ReactiveSequence _skipIf issue fix

[ephson24]

Hi Davide,

I fixed the _skipIf issue described in this issue and created two tests: SkippingLogic.RepeatedSkippingReactiveSequence and SkippingLogic.RepeatedNoSkippingReactiveSequence to verify.

PS: The issue is only observable when ticking the tree continuously. E.g Calling tickOnce() inside a while loop. I hope this helps.

[facontidavide]

I will look into this, thanks

[facontidavide]

problem found and fixed. Thanks for taking the time to report this!

[ephson24]

problem found and fixed. Thanks for taking the time to report this!

One more thing I just realized. The issue persists if you have for example an async node as the last child of the ReactiveSequence. I haven't been able to look into it yet but I think it happens when the child returns RUNNING as I am doing in my Continue node.

<BehaviorTree ID="PowerManagerT">
    <ReactiveSequence>
      <Script code=" LOW_BATT:=20.0; isLowBattery:=false "/>
      <CheckLevel deviceType="BATT"
                  percentage="{LOW_BATT}"
                  result="{isLowBattery}"/>
      <SendWarning deviceType="BATT" deviceStatus="{isLowBattery}" _skipIf="!isLowBattery"/>
      <Continue />
    </ReactiveSequence>
  </BehaviorTree>

PS: Also run within a while loop

[facontidavide]

Trying to understand this...

1. Does Continue finally return SUCCESS, after a while?
2. What is exactly the behavior you get and what do you expect to happen instead?

In this logic, EVERY time that Continue returns RUNNING, you should execute Script, CheckLevel and SendWarning (if not skipped).

You can not count the number of tickOnce, because it is unclear how many times Continue will need to be ticked.

Also, keep in mind that ReactiveSequence should have only one async child

[ephson24]

Trying to understand this...

1. Does Continue finally return SUCCESS, after a while?
2. What is exactly the behavior you get and what do you expect to happen instead?

In this logic, EVERY time that Continue returns RUNNING, you should execute Script, CheckLevel and SendWarning (if not skipped).

You can not count the number of tickOnce, because it is unclear how many times Continue will need to be ticked.

Also, keep in mind that ReactiveSequence should have only one async child

1. Continue never returns SUCCESS.
2. The idea is to keep this branch/tree running forever in parallel with the main robot behavior

Yes, Continue is the only Async node in this tree.

In this logic, EVERY time that Continue returns RUNNING, you should execute Script, CheckLevel and SendWarning (if not skipped).

My point exactly: But what happens is, SendWarning (even though skipped because the boolean is false) still runs.

[ephson24]

problem found, I think, it is a bug in SimpleActionNode.

I will

Amazing 🥇 )!! Thanks for your quick response and reaction with regards to this issue.
Is the merge with master gonna happen anytime soon or its best I develop with the 4.1 branch for now?