py-trees 2.2.3__tar.gz → 2.4.0__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (44) hide show
  1. {py_trees-2.2.3 → py_trees-2.4.0}/PKG-INFO +52 -83
  2. {py_trees-2.2.3 → py_trees-2.4.0}/README.md +43 -77
  3. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/behaviour.py +12 -10
  4. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/behaviours.py +130 -10
  5. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/blackboard.py +5 -5
  6. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/common.py +6 -6
  7. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/composites.py +39 -29
  8. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/decorators.py +83 -10
  9. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/action.py +1 -1
  10. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/blackboard.py +1 -1
  11. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/blackboard_namespaces.py +1 -1
  12. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/context_switching.py +1 -1
  13. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/dot_graphs.py +1 -1
  14. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/either_or.py +1 -1
  15. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/eternal_guard.py +1 -1
  16. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/lifecycle.py +1 -1
  17. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/logging.py +1 -1
  18. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/pick_up_where_you_left_off.py +1 -1
  19. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/selector.py +1 -1
  20. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/sequence.py +1 -1
  21. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/stewardship.py +1 -1
  22. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/tests.py +1 -1
  23. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/timers.py +1 -1
  24. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/trees.py +18 -11
  25. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/version.py +1 -1
  26. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/visitors.py +1 -1
  27. {py_trees-2.2.3 → py_trees-2.4.0}/pyproject.toml +4 -4
  28. py_trees-2.2.3/setup.py +0 -60
  29. {py_trees-2.2.3 → py_trees-2.4.0}/LICENSE +0 -0
  30. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/__init__.py +0 -0
  31. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/console.py +0 -0
  32. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/README.md +0 -0
  33. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/__init__.py +0 -0
  34. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/blackboard_remappings.py +0 -0
  35. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/demos/display_modes.py +0 -0
  36. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/display.py +0 -0
  37. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/idioms.py +0 -0
  38. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/logging.py +0 -0
  39. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/meta.py +0 -0
  40. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/programs/__init__.py +0 -0
  41. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/programs/render.py +0 -0
  42. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/py.typed +0 -0
  43. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/syntax_highlighting.py +0 -0
  44. {py_trees-2.2.3 → py_trees-2.4.0}/py_trees/utilities.py +0 -0
{py_trees-2.2.3 → py_trees-2.4.0}/PKG-INFO RENAMED
@@ -1,61 +1,65 @@
1
- Metadata-Version: 2.1
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- Name: py-trees
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- Version: 2.2.3
1
+ Metadata-Version: 2.4
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+ Name: py_trees
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+ Version: 2.4.0
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4
  Summary: pythonic implementation of behaviour trees
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- Home-page: https://github.com/splintered-reality/py_trees
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5
  License: BSD
6
+ License-File: LICENSE
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7
  Keywords: py_trees,py-trees,behaviour-trees
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8
  Author: Daniel Stonier
9
9
  Maintainer: Daniel Stonier
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  Maintainer-email: d.stonier@gmail.com
11
- Requires-Python: >=3.8,<4.0
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+ Requires-Python: >=3.9,<4.0
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  Classifier: Environment :: Console
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  Classifier: Intended Audience :: Developers
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  Classifier: License :: OSI Approved :: BSD License
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  Classifier: License :: Other/Proprietary License
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  Classifier: Programming Language :: Python
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  Classifier: Programming Language :: Python :: 3
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- Classifier: Programming Language :: Python :: 3.8
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  Classifier: Programming Language :: Python :: 3.9
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  Classifier: Programming Language :: Python :: 3.10
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  Classifier: Programming Language :: Python :: 3.11
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+ Classifier: Programming Language :: Python :: 3.12
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+ Classifier: Programming Language :: Python :: 3.13
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+ Classifier: Programming Language :: Python :: 3.14
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  Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
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  Classifier: Topic :: Software Development :: Libraries
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  Requires-Dist: pydot (>=1.4)
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  Project-URL: Documentation, https://py-trees.readthedocs.io/en/devel/
28
+ Project-URL: Homepage, https://github.com/splintered-reality/py_trees
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29
  Project-URL: Repository, https://github.com/splintered-reality/py_trees
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30
  Description-Content-Type: text/markdown
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31
 
29
- # Py Trees
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+ # PyTrees
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33
 
31
- [[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)] [[Developers](#developers)]
34
+ [[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)]
32
35
 
33
36
  ----
34
37
 
35
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  ## About
36
39
 
37
- PyTrees is a python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:
40
+ PyTrees is a Python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics.
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+
42
+ Brief feature list:
38
43
 
39
44
  * Behaviours, Decorators, Sequences, Selectors, Parallels and BehaviourTree.
40
45
  * Blackboards for data sharing.
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- * A useful library of behaviours, decorators and idioms.
46
+ * A useful library of behaviours, decorators, and idioms.
42
47
  * Serialise to a dot graph or render to ascii/unicode in a terminal.
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48
  * Tested on Linux and Mac (YMMV with Windows).
44
49
 
45
50
  ## What's New?
46
51
 
47
- * [2023-01-28] The [2.2.x Release][new-2.2.x] is out! Sequences and Selectors with AND without memory.
48
- * [2023-01-28] [Get Started](#getting-started) with py_trees in under 5mins.
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- * [2023-01-28] This is now a `poetry` project with configuration governed by `pyproject.toml`.
50
- * The vestigial `setup.py` is only to assist distribution where [PEP-517](https://peps.python.org/pep-0517/) is not yet well supported.
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+ * [2025-11-13] New `ForEach` decorator.
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+ * [2025-11-13] New `CompareBlackboardVariables` behaviour, with comparison expressions that allow callables.
54
+ * [2025-01-11] Support for Python 3.12 was added, and Python 3.8 was dropped.
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55
 
52
56
  ## Documentation
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57
 
54
- [![devel][docs-devel-image]][docs-devel] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x] [![0.7.x][docs-0.7.x-image]][docs-0.7.x] [![0.6.x][docs-0.6.x-image]][docs-0.6.x]
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+ [![devel][docs-devel-image]][docs-devel] [![2.4.x][docs-2.4.x-image]][docs-2.4.x] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
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59
 
56
60
  ## Getting Started
57
61
 
58
- You can get started on CodeSpaces (with no mismatched environment issues and in under 5mins) [1]:
62
+ You can get started on Codespaces (with no mismatched environment issues and in under 5 minutes) [1]:
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63
 
60
64
  1. Fork the project to your personal account
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  2. Click on Code -> Codespaces -> + Create a Codespace
@@ -67,24 +71,24 @@ You can get started on CodeSpaces (with no mismatched environment issues and in
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71
 
68
72
  # Explore the demos
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73
  (docker) zen@py_trees:/workspaces/py_trees$ poetry shell
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- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>
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+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>
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  py-trees-demo-action-behaviour py-trees-demo-context-switching py-trees-demo-logging
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  py-trees-demo-behaviour-lifecycle py-trees-demo-display-modes py-trees-demo-pick-up-where-you-left-off
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  py-trees-demo-blackboard py-trees-demo-dot-graphs py-trees-demo-selector
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  py-trees-demo-blackboard-namespaces py-trees-demo-either-or py-trees-demo-sequence
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  py-trees-demo-blackboard-remappings py-trees-demo-eternal-guard py-trees-demo-tree-stewardship
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- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard
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+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard
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81
  ...
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- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ exit
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+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ exit
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  # Hack some Code
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  # Run the Formatter, Tests, Linters and Mypy
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  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -l
84
- py38 py310 format check mypy38 mypy310
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+ py310 py312 format check mypy310 mypy312
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  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e format
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90
  ...
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- (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py38
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+ (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py310
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  ...
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  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e check
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  ...
@@ -93,8 +97,8 @@ py38 py310 format check mypy38 mypy310
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  # https://github.com/splintered-reality/py_trees/blob/devel/CONTRIBUTING.md
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98
  ```
95
99
 
96
- [1] All of the above will, of course, work in a local environment if you have `poetry` installed. If you're using `VSCode`
97
- you don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.
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+ [1] All of the above will, of course, work in a local environment if you have `poetry` installed.
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+ If you're using `VSCode` you don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.
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99
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  ## Next Steps
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104
 
@@ -103,7 +107,7 @@ On PyPi:
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  * [py_trees_js](https://pypi.org/project/py-trees-js/)
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  Examples:
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- * [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/release-2.0.x/index.html) - significantly more edifying than the demos, these incrementally walk through the process of building a decision making layer for a robot. These use ROS2 (sparsely), but merely browsing should be enlightening regardless.
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+ * [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/devel/index.html) - significantly more edifying than the demos, these incrementally walk through the process of building a decision making layer for a robot. These use ROS2 (sparsely), but merely browsing should be enlightening regardless.
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108
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  Visualisation:
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  * [py_trees_js](https://github.com/splintered-reality/py_trees_js) - a javascript library for building your own runtime visualisation tool
@@ -114,6 +118,8 @@ Robotics:
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  ## Releases
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121
+ * `2.4.x` - New ForEach decorator, new CompareBlackboardVariables behaviour, and callables in comparison expressions.
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+ * `2.3.x` - Support for Python 3.12 was added, and Python 3.8 was dropped.
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  * `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.
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  * `2.1.x` - Chooser deprecated. API housekeeping.
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  * `2.0.x` - Blackboards V2!
@@ -122,83 +128,38 @@ Robotics:
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  * `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.
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  * `0.y.x` - First open source pre-releases.
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125
- | | Devel | 2.2.x | 2.1.x | 2.0.x | 1.2.x | 0.7.x | 0.6.x |
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- |:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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- | Sources | [![devel][sources-devel-image]][sources-devel] | [![2.1.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] | [![1.2.x][sources-1.2.x-image]][sources-1.2.x] | [![0.7.x][sources-0.7.x-image]][sources-0.7.x] | [![0.6.x][sources-0.6.x-image]][sources-0.6.x]
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- | Compatibility | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-docs] | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 2.7][python27-image]][python27-docs]
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- | CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - |
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- | Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] | [![1.2.x-Docs][rtd-1.2.x-image]][docs-1.2.x] | [![0.7.x-Docs][rtd-0.7.x-image]][docs-0.7.x] | [![0.6.x-Docs][rtd-0.6.x-image]][docs-0.6.x]
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- ## Developers
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- ### Format, Check, MyPy, Test
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- Check against at least one of py38 / py310 [1].
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-
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- ```
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- # Auto-format your code (if using VSCode, install the ufmt extension)
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- $ poetry run tox -e format
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- # Style, Format
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- $ poetry run tox -e check
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+ | | Devel | 2.4.x | 2.3.x | 2.2.x | 2.1.x | 2.0.x |
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+ |:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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+ | Sources | [![devel][sources-devel-image]][sources-devel] | [![2.4.x][sources-2.4.x-image]][sources-2.4.x] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] |
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+ | Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
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+ | CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.4.x-Status][2.4.x-build-status-image]][2.4.x-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - |
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+ | Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.4.x-Docs][rtd-2.4.x-image]][docs-2.4.x] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] |
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- # Type-Check
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- $ poetry run mypy38
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- # Tests
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- $ poetry run tox -e py38
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- ```
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-
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- [1] CI will test against both python versions for you, but should you wish to do so locally, open up two VSCode windows, one with the project opened in the default [py38 devcontainer](.devcontainer) and the other with the [py310 devcontainer](.devcontainer/py310).
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- ### Generate Documentation
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- Generate the docs, view them from `./docs/html` in a browser.
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- ```
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- # Install dependencies
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- $ poetry install --with docs
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- # Build
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- $ poetry run make -C docs html
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- ```
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- ```
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- ### Publish to PyPi
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- ```
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- $ poetry config http-basic.pypi ${POETRY_HTTP_BASIC_PYPI_USERNAME} ${POETRY_HTTP_BASIC_PYPI_PASSWORD}
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- $ poetry publish
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- ```
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  [license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic
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  [license]: LICENSE
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+ [python312-image]: https://img.shields.io/badge/python-3.12-green.svg?style=plastic
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+ [python312-docs]: https://docs.python.org/3.12/
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  [python310-image]: https://img.shields.io/badge/python-3.10-green.svg?style=plastic
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  [python310-docs]: https://docs.python.org/3.10/
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  [python38-image]: https://img.shields.io/badge/python-3.8-green.svg?style=plastic
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  [python38-docs]: https://docs.python.org/3.8/
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  [python36-image]: https://img.shields.io/badge/python-3.6-green.svg?style=plastic
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  [python36-docs]: https://docs.python.org/3.6/
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- [python27-image]: https://img.shields.io/badge/python-2.7-green.svg?style=plastic
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- [python27-docs]: https://docs.python.org/2.7/
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  [devel-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
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+ [2.4.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.4.x
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+ [2.4.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
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+ [2.3.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.3.x
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+ [2.3.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
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  [2.2.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
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198
- [new-2.2.x]: https://github.com/splintered-reality/py_trees/blob/devel/CHANGELOG.rst#22x-2023-01-23---sequences-and-selectors-with-and-without-memory
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-
200
-
201
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  [docs-devel]: http://py-trees.readthedocs.io/
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+ [docs-2.4.x]: http://py-trees.readthedocs.io/en/release-2.4.x/
162
+ [docs-2.3.x]: http://py-trees.readthedocs.io/en/release-2.3.x/
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  [docs-2.2.x]: http://py-trees.readthedocs.io/en/release-2.2.x/
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  [docs-2.1.x]: http://py-trees.readthedocs.io/en/release-2.1.x/
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  [docs-2.0.x]: http://py-trees.readthedocs.io/en/release-2.0.x/
@@ -209,6 +170,8 @@ $ poetry publish
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170
  [docs-0.5.x]: http://docs.ros.org/kinetic/api/py_trees/html/
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211
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  [docs-devel-image]: http://img.shields.io/badge/docs-devel-brightgreen.svg?style=plastic
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+ [docs-2.4.x-image]: http://img.shields.io/badge/docs-2.4.x-brightgreen.svg?style=plastic
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+ [docs-2.3.x-image]: http://img.shields.io/badge/docs-2.3.x-brightgreen.svg?style=plastic
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  [docs-2.2.x-image]: http://img.shields.io/badge/docs-2.2.x-brightgreen.svg?style=plastic
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  [docs-2.0.x-image]: http://img.shields.io/badge/docs-2.0.x-brightgreen.svg?style=plastic
@@ -219,6 +182,8 @@ $ poetry publish
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  [docs-0.5.x-image]: http://img.shields.io/badge/docs-0.5.x-brightgreen.svg?style=plastic
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221
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  [rtd-devel-image]: https://readthedocs.org/projects/py-trees/badge/?version=devel&style=plastic
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+ [rtd-2.4.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.4.x&style=plastic
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+ [rtd-2.3.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.3.x&style=plastic
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  [rtd-2.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.2.x&style=plastic
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  [rtd-2.1.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.1.x&style=plastic
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  [rtd-2.0.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.0.x&style=plastic
@@ -230,6 +195,8 @@ $ poetry publish
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195
  [not-available-docs-image]: http://img.shields.io/badge/docs-n/a-yellow.svg?style=plastic
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232
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  [sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel
198
+ [sources-2.4.x]: https://github.com/splintered-reality/py_trees/tree/release/2.4.x
199
+ [sources-2.3.x]: https://github.com/splintered-reality/py_trees/tree/release/2.3.x
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  [sources-2.2.x]: https://github.com/splintered-reality/py_trees/tree/release/2.2.x
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  [sources-2.1.x]: https://github.com/splintered-reality/py_trees/tree/release/2.1.x
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  [sources-2.0.x]: https://github.com/splintered-reality/py_trees/tree/release/2.0.x
@@ -240,6 +207,8 @@ $ poetry publish
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207
  [sources-0.5.x]: https://github.com/splintered-reality/py_trees/tree/release/0.5.x
241
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242
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  [sources-devel-image]: http://img.shields.io/badge/sources-devel-blue.svg?style=plastic
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+ [sources-2.4.x-image]: http://img.shields.io/badge/sources-2.4.x-blue.svg?style=plastic
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+ [sources-2.3.x-image]: http://img.shields.io/badge/sources-2.3.x-blue.svg?style=plastic
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{py_trees-2.2.3 → py_trees-2.4.0}/README.md RENAMED
@@ -1,33 +1,34 @@
1
- # Py Trees
1
+ # PyTrees
2
2
 
3
- [[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)] [[Developers](#developers)]
3
+ [[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)]
4
4
 
5
5
  ----
6
6
 
7
7
  ## About
8
8
 
9
- PyTrees is a python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:
9
+ PyTrees is a Python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics.
10
+
11
+ Brief feature list:
10
12
 
11
13
  * Behaviours, Decorators, Sequences, Selectors, Parallels and BehaviourTree.
12
14
  * Blackboards for data sharing.
13
- * A useful library of behaviours, decorators and idioms.
15
+ * A useful library of behaviours, decorators, and idioms.
14
16
  * Serialise to a dot graph or render to ascii/unicode in a terminal.
15
17
  * Tested on Linux and Mac (YMMV with Windows).
16
18
 
17
19
  ## What's New?
18
20
 
19
- * [2023-01-28] The [2.2.x Release][new-2.2.x] is out! Sequences and Selectors with AND without memory.
20
- * [2023-01-28] [Get Started](#getting-started) with py_trees in under 5mins.
21
- * [2023-01-28] This is now a `poetry` project with configuration governed by `pyproject.toml`.
22
- * The vestigial `setup.py` is only to assist distribution where [PEP-517](https://peps.python.org/pep-0517/) is not yet well supported.
21
+ * [2025-11-13] New `ForEach` decorator.
22
+ * [2025-11-13] New `CompareBlackboardVariables` behaviour, with comparison expressions that allow callables.
23
+ * [2025-01-11] Support for Python 3.12 was added, and Python 3.8 was dropped.
23
24
 
24
25
  ## Documentation
25
26
 
26
- [![devel][docs-devel-image]][docs-devel] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x] [![0.7.x][docs-0.7.x-image]][docs-0.7.x] [![0.6.x][docs-0.6.x-image]][docs-0.6.x]
27
+ [![devel][docs-devel-image]][docs-devel] [![2.4.x][docs-2.4.x-image]][docs-2.4.x] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
27
28
 
28
29
  ## Getting Started
29
30
 
30
- You can get started on CodeSpaces (with no mismatched environment issues and in under 5mins) [1]:
31
+ You can get started on Codespaces (with no mismatched environment issues and in under 5 minutes) [1]:
31
32
 
32
33
  1. Fork the project to your personal account
33
34
  2. Click on Code -> Codespaces -> + Create a Codespace
@@ -39,24 +40,24 @@ You can get started on CodeSpaces (with no mismatched environment issues and in
39
40
 
40
41
  # Explore the demos
41
42
  (docker) zen@py_trees:/workspaces/py_trees$ poetry shell
42
- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>
43
+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>
43
44
  py-trees-demo-action-behaviour py-trees-demo-context-switching py-trees-demo-logging
44
45
  py-trees-demo-behaviour-lifecycle py-trees-demo-display-modes py-trees-demo-pick-up-where-you-left-off
45
46
  py-trees-demo-blackboard py-trees-demo-dot-graphs py-trees-demo-selector
46
47
  py-trees-demo-blackboard-namespaces py-trees-demo-either-or py-trees-demo-sequence
47
48
  py-trees-demo-blackboard-remappings py-trees-demo-eternal-guard py-trees-demo-tree-stewardship
48
- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard
49
+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard
49
50
  ...
50
- (py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ exit
51
+ (py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ exit
51
52
 
52
53
  # Hack some Code
53
54
 
54
55
  # Run the Formatter, Tests, Linters and Mypy
55
56
  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -l
56
- py38 py310 format check mypy38 mypy310
57
+ py310 py312 format check mypy310 mypy312
57
58
  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e format
58
59
  ...
59
- (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py38
60
+ (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py310
60
61
  ...
61
62
  (docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e check
62
63
  ...
@@ -65,8 +66,8 @@ py38 py310 format check mypy38 mypy310
65
66
  # https://github.com/splintered-reality/py_trees/blob/devel/CONTRIBUTING.md
66
67
  ```
67
68
 
68
- [1] All of the above will, of course, work in a local environment if you have `poetry` installed. If you're using `VSCode`
69
- you don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.
69
+ [1] All of the above will, of course, work in a local environment if you have `poetry` installed.
70
+ If you're using `VSCode` you don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.
70
71
 
71
72
  ## Next Steps
72
73
 
@@ -75,7 +76,7 @@ On PyPi:
75
76
  * [py_trees_js](https://pypi.org/project/py-trees-js/)
76
77
 
77
78
  Examples:
78
- * [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/release-2.0.x/index.html) - significantly more edifying than the demos, these incrementally walk through the process of building a decision making layer for a robot. These use ROS2 (sparsely), but merely browsing should be enlightening regardless.
79
+ * [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/devel/index.html) - significantly more edifying than the demos, these incrementally walk through the process of building a decision making layer for a robot. These use ROS2 (sparsely), but merely browsing should be enlightening regardless.
79
80
 
80
81
  Visualisation:
81
82
  * [py_trees_js](https://github.com/splintered-reality/py_trees_js) - a javascript library for building your own runtime visualisation tool
@@ -86,6 +87,8 @@ Robotics:
86
87
 
87
88
  ## Releases
88
89
 
90
+ * `2.4.x` - New ForEach decorator, new CompareBlackboardVariables behaviour, and callables in comparison expressions.
91
+ * `2.3.x` - Support for Python 3.12 was added, and Python 3.8 was dropped.
89
92
  * `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.
90
93
  * `2.1.x` - Chooser deprecated. API housekeeping.
91
94
  * `2.0.x` - Blackboards V2!
@@ -94,83 +97,38 @@ Robotics:
94
97
  * `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.
95
98
  * `0.y.x` - First open source pre-releases.
96
99
 
97
- | | Devel | 2.2.x | 2.1.x | 2.0.x | 1.2.x | 0.7.x | 0.6.x |
98
- |:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
99
- | Sources | [![devel][sources-devel-image]][sources-devel] | [![2.1.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] | [![1.2.x][sources-1.2.x-image]][sources-1.2.x] | [![0.7.x][sources-0.7.x-image]][sources-0.7.x] | [![0.6.x][sources-0.6.x-image]][sources-0.6.x]
100
- | Compatibility | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-docs] | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 2.7][python27-image]][python27-docs]
101
- | CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - |
102
- | Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] | [![1.2.x-Docs][rtd-1.2.x-image]][docs-1.2.x] | [![0.7.x-Docs][rtd-0.7.x-image]][docs-0.7.x] | [![0.6.x-Docs][rtd-0.6.x-image]][docs-0.6.x]
103
-
104
- ## Developers
105
-
106
- ### Format, Check, MyPy, Test
107
-
108
- Check against at least one of py38 / py310 [1].
109
-
110
- ```
111
- # Auto-format your code (if using VSCode, install the ufmt extension)
112
- $ poetry run tox -e format
113
-
114
- # Style, Format
115
- $ poetry run tox -e check
100
+ | | Devel | 2.4.x | 2.3.x | 2.2.x | 2.1.x | 2.0.x |
101
+ |:---:|:---:|:---:|:---:|:---:|:---:|:---:|
102
+ | Sources | [![devel][sources-devel-image]][sources-devel] | [![2.4.x][sources-2.4.x-image]][sources-2.4.x] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] |
103
+ | Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
104
+ | CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.4.x-Status][2.4.x-build-status-image]][2.4.x-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - |
105
+ | Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.4.x-Docs][rtd-2.4.x-image]][docs-2.4.x] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] |
116
106
 
117
- # Type-Check
118
- $ poetry run mypy38
119
-
120
- # Tests
121
- $ poetry run tox -e py38
122
- ```
123
-
124
- [1] CI will test against both python versions for you, but should you wish to do so locally, open up two VSCode windows, one with the project opened in the default [py38 devcontainer](.devcontainer) and the other with the [py310 devcontainer](.devcontainer/py310).
125
-
126
- ### Generate Documentation
127
-
128
- Generate the docs, view them from `./docs/html` in a browser.
129
-
130
- ```
131
- # Install dependencies
132
- $ poetry install --with docs
133
-
134
- # Build
135
- $ poetry run make -C docs html
136
- ```
137
-
138
- On Doc dependency changes, export the requirements for ReadTheDocs
139
-
140
- ```
141
- $ poetry export -f requirements.txt --with docs -o docs/requirements.txt
142
- ```
143
-
144
- ### Publish to PyPi
145
-
146
- If you have permission to publish on pypi:
147
-
148
- ```
149
- $ poetry config http-basic.pypi ${POETRY_HTTP_BASIC_PYPI_USERNAME} ${POETRY_HTTP_BASIC_PYPI_PASSWORD}
150
- $ poetry publish
151
- ```
152
107
 
153
108
  [license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic
154
109
  [license]: LICENSE
155
110
 
111
+ [python312-image]: https://img.shields.io/badge/python-3.12-green.svg?style=plastic
112
+ [python312-docs]: https://docs.python.org/3.12/
156
113
  [python310-image]: https://img.shields.io/badge/python-3.10-green.svg?style=plastic
157
114
  [python310-docs]: https://docs.python.org/3.10/
158
115
  [python38-image]: https://img.shields.io/badge/python-3.8-green.svg?style=plastic
159
116
  [python38-docs]: https://docs.python.org/3.8/
160
117
  [python36-image]: https://img.shields.io/badge/python-3.6-green.svg?style=plastic
161
118
  [python36-docs]: https://docs.python.org/3.6/
162
- [python27-image]: https://img.shields.io/badge/python-2.7-green.svg?style=plastic
163
- [python27-docs]: https://docs.python.org/2.7/
164
119
 
165
120
  [devel-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg
166
121
  [devel-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
122
+ [2.4.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.4.x
123
+ [2.4.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
124
+ [2.3.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.3.x
125
+ [2.3.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
167
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  [2.2.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.2.x
168
127
  [2.2.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
169
128
 
170
- [new-2.2.x]: https://github.com/splintered-reality/py_trees/blob/devel/CHANGELOG.rst#22x-2023-01-23---sequences-and-selectors-with-and-without-memory
171
-
172
-
173
129
  [docs-devel]: http://py-trees.readthedocs.io/
130
+ [docs-2.4.x]: http://py-trees.readthedocs.io/en/release-2.4.x/
131
+ [docs-2.3.x]: http://py-trees.readthedocs.io/en/release-2.3.x/
174
132
  [docs-2.2.x]: http://py-trees.readthedocs.io/en/release-2.2.x/
175
133
  [docs-2.1.x]: http://py-trees.readthedocs.io/en/release-2.1.x/
176
134
  [docs-2.0.x]: http://py-trees.readthedocs.io/en/release-2.0.x/
@@ -181,6 +139,8 @@ $ poetry publish
181
139
  [docs-0.5.x]: http://docs.ros.org/kinetic/api/py_trees/html/
182
140
 
183
141
  [docs-devel-image]: http://img.shields.io/badge/docs-devel-brightgreen.svg?style=plastic
142
+ [docs-2.4.x-image]: http://img.shields.io/badge/docs-2.4.x-brightgreen.svg?style=plastic
143
+ [docs-2.3.x-image]: http://img.shields.io/badge/docs-2.3.x-brightgreen.svg?style=plastic
184
144
  [docs-2.2.x-image]: http://img.shields.io/badge/docs-2.2.x-brightgreen.svg?style=plastic
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  [docs-2.1.x-image]: http://img.shields.io/badge/docs-2.1.x-brightgreen.svg?style=plastic
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  [docs-2.0.x-image]: http://img.shields.io/badge/docs-2.0.x-brightgreen.svg?style=plastic
@@ -191,6 +151,8 @@ $ poetry publish
191
151
  [docs-0.5.x-image]: http://img.shields.io/badge/docs-0.5.x-brightgreen.svg?style=plastic
192
152
 
193
153
  [rtd-devel-image]: https://readthedocs.org/projects/py-trees/badge/?version=devel&style=plastic
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+ [rtd-2.4.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.4.x&style=plastic
155
+ [rtd-2.3.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.3.x&style=plastic
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  [rtd-2.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.2.x&style=plastic
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  [rtd-2.1.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.1.x&style=plastic
196
158
  [rtd-2.0.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.0.x&style=plastic
@@ -202,6 +164,8 @@ $ poetry publish
202
164
  [not-available-docs-image]: http://img.shields.io/badge/docs-n/a-yellow.svg?style=plastic
203
165
 
204
166
  [sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel
167
+ [sources-2.4.x]: https://github.com/splintered-reality/py_trees/tree/release/2.4.x
168
+ [sources-2.3.x]: https://github.com/splintered-reality/py_trees/tree/release/2.3.x
205
169
  [sources-2.2.x]: https://github.com/splintered-reality/py_trees/tree/release/2.2.x
206
170
  [sources-2.1.x]: https://github.com/splintered-reality/py_trees/tree/release/2.1.x
207
171
  [sources-2.0.x]: https://github.com/splintered-reality/py_trees/tree/release/2.0.x
@@ -212,6 +176,8 @@ $ poetry publish
212
176
  [sources-0.5.x]: https://github.com/splintered-reality/py_trees/tree/release/0.5.x
213
177
 
214
178
  [sources-devel-image]: http://img.shields.io/badge/sources-devel-blue.svg?style=plastic
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+ [sources-2.4.x-image]: http://img.shields.io/badge/sources-2.4.x-blue.svg?style=plastic
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+ [sources-2.3.x-image]: http://img.shields.io/badge/sources-2.3.x-blue.svg?style=plastic
215
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  [sources-2.2.x-image]: http://img.shields.io/badge/sources-2.2.x-blue.svg?style=plastic
216
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  [sources-2.1.x-image]: http://img.shields.io/badge/sources-2.1.x-blue.svg?style=plastic
217
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  [sources-2.0.x-image]: http://img.shields.io/badge/sources-2.0.x-blue.svg?style=plastic
{py_trees-2.2.3 → py_trees-2.4.0}/py_trees/behaviour.py RENAMED
@@ -79,9 +79,9 @@ class Behaviour(abc.ABC):
79
79
  ) # convenience
80
80
  self.status = common.Status.INVALID
81
81
  self.iterator = self.tick()
82
- self.parent: typing.Optional[
83
- Behaviour
84
- ] = None # will get set if a behaviour is added to a composite
82
+ self.parent: typing.Optional[Behaviour] = (
83
+ None # will get set if a behaviour is added to a composite
84
+ )
85
85
  self.children: typing.List[Behaviour] = [] # only set by composite behaviours
86
86
  self.logger = logging.Logger(name)
87
87
  self.feedback_message = "" # useful for debugging, or human readable updates, but not necessary to implement
@@ -146,7 +146,7 @@ class Behaviour(abc.ABC):
146
146
 
147
147
  Args:
148
148
  **kwargs: distribute arguments to this
149
- behaviour and in turn, all of it's children
149
+ behaviour and in turn, all of its children
150
150
 
151
151
  Raises:
152
152
  Exception: if this behaviour has a fault in construction or configuration
@@ -261,7 +261,7 @@ class Behaviour(abc.ABC):
261
261
  ############################################
262
262
 
263
263
  def setup_with_descendants(self) -> None:
264
- """Call setup on this child, it's children (it's children's children, )."""
264
+ """Call setup on this child, its children (its children's children, )."""
265
265
  for child in self.children:
266
266
  for node in child.iterate():
267
267
  node.setup()
@@ -321,7 +321,7 @@ class Behaviour(abc.ABC):
321
321
 
322
322
  def iterate(self, direct_descendants: bool = False) -> typing.Iterator[Behaviour]:
323
323
  """
324
- Iterate over this child and it's children.
324
+ Iterate over this child and its children.
325
325
 
326
326
  This utilises python generators for looping. To traverse the entire tree:
327
327
 
@@ -334,7 +334,7 @@ class Behaviour(abc.ABC):
334
334
  direct_descendants (:obj:`bool`): only yield children one step away from this behaviour.
335
335
 
336
336
  Yields:
337
- :class:`~py_trees.behaviour.Behaviour`: one of it's children
337
+ :class:`~py_trees.behaviour.Behaviour`: one of its children
338
338
  """
339
339
  for child in self.children:
340
340
  if not direct_descendants:
@@ -376,9 +376,11 @@ class Behaviour(abc.ABC):
376
376
  "%s.stop(%s)"
377
377
  % (
378
378
  self.__class__.__name__,
379
- "%s->%s" % (self.status, new_status)
380
- if self.status != new_status
381
- else "%s" % new_status,
379
+ (
380
+ "%s->%s" % (self.status, new_status)
381
+ if self.status != new_status
382
+ else "%s" % new_status
383
+ ),
382
384
  )
383
385
  )
384
386
  self.terminate(new_status)