robokudo.behaviours.run_until

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

RunUntil

Returns py_trees.Status.RUNNING until wait_seconds is reached starting from the first call to update. If update is

Module Contents

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

Bases: 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.

Variables:

• wait_seconds – Number of seconds to wait before succeeding

• reset_on_done – Whether to reset timer after succeeding

• waited_seconds – Accumulated wait time so far

• last_time – Timestamp of last update

wait_seconds = 10

reset_on_done = True

waited_seconds = 0

last_time = None

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.

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

Returns:

SUCCESS if wait_seconds has elapsed, RUNNING otherwise

Return type:

py_trees.common.Status