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Parallel should invalidate when priority interrupted #285

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merged 3 commits into from
Mar 25, 2020
Merged

Parallel should invalidate when priority interrupted #285

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dc220ae
[composites] paralell bugfix to invalidate correctly
stonier Mar 25, 2020
cb33a16
changelog
stonier Mar 25, 2020
4a9b800
changelo
stonier Mar 25, 2020
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2 changes: 1 addition & 1 deletion CHANGELOG.rst
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Expand Up @@ -3,7 +3,7 @@ Release Notes

Forthcoming
-----------
* ...
* [composites] paralell bugfix to invalidate correctly, `#285 <https://github.com/splintered-reality/py_trees/pull/285>`_

2.0.12 (2020-03-10)
-------------------
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6 changes: 5 additions & 1 deletion py_trees/composites.py
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Expand Up @@ -647,10 +647,14 @@ def stop(self, new_status: common.Status=Status.INVALID):
Args:
new_status : the composite is transitioning to this new status
"""
# clean up dangling (running) children
for child in self.children:
if child.status == common.Status.RUNNING:
# interrupt it (exactly as if it was interrupted by a higher priority)
# interrupt it exactly as if it was interrupted by a higher priority
child.stop(common.Status.INVALID)
# only nec. thing here is to make sure the status gets set to INVALID if
# it was a higher priority interrupt (new_status == INVALID)
Composite.stop(self, new_status)

@property
def current_child(self):
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