From f10d3d540a70e9752e374f58155fc3388b252bbc Mon Sep 17 00:00:00 2001
From: yunyv <62236062+yunyv@users.noreply.github.com>
Date: Sun, 1 Nov 2026 10:38:04 -0700
Subject: [PATCH 1/2] Fix Inverter propagation of running child status

---
 MissionPlanning/BehaviorTree/behavior_tree.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/MissionPlanning/BehaviorTree/behavior_tree.py b/MissionPlanning/BehaviorTree/behavior_tree.py
index 9ad886aafb..62a9b756cc 100644
--- a/MissionPlanning/BehaviorTree/behavior_tree.py
+++ b/MissionPlanning/BehaviorTree/behavior_tree.py
@@ -331,6 +331,8 @@ def __init__(self, name):
     def tick(self) -> Status:
         self.not_set_child_raise_error()
         status = self.child.tick_and_set_status()
+        if status == Status.RUNNING:
+            return Status.RUNNING
         return Status.SUCCESS if status == Status.FAILURE else Status.FAILURE
 
 

From 9e73a85ce28c698c470d75551922d41e501a1740 Mon Sep 17 00:00:00 2001
From: yunyv <62236062+yunyv@users.noreply.github.com>
Date: Sun, 1 Nov 2026 10:38:57 -0700
Subject: [PATCH 2/2] Test Inverter terminal and running child states

---
 tests/test_behavior_tree.py | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/tests/test_behavior_tree.py b/tests/test_behavior_tree.py
index 0898690448..5ab9e91a1f 100644
--- a/tests/test_behavior_tree.py
+++ b/tests/test_behavior_tree.py
@@ -5,9 +5,44 @@
     BehaviorTreeFactory,
     Status,
     ActionNode,
+    InverterNode,
 )
 
 
+@pytest.mark.parametrize("child_status, expected_status", [
+    (Status.SUCCESS, Status.FAILURE),
+    (Status.FAILURE, Status.SUCCESS),
+    (Status.RUNNING, Status.RUNNING),
+])
+def test_inverter_node_status(child_status, expected_status):
+    class FixedStatusNode(ActionNode):
+        def tick(self):
+            return child_status
+
+    inverter = InverterNode("inverter")
+    inverter.child = FixedStatusNode("child")
+    assert inverter.tick_and_set_status() == expected_status
+    assert inverter.status == expected_status
+    assert inverter.child.status == child_status
+
+
+def test_inverter_waits_for_sleep(monkeypatch):
+    now = 0.0
+    monkeypatch.setattr(
+        "MissionPlanning.BehaviorTree.behavior_tree.time.time", lambda: now
+    )
+    tree = BehaviorTreeFactory().build_tree(
+        '<Inverter><Sleep sec="1.5" /></Inverter>'
+    )
+    tree.tick()
+    assert tree.root.status == Status.RUNNING
+    assert tree.root.child.status == Status.RUNNING
+    now = 2.0
+    tree.tick()
+    assert tree.root.status == Status.FAILURE
+    assert tree.root.child.status == Status.SUCCESS
+
+
 def test_sequence_node1():
     xml_string = """
         <Sequence>