingCommand(goal, PathingCommandType.SET_GOAL_AND_PATH);
+            default:
+                throw new IllegalStateException();
+        }
     }
 
     @Override
     public void onLostControl() {
-        active = false;
+        state = State.NONE;
+        goal = null;
+        ticksExecuting = 0;
+    }
+
+    @Override
+    public String displayName() {
+        return "Custom Goal " + goal;
     }
 }

src/main/java/baritone/process/FollowProcess.java

@@ -18,9 +18,9 @@
 package baritone.process;
 
 import baritone.Baritone;
-import baritone.api.process.IFollowProcess;
 import baritone.api.pathing.goals.GoalNear;
 import baritone.api.pathing.goals.GoalXZ;
+import baritone.api.process.IFollowProcess;
 import baritone.api.process.PathingCommand;
 import baritone.api.process.PathingCommandType;
 import baritone.utils.BaritoneProcessHelper;
@@ -37,7 +37,7 @@ public final class FollowProcess extends BaritoneProcessHelper implements IFollo
     private Entity following;
 
     public FollowProcess(Baritone baritone) {
-        super(baritone);
+        super(baritone, 1);
     }
 
     @Override
@@ -63,6 +63,11 @@ public final class FollowProcess extends BaritoneProcessHelper implements IFollo
         following = null;
     }
 
+    @Override
+    public String displayName() {
+        return "Follow " + following;
+    }
+
     @Override
     public void follow(Entity entity) {
         this.following = entity;

src/main/java/baritone/process/GetToBlockProcess.java

@@ -38,7 +38,7 @@ public class GetToBlockProcess extends BaritoneProcessHelper implements IGetToBl
     int tickCount = 0;
 
     public GetToBlockProcess(Baritone baritone) {
-        super(baritone);
+        super(baritone, 2);
     }
 
     @Override
@@ -67,6 +67,9 @@ public class GetToBlockProcess extends BaritoneProcessHelper implements IGetToBl
             Baritone.INSTANCE.getExecutor().execute(this::rescan);
         }
         Goal goal = new GoalComposite(knownLocations.stream().map(GoalGetToBlock::new).toArray(Goal[]::new));
+        if (goal.isInGoal(playerFeet())) {
+            onLostControl();
+        }
         return new PathingCommand(goal, PathingCommandType.SET_GOAL_AND_PATH);
     }
 
@@ -76,6 +79,11 @@ public class GetToBlockProcess extends BaritoneProcessHelper implements IGetToBl
         knownLocations = null;
     }
 
+    @Override
+    public String displayName() {
+        return "Get To Block " + gettingTo;
+    }
+
     private void rescan() {
         knownLocations = MineProcess.searchWorld(Collections.singletonList(gettingTo), 64);
     }

src/main/java/baritone/process/MineProcess.java

@@ -57,7 +57,7 @@ public final class MineProcess extends BaritoneProcessHelper implements IMinePro
     private int tickCount;
 
     public MineProcess(Baritone baritone) {
-        super(baritone);
+        super(baritone, 0);
     }
 
     @Override
@@ -79,7 +79,7 @@ public final class MineProcess extends BaritoneProcessHelper implements IMinePro
         }
         int mineGoalUpdateInterval = Baritone.settings().mineGoalUpdateInterval.get();
         if (mineGoalUpdateInterval != 0 && tickCount++ % mineGoalUpdateInterval == 0) { // big brain
-            Baritone.INSTANCE.getExecutor().execute(this::rescan);
+            baritone.getExecutor().execute(this::rescan);
         }
         if (Baritone.settings().legitMine.get()) {
             addNearby();
@@ -99,6 +99,11 @@ public final class MineProcess extends BaritoneProcessHelper implements IMinePro
         mine(0, (Block[]) null);
     }
 
+    @Override
+    public String displayName() {
+        return "Mine " + mining;
+    }
+
     private Goal updateGoal() {
         List<BlockPos> locs = knownOreLocations;
         if (!locs.isEmpty()) {
@@ -115,7 +120,7 @@ public final class MineProcess extends BaritoneProcessHelper implements IMinePro
         // only in non-Xray mode (aka legit mode) do we do this
         if (branchPoint == null) {
             int y = Baritone.settings().legitMineYLevel.get();
-            if (!associatedWith().getPathingBehavior().isPathing() && playerFeet().y == y) {
+            if (!baritone.getPathingBehavior().isPathing() && playerFeet().y == y) {
                 // cool, path is over and we are at desired y
                 branchPoint = playerFeet();
             } else {

src/main/java/baritone/utils/BaritoneAutoTest.java

@@ -105,8 +105,7 @@ public class BaritoneAutoTest implements AbstractGameEventListener, Helper {
             }
 
             // Setup Baritone's pathing goal and (if needed) begin pathing
-            Baritone.INSTANCE.getPathingBehavior().setGoal(GOAL);
+            Baritone.INSTANCE.getCustomGoalProcess().setGoalAndPath(GOAL);
-            Baritone.INSTANCE.getPathingBehavior().path();
 
             // If we have reached our goal, print a message and safely close the game
             if (GOAL.isInGoal(playerFeet())) {

src/main/java/baritone/utils/BaritoneProcessHelper.java

@@ -23,7 +23,7 @@ import baritone.api.process.IBaritoneProcess;
 public abstract class BaritoneProcessHelper implements IBaritoneProcess, Helper {
     public static final double DEFAULT_PRIORITY = 0;
 
-    private final Baritone baritone;
+    protected final Baritone baritone;
     private final double priority;
 
     public BaritoneProcessHelper(Baritone baritone) {

src/main/java/baritone/utils/ExampleBaritoneControl.java

@@ -33,6 +33,7 @@ import baritone.cache.WorldProvider;
 import baritone.pathing.calc.AbstractNodeCostSearch;
 import baritone.pathing.movement.Movement;
 import baritone.pathing.movement.Moves;
+import baritone.process.CustomGoalProcess;
 import net.minecraft.block.Block;
 import net.minecraft.client.multiplayer.ChunkProviderClient;
 import net.minecraft.entity.Entity;
@@ -99,6 +100,8 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
     public boolean runCommand(String msg0) {
         String msg = msg0.toLowerCase(Locale.US).trim(); // don't reassign the argument LOL
         PathingBehavior pathingBehavior = baritone.getPathingBehavior();
+        PathingControlManager pathControl = baritone.getPathingControlManager();
+        CustomGoalProcess CGPgrey = baritone.getCustomGoalProcess();
         List<Settings.Setting<Boolean>> toggleable = Baritone.settings().getAllValuesByType(Boolean.class);
         for (Settings.Setting<Boolean> setting : toggleable) {
             if (msg.equalsIgnoreCase(setting.getName())) {
@@ -186,21 +189,19 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                 logDirect("unable to parse integer " + ex);
                 return true;
             }
-            pathingBehavior.setGoal(goal);
+            CGPgrey.setGoal(goal);
             logDirect("Goal: " + goal);
             return true;
         }
         if (msg.equals("path")) {
-            if (!pathingBehavior.path()) {
+            if (pathingBehavior.getGoal() == null) {
-                if (pathingBehavior.getGoal() == null) {
+                logDirect("No goal.");
-                    logDirect("No goal.");
+            } else if (pathingBehavior.getGoal().isInGoal(playerFeet())) {
-                } else {
+                logDirect("Already in goal");
-                    if (pathingBehavior.getGoal().isInGoal(playerFeet())) {
+            } else if (pathingBehavior.isPathing()) {
-                        logDirect("Already in goal");
+                logDirect("Currently executing a path. Please cancel it first.");
-                    } else {
+            } else {
-                        logDirect("Currently executing a path. Please cancel it first.");
+                CGPgrey.path();
-                    }
-                }
             }
             return true;
         }
@@ -222,21 +223,20 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
             return true;
         }
         if (msg.equals("axis")) {
-            pathingBehavior.setGoal(new GoalAxis());
+            CGPgrey.setGoalAndPath(new GoalAxis());
-            pathingBehavior.path();
             return true;
         }
         if (msg.equals("cancel") || msg.equals("stop")) {
             baritone.getMineProcess().cancel();
             baritone.getFollowProcess().cancel();
-            pathingBehavior.cancel();
+            pathingBehavior.cancelEverything();
             logDirect("ok canceled");
             return true;
         }
         if (msg.equals("forcecancel")) {
             baritone.getMineProcess().cancel();
             baritone.getFollowProcess().cancel();
-            pathingBehavior.cancel();
+            pathingBehavior.cancelEverything();
             AbstractNodeCostSearch.forceCancel();
             pathingBehavior.forceCancel();
             logDirect("ok force canceled");
@@ -259,15 +259,12 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                 logDirect("Inverting goal of player feet");
                 runAwayFrom = playerFeet();
             }
-            pathingBehavior.setGoal(new GoalRunAway(1, runAwayFrom) {
+            CGPgrey.setGoalAndPath(new GoalRunAway(1, runAwayFrom) {
                 @Override
                 public boolean isInGoal(int x, int y, int z) {
                     return false;
                 }
             });
-            if (!pathingBehavior.path()) {
-                logDirect("Currently executing a path. Please cancel it first.");
-            }
             return true;
         }
         if (msg.startsWith("follow")) {
@@ -337,7 +334,7 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
         if (msg.startsWith("thisway")) {
             try {
                 Goal goal = GoalXZ.fromDirection(playerFeetAsVec(), player().rotationYaw, Double.parseDouble(msg.substring(7).trim()));
-                pathingBehavior.setGoal(goal);
+                CGPgrey.setGoal(goal);
                 logDirect("Goal: " + goal);
             } catch (NumberFormatException ex) {
                 logDirect("Error unable to parse '" + msg.substring(7).trim() + "' to a double.");
@@ -406,13 +403,7 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                         return true;
                     }
                 } else {
-                    List<BlockPos> locs = baritone.getMineProcess().searchWorld(Collections.singletonList(block), 64);
+                    baritone.getGetToBlockProcess().getToBlock(block);
-                    if (locs.isEmpty()) {
-                        logDirect("No locations for " + mining + " known, cancelling");
-                        return true;
-                    }
-                    pathingBehavior.setGoal(new GoalComposite(locs.stream().map(GoalGetToBlock::new).toArray(Goal[]::new)));
-                    pathingBehavior.path();
                     return true;
                 }
             } else {
@@ -423,10 +414,7 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                 }
             }
             Goal goal = new GoalBlock(waypoint.getLocation());
-            pathingBehavior.setGoal(goal);
+            CGPgrey.setGoalAndPath(goal);
-            if (!pathingBehavior.path() && !goal.isInGoal(playerFeet())) {
-                logDirect("Currently executing a path. Please cancel it first.");
-            }
             return true;
         }
         if (msg.equals("spawn") || msg.equals("bed")) {
@@ -436,10 +424,10 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                 // for some reason the default spawnpoint is underground sometimes
                 Goal goal = new GoalXZ(spawnPoint.getX(), spawnPoint.getZ());
                 logDirect("spawn not saved, defaulting to world spawn. set goal to " + goal);
-                pathingBehavior.setGoal(goal);
+                CGPgrey.setGoalAndPath(goal);
             } else {
-                Goal goal = new GoalBlock(waypoint.getLocation());
+                Goal goal = new GoalGetToBlock(waypoint.getLocation());
-                pathingBehavior.setGoal(goal);
+                CGPgrey.setGoalAndPath(goal);
                 logDirect("Set goal to most recent bed " + goal);
             }
             return true;
@@ -455,8 +443,7 @@ public class ExampleBaritoneControl extends Behavior implements Helper {
                 logDirect("home not saved");
             } else {
                 Goal goal = new GoalBlock(waypoint.getLocation());
-                pathingBehavior.setGoal(goal);
+                CGPgrey.setGoalAndPath(goal);
-                pathingBehavior.path();
                 logDirect("Going to saved home " + goal);
             }
             return true;

src/main/java/baritone/utils/PathingControlManager.java

@@ -21,6 +21,7 @@ import baritone.Baritone;
 import baritone.api.pathing.goals.Goal;
 import baritone.api.process.IBaritoneProcess;
 import baritone.api.process.PathingCommand;
+import baritone.behavior.PathingBehavior;
 import baritone.pathing.path.PathExecutor;
 import net.minecraft.util.math.BlockPos;
 
@@ -39,43 +40,51 @@ public class PathingControlManager {
     }
 
     public void registerProcess(IBaritoneProcess process) {
+        process.onLostControl(); // make sure it's reset
         processes.add(process);
     }
 
+    public void cancelEverything() {
+        for (IBaritoneProcess proc : processes) {
+            proc.onLostControl();
+            if (proc.isActive() && !proc.isTemporary()) { // it's okay for a temporary thing (like combat pause) to maintain control even if you say to cancel
+                // but not for a non temporary thing
+                throw new IllegalStateException(proc.displayName());
+            }
+        }
+    }
+
     public void doTheThingWithTheStuff() {
         PathingCommand cmd = doTheStuff();
         if (cmd == null) {
-            baritone.getPathingBehavior().cancel();
             return;
         }
-
+        PathingBehavior p = baritone.getPathingBehavior();
         switch (cmd.commandType) {
             case REQUEST_PAUSE:
-                // idk
+                p.requestPause();
-                // ask pathingbehavior if its safe
+                break;
+            case CANCEL_AND_SET_GOAL:
+                p.secretInternalSetGoal(cmd.goal);
+                p.cancelSegmentIfSafe();
+                break;
             case FORCE_REVALIDATE_GOAL_AND_PATH:
-                if (cmd.goal == null) {
+                p.secretInternalSetGoalAndPath(cmd.goal);
-                    baritone.getPathingBehavior().cancel(); // todo only if its safe
+                if (cmd.goal == null || revalidateGoal(cmd.goal)) {
-                    return;
+                    // pwnage
-                }
+                    p.cancelSegmentIfSafe();
-                // pwnage
-                baritone.getPathingBehavior().setGoal(cmd.goal);
-                if (revalidateGoal(cmd.goal)) {
-                    baritone.getPathingBehavior().cancel(); // todo only if its safe
                 }
+                break;
             case REVALIDATE_GOAL_AND_PATH:
-                if (cmd.goal == null) {
+                p.secretInternalSetGoalAndPath(cmd.goal);
-                    baritone.getPathingBehavior().cancel(); // todo only if its safe
+                if (Baritone.settings().cancelOnGoalInvalidation.get() && (cmd.goal == null || revalidateGoal(cmd.goal))) {
-                    return;
+                    p.cancelSegmentIfSafe();
-                }
-                baritone.getPathingBehavior().setGoal(cmd.goal);
-                if (Baritone.settings().cancelOnGoalInvalidation.get() && revalidateGoal(cmd.goal)) {
-                    baritone.getPathingBehavior().cancel(); // todo only if its safe
                 }
+                break;
             case SET_GOAL_AND_PATH:
                 // now this i can do
                 if (cmd.goal != null) {
-                    baritone.getPathingBehavior().setGoalAndPath(cmd.goal);
+                    baritone.getPathingBehavior().secretInternalSetGoalAndPath(cmd.goal);
                 }
                 // breaks are for wusses!!!!
         }
@@ -111,11 +120,12 @@ public class PathingControlManager {
                 exec = proc.onTick();
                 if (exec == null) {
                     if (proc.isActive()) {
-                        throw new IllegalStateException(proc + "");
+                        throw new IllegalStateException(proc.displayName());
                     }
                     proc.onLostControl();
                     continue;
                 }
+                System.out.println("Executing command " + exec.commandType + " " + exec.goal + " from " + proc.displayName());
                 found = true;
                 cancelOthers = !proc.isTemporary();
             }