Fix Inverter propagation of running child status

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
 
 

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>