RUNNING State Does Not Work

[That-Madman]

Exactly what it says in the title. When a Node returns a RUNNING state, it should repeat upon itself until it succeeds. However, it does not, and instead treats a RUNNING State as a finality, not re-calling the Node. This is counter to the behavior typically described in a behavior tree, and counter to how the comments in the code describes the state.

[alan412]

Can you please provide code using the standard (ie, not your fork) showing that it doesn't work? It has worked for ftc16072 and other teams, so I am curious what is different.

Thanks,

Alan

[That-Madman]

Yes, thank you for responding.

My FTC team has been utilizing your Behavior Trees program in this year's repo, and we noticed said issue.

We had been testing it, and found nodes that returned RUNNING did not repeat, leading to the robot infinitely circling and never updating it's position. We checked both our own code, and the RUNNING handling, in independent tests, and found that it appears to be the RUNNING state that was not updating and not a lockup in our code.

We have been using your repository (not the branch I was working on), and we set it up with the instructions you gave at the NC Kickoff.

Thanks,
Alex

[That-Madman]

I may need to push the test class we are using, as it appears the specific one is not currently in the repository

[That-Madman]

I pushed the code finally. The test is under the package org.firstinspires.ftc.teamcode.test and is named TestBehaviorTree.java. The original classes that we found the error in are all subdirectories under the package org.firstinspires.ftc.teamcode.paths.

[That-Madman]

When we tested our trees (under the package org.firstinspires.ftc.teamcode.BehaviorTrees.trees), we found that it would a node once, then become stuck once the Node returned RUNNING. It would not run any of later Nodes, nor would it throw an error.

[That-Madman]

That is at least what appears to be happening from our testing.

[That-Madman]

If you are able to help, we would be thankful.

Thank you.