[sequences] no memory -> partial memory

Resolves #329.
splintered-reality · Jan 1, 2023 · 3845a9d · 3845a9d
1 parent 617ed97
commit 3845a9d
Show file tree

Hide file tree

Showing 2 changed files with 57 additions and 15 deletions.
diff --git a/py_trees/composites.py b/py_trees/composites.py
@@ -439,15 +439,19 @@ def tick(self):
 
         # initialise
         index = 0
-        if self.status != common.Status.RUNNING or not self.memory:
+        if self.status != common.Status.RUNNING:
             self.current_child = self.children[0] if self.children else None
             for child in self.children:
                 if child.status != common.Status.INVALID:
                     child.stop(common.Status.INVALID)
-            # user specific initialisation
-            self.initialise()
-        else:  # self.memory is True and status is RUNNING
+            self.initialise()  # user specific initialisation
+        elif self.memory and common.Status.RUNNING:
             index = self.children.index(self.current_child)
+        elif not self.memory and common.Status.RUNNING:
+            self.current_child = self.children[0] if self.children else None
+        else:
+            # previous conditional checks should cover all variations
+            raise RuntimeError("Sequence reached an unknown / invalid state")
 
         # customised work
         self.update()
@@ -465,6 +469,12 @@ def tick(self):
                 yield node
                 if node is child and node.status != common.Status.SUCCESS:
                     self.status = node.status
+                    if not self.memory:
+                        # invalidate the remainder of the sequence
+                        # i.e. kill dangling runners
+                        for child in itertools.islice(self.children, index + 1, None):
+                            if child.status != common.Status.INVALID:
+                                child.stop(common.Status.INVALID)
                     yield self
                     return
             try:

diff --git a/tests/test_sequences.py b/tests/test_sequences.py
@@ -38,20 +38,53 @@ def assert_details(text, expected, result):
 # Tests
 ##############################################################################
 
+def test_running_with_no_memory_children_do_not_reset():
+    console.banner('Tick-Running with No Memory - Children Do Not Reset')
+    assert_banner()
+    root = py_trees.composites.Sequence(name="Sequence w/o Memory", memory=False)
+    child_1 = py_trees.behaviours.TickCounter(1)  # R-S
+    child_2 = py_trees.behaviours.Success('Success')
+    root.add_children([child_1, child_2])
+
+    # Expect
+    #   1. R - [R, I]
+    #   2. S - [S, S]  <- NB: first child doesn't reset
+
+    root.tick_once()
+    print(py_trees.display.unicode_tree(root, show_status=True))
+    assert_details("1::Sequence Status", py_trees.common.Status.RUNNING, root.status)
+    assert(root.status == py_trees.common.Status.RUNNING)
+    assert_details("2::Child 1 Status", py_trees.common.Status.RUNNING, child_1.status)
+    assert(child_1.status == py_trees.common.Status.RUNNING)
+    assert_details("2::Child 2 Status", py_trees.common.Status.INVALID, child_2.status)
+    assert(child_2.status == py_trees.common.Status.INVALID)
 
-def test_running_with_no_memory():
-    console.banner('Tick-Running with No Memory')
+    root.tick_once()
+    print(py_trees.display.unicode_tree(root, show_status=True))
+    assert_details("2::Selector Status", py_trees.common.Status.SUCCESS, root.status)
+    assert(root.status == py_trees.common.Status.SUCCESS)
+    assert_details("2::Child 1 Status", py_trees.common.Status.SUCCESS, child_1.status)
+    assert(child_1.status == py_trees.common.Status.SUCCESS)
+    assert_details("2::Child 2 Status", py_trees.common.Status.SUCCESS, child_2.status)
+    assert(child_2.status == py_trees.common.Status.SUCCESS)
+
+def test_running_with_no_memory_invalidate_dangling_runners():
+    console.banner('Tick-Running with No Memory - Invalidate Dangling Runners')
     assert_banner()
     root = py_trees.composites.Sequence(name="Sequence w/o Memory", memory=False)
     child_1 = py_trees.behaviours.StatusSequence(
-        name="Success-Failure",
+        name="Success-Running",
         sequence=[py_trees.common.Status.SUCCESS,
-                  py_trees.common.Status.FAILURE],
+                  py_trees.common.Status.RUNNING],
         eventually=None
-        )
-    child_2 = py_trees.behaviours.Running(name="Running")
+    )
+    child_2 = py_trees.behaviours.Running('Running')
     root.add_children([child_1, child_2])
 
+    # Expect
+    #   1. R - [S, R]
+    #   2. R - [R, I]  <- NB: second child is invalidated
+
     root.tick_once()
     print(py_trees.display.unicode_tree(root, show_status=True))
     assert_details("1::Sequence Status", py_trees.common.Status.RUNNING, root.status)
@@ -63,14 +96,13 @@ def test_running_with_no_memory():
 
     root.tick_once()
     print(py_trees.display.unicode_tree(root, show_status=True))
-    assert_details("2::Selector Status", py_trees.common.Status.FAILURE, root.status)
-    assert(root.status == py_trees.common.Status.FAILURE)
-    assert_details("2::Child 1 Status", py_trees.common.Status.FAILURE, child_1.status)
-    assert(child_1.status == py_trees.common.Status.FAILURE)
+    assert_details("2::Selector Status", py_trees.common.Status.RUNNING, root.status)
+    assert(root.status == py_trees.common.Status.RUNNING)
+    assert_details("2::Child 1 Status", py_trees.common.Status.RUNNING, child_1.status)
+    assert(child_1.status == py_trees.common.Status.RUNNING)
     assert_details("2::Child 2 Status", py_trees.common.Status.INVALID, child_2.status)
     assert(child_2.status == py_trees.common.Status.INVALID)
 
-
 def test_running_with_memory_proceeds():
     # This test should check two things:
     # 1) Skipped higher priorities are set to INVALID