robokudo.tree_components.better_parallel
========================================

.. py:module:: robokudo.tree_components.better_parallel

.. autoapi-nested-parse::

   Enhanced parallel behavior tree components.

   This module provides enhanced parallel behavior tree components that improve upon
   the standard py_trees parallel implementation. It supports:

   * Configurable success policies
   * Synchronization options
   * Child status management
   * Improved interrupt handling

   The module is primarily used for:

   * Complex parallel task execution
   * Synchronized behavior coordination
   * Robust failure handling



Classes
-------

.. autoapisummary::

   robokudo.tree_components.better_parallel.ParallelPolicy
   robokudo.tree_components.better_parallel.Parallel


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

.. py:class:: ParallelPolicy

   Bases: :py:obj:`object`


   Configurable policies for parallel behavior execution.

   This class provides policy configurations that determine how parallel
   behaviors complete based on their children's status.

   :ivar synchronise: Whether to synchronize child execution
   :type synchronise: bool


   .. py:class:: Base(synchronise=False)

      Bases: :py:obj:`object`


      Base class for parallel policies.

      .. warning::
         Should never be used directly. Use derived policy classes instead.

      :ivar synchronise: Whether to stop ticking successful children
      :type synchronise: bool


      .. py:attribute:: synchronise
         :value: False




   .. py:class:: SuccessOnAll(synchronise=True)

      Bases: :py:obj:`Base`


      Policy requiring all children to succeed.

      Returns SUCCESS only when each child returns SUCCESS. With synchronization,
      successful children are skipped until all succeed or one fails.

      :ivar synchronise: Whether to stop ticking successful children
      :type synchronise: bool



   .. py:class:: SuccessOnOne

      Bases: :py:obj:`Base`


      Policy requiring only one child to succeed.

      Returns SUCCESS when at least one child succeeds and others are RUNNING.

      :ivar synchronise: Always False for this policy
      :type synchronise: bool



   .. py:class:: SuccessOnSelected(children, synchronise=True)

      Bases: :py:obj:`Base`


      Policy requiring specific children to succeed.

      Returns SUCCESS when all specified children succeed. With synchronization,
      successful children are skipped until all specified succeed or one fails.

      :ivar synchronise: Whether to stop ticking successful children
      :type synchronise: bool
      :ivar children: List of children that must succeed
      :type children: list


      .. py:attribute:: children



.. py:class:: Parallel

   Bases: :py:obj:`py_trees.composites.Parallel`


   Enhanced parallel behavior tree node.

   This class extends py_trees.composites.Parallel with:

   * Improved policy handling
   * Better child status management
   * Proper interrupt propagation

   .. note::
      Children are ticked in sequence but may run concurrently.


   .. py:method:: tick()

      Tick all children according to policy.

      This method:
      * Initializes if not running
      * Ticks each child according to policy
      * Updates status based on children and policy
      * Handles interrupts for running children

      :yield: Reference to self or children during traversal
      :rtype: :class:`~py_trees.behaviour.Behaviour`