robokudo.behaviours.run_until
=============================

.. py:module:: robokudo.behaviours.run_until

.. autoapi-nested-parse::

   Timing behavior for RoboKudo behavior trees.

   This module provides a behavior that runs for a specified duration before
   succeeding. It can be used to:

   * Create timed delays in behavior trees
   * Implement timeout mechanisms
   * Create periodic behaviors with reset capability

   The behavior tracks elapsed time across multiple ticks and supports optional
   automatic reset after completion.



Classes
-------

.. autoapisummary::

   robokudo.behaviours.run_until.RunUntil


Module Contents
---------------

.. py:class:: RunUntil(name='RunUntil', wait_seconds: float = 10, reset_on_done: bool = True)

   Bases: :py:obj:`py_trees.Behaviour`


   Returns py_trees.Status.RUNNING until wait_seconds is reached starting from the first call to update. If update is
   called after the Behaviour waited for wait_seconds or longer py_trees.Status.SUCCESS will be returned.
   If reset_on_done is True this will start over after returning py_trees.Status.SUCCESS once.

   :ivar wait_seconds: Number of seconds to wait before succeeding
   :type wait_seconds: float
   :ivar reset_on_done: Whether to reset timer after succeeding
   :type reset_on_done: bool
   :ivar waited_seconds: Accumulated wait time so far
   :type waited_seconds: float
   :ivar last_time: Timestamp of last update
   :type last_time: float


   .. py:attribute:: wait_seconds
      :value: 10



   .. py:attribute:: reset_on_done
      :value: True



   .. py:attribute:: waited_seconds
      :value: 0



   .. py:attribute:: last_time
      :value: None



   .. py:method:: initialise() -> None

      Reset the behavior's internal timing state.

      Called when the behavior is first ticked and after it completes
      if reset_on_done is True.



   .. py:method:: update() -> py_trees.common.Status

      Update the behavior's elapsed time and check for completion.

      This method:
      * Updates the total elapsed time since initialization
      * Checks if the wait duration has been reached
      * Handles resetting if configured to do so
      * Returns appropriate status based on elapsed time

      :return: SUCCESS if wait_seconds has elapsed, RUNNING otherwise
      :rtype: py_trees.common.Status