Release Notes

Forthcoming

[blackboard] drop SubBlackboard, it has problems, #249

1.3.3 (2019-10-15)

[blackboard] client Blackboard.unregister_key() method

1.3.2 (2019-10-15)

[blackboard] global Blackboard.clear() method

1.3.1 (2019-10-15)

[blackboard] don't do any copying, just pass handles around, #239
[blackboard] client exists() method, #238
[blackboard] global Blackboard.set() method
[blackboard] client Blackboard.unset() method, #239

1.3.x (2019-10-03)

Breaking API

[decorators] updated EternalGuard to accommodate new blackboard variable tracking mechanisms
[behaviours] blackboard behaviours decoupled - CheckBlackboardVariableExists, WaitForBlackboardVariable
[behaviours] blackboard behaviours decoupled - CheckBlackboardVariableValue, WaitForBlackboardVariableValue
[behaviours] blackboard behaviours dropped use of the largely redundant ClearingPolicy
[visitors] collapsed SnapshotVisitor and WindsOfChangeVisitor functionality, #228

New Features

[blackboard] read/write access configuration for clients on blackboard keys
[blackboard] log the activity on the blackboard
[display] dot graphs now have an option to display blackboard variables
[display] unicode to console the entire blackboard key-value store
[display] unicode to console the blackboard activity stream
[visitors] new DisplaySnapshotVisitor to simplify collection/printing the tree to console, #228

Bugfixes

[infra] only require test html reports on circle ci builds (saves a dependency requirement), #229

1.2.2 (2019-08-06)

[trees] standalone setup() method with timer for use on unmanaged trees, #198
[examples] fix api in skeleton_tree.py, #199

1.2.1 (2019-05-21)

[decorators] StatusToBlackboard reflects the status of it's child to the blackboard, #195
[decorators] EternalGuard decorator that continuously guards a subtree (c.f. Unreal conditions), #195
[idioms] eternal_guard counterpart to the decorator whose conditions are behaviours, #195

1.2.x (2019-04-28)

Breaking API

[trees] removes the curious looking and unused destroy() method, #193
[display] ascii_tree -> ascii_tree/unicode_tree(), no longer subverts the choice depending on your stdout, #192
[display] dot_graph -> dot_tree for consistency with the text tree methods, #192

New Features

[behaviour] shutdown() method to compliment setup(), #193
[decorators] StatusToBlackboard reflects the status of it's child to the blackboard, #195
[decorators] EternalGuard decorator that continuously guards a subtree (c.f. Unreal conditions), #195
[display] xhtml_tree provides an xhtml compatible equivalent to the ascii_tree representation, #192
[idioms] eternal_guard counterpart to the decorator whose conditions are behaviours, #195
[trees] walks the tree calling shutdown() on each node in it's own shutdown() method, #193
[visitors] get a finalise() method called immediately prior to post tick handlers, #191

1.1.0 (2019-03-19)

Breaking API

[display] print_ascii_tree -> ascii_tree, #178.
[display] generate_pydot_graph -> dot_graph, #178.
[trees] tick_tock(sleep_ms, ..) -> tick_tock(period_ms, ...), #182.

New Features

[trees] add missing add_visitor() method
[trees] flexible setup() for children via kwargs
[trees] convenience method for ascii tree debugging
[display] highlight the tip in ascii tree snapshots

Bugfixes

[trees] threaded timers for setup (avoids multiprocessing problems)
[behaviour|composites] bugfix tip behaviour, add tests
[display] correct first indent when non-zero in ascii_tree
[display] apply same formatting to root as children in ascii_tree

1.0.7 (2019-xx-yy)

[display] optional arguments for generate_pydot_graph

1.0.6 (2019-03-06)

[decorators] fix missing root feedback message in ascii graphs

1.0.5 (2019-02-28)

[decorators] fix timeout bug that doesn't respect a child's last tick

1.0.4 (2019-02-26)

[display] drop spline curves, it's buggy with graphviz 2.38

1.0.3 (2019-02-13)

[visitors] winds of change visitor and logging demo

1.0.2 (2019-02-13)

[console] fallbacks for unicode chars when (UTF-8) encoding cannot support them

1.0.1 (2018-02-12)

[trees] don't use multiprocess on setup if not using timeouts

1.0.0 (2019-01-18)

Breaking API

[behaviour] setup() no longer returns a boolean, catch exceptions instead, #143.
[behaviour] setup() no longer takes timeouts, responsibility moved to BehaviourTree, #148.
[decorators] new-style decorators found in py_trees.decorators
[decorators] new-style decorators stop their running child on completion (SUCCESS||FAILURE)
[decorators] old-style decorators in py_trees.meta deprecated

New Features

[blackboard] added a method for clearing the entire blackboard (useful for tests)
[composites] raise TypeError when children's setup methods don't return a bool (common mistake)
[composites] new parallel policies, SuccessOnAll, SuccessOnSelected
[decorators] oneshot policies for activating on completion or successful completion only
[meta] behaviours from functions can now automagically generate names

0.8.x (2018-10-18)

Breaking API

Lower level namespace types no longer exist (PR117), e.g. py_trees.Status -> py_trees.common.Status
Python2 support dropped

New Features

[idioms] 'Pick Up Where You Left Off'
[idioms] 'OneShot'

0.8.0 (2018-10-18)

[infra] shortcuts to types in __init__.py removed (PR117)
[bugfix] python3 rosdeps
[idioms] pick_up_where_you_left_off added

0.7.5 (2018-10-10)

[idioms] oneshot added
[bugfix] properly set/reset parents when replacing/removing children in composites

0.7.0 (2018-09-27)

[announce] python3 only support from this point forward
[announce] now compatible for ros2 projects

0.6.5 (2018-09-19)

[bugfix] pick up missing feedback messages in inverters
[bugfix] eliminate costly/spammy blackboard variable check feedback message

0.6.4 (2018-09-19)

[bugfix] replace awkward newlines with spaces in ascii trees

0.6.3 (2018-09-04)

[bugfix] don't send the parellel's status to running children, invalidate them instead

0.6.2 (2018-08-31)

[bugfix] oneshot now reacts to priority interrupts correctly

0.6.1 (2018-08-20)

[bugfix] oneshot no longer permanently modifies the original class

0.6.0 (2018-05-15)

[infra] python 2/3 compatibility

0.5.10 (2017-06-17)

[meta] add children monkeypatching for composite imposters
[blackboard] check for nested variables in WaitForBlackboard

0.5.9 (2017-03-25)

[docs] bugfix image links and rewrite the motivation

0.5.8 (2017-03-19)

[infra] setup.py tests_require, not test_require

0.5.7 (2017-03-01)

[infra] update maintainer email

0.5.5 (2017-03-01)

[docs] many minor doc updates
[meta] bugfix so that imposter now ticks over composite children
[trees] method for getting the tip of the tree
[programs] py-trees-render program added

0.5.4 (2017-02-22)

[infra] handle pypi/catkin conflicts with install_requires

0.5.2 (2017-02-22)

[docs] disable colour when building
[docs] sidebar headings
[docs] dont require project installation

0.5.1 (2017-02-21)

[infra] pypi package enabled

0.5.0 (2017-02-21)

[ros] components moved to py_trees_ros
[timeout] bugfix to ensure timeout decorator initialises properly
[docs] rolled over with napolean style
[docs] sphinx documentation updated
[imposter] make sure tip() drills down into composites
[demos] re-organised into modules

0.4.0 (2017-01-13)

[trees] add pre/post handlers after setup, just in case setup fails
[introspection] do parent lookups so you can crawl back up a tree
[blackboard] permit init of subscriber2blackboard behaviours
[blackboard] watchers
[timers] better feedback messages
[imposter] ensure stop() directly calls the composited behaviour

0.3.0 (2016-08-25)

failure_is_running decorator (meta).

0.2.0 (2016-06-01)

do terminate properly amongst relevant classes
blackboxes
chooser variant of selectors
bugfix the decorators
blackboard updates on change only
improved dot graph creation
many bugfixes to composites
subscriber behaviours
timer behaviours

0.1.2 (2015-11-16)

one shot sequences
abort() renamed more appropriately to stop()

0.1.1 (2015-10-10)

lots of bugfixing stabilising py_trees for the spain field test
complement decorator for behaviours
dot tree views
ascii tree and tick views
use generators and visitors to more efficiently walk/introspect trees
a first implementation of behaviour trees in python