[composites] Reduce circulation when the parallel node policy is Succ…

…essOnOne (#440)
splintered-reality · Sep 3, 2024 · 7d3d907 · 7d3d907
1 parent 2b7caf2
commit 7d3d907
Showing 1 changed file with 5 additions and 8 deletions.
diff --git a/py_trees/composites.py b/py_trees/composites.py
@@ -731,14 +731,11 @@ def tick(self) -> typing.Iterator[behaviour.Behaviour]:
  new_status = common.Status.SUCCESS
  self.current_child = self.children[-1]
  elif type(self.policy) is common.ParallelPolicy.SuccessOnOne:
- successful = [
- child
- for child in self.children
- if child.status == common.Status.SUCCESS
- ]
- if successful:
- new_status = common.Status.SUCCESS
- self.current_child = successful[-1]
+ for child in reversed(self.children):
+ if child.status == common.Status.SUCCESS:
+ new_status = common.Status.SUCCESS
+ self.current_child = child
+ break
  elif type(self.policy) is common.ParallelPolicy.SuccessOnSelected:
  if all(
  [c.status == common.Status.SUCCESS for c in self.policy.children]