[docs] 2.2.x release documentation

.devcontainer/devcontainer.json

@@ -14,6 +14,7 @@
     "extensions": [
         "bierner.github-markdown-preview",
         "bungcip.better-toml",
+        "lextudio.restructuredtext",
         "ms-python.python",
         "omnilib.ufmt"
 

.devcontainer/py310/.devcontainer/devcontainer.json

@@ -14,6 +14,7 @@
     "extensions": [
         "bierner.github-markdown-preview",
         "bungcip.better-toml",
+        "lextudio.restructuredtext",
         "ms-python.python",
         "omnilib.ufmt"
 

.readthedocs.yaml

@@ -10,10 +10,8 @@ build:
   os: ubuntu-22.04
   tools:
     python: "3.10"
-    # You can also specify other tool versions:
-    # nodejs: "19"
-    # rust: "1.64"
-    # golang: "1.19"
+  apt_packages:
+    - graphviz
 
 # Build documentation in the docs/ directory with Sphinx
 sphinx:

.vscode/settings.json

@@ -2,5 +2,6 @@
     "python.linting.flake8Enabled": false,
     "[python]": {
         "editor.defaultFormatter": "omnilib.ufmt"
-    }
+    },
+    "esbonio.sphinx.confDir": ""
 }

CHANGELOG.rst

@@ -3,29 +3,87 @@ Release Notes
 
 Forthcoming
 -----------
+* [docs] 2.2.x release documentation, bugfix for graphviz on read-the-docs, `#400 <https://github.com/splintered-reality/py_trees/pull/400>`_
 
 2.2.1 (2023-01-28)
 ------------------
 * [tox] format with black, usort and fix flake8 warnings, `#397 <https://github.com/splintered-reality/py_trees/pull/397>`_
 * [docs] sphinx 1.4 -> 5.3, `#391 <https://github.com/splintered-reality/py_trees/pull/391>`_
 
-2.2.0 (2023-01-23)
-------------------
-* [poetry] setuptools -> poetry, `#389 <https://github.com/splintered-reality/py_trees/pull/389>`_
-* [common] remove viral ramifications of Any from ComparisonExpression, `#386 <https://github.com/splintered-reality/py_trees/pull/386>`_
-* [display] bugfix off-the-grid bb nodes and render exclusive write edges, `#383 <https://github.com/splintered-reality/py_trees/pull/383>`_
-* [tests] it's mypy now, by the time this ends, it'll be someone else's py , `#380 <https://github.com/splintered-reality/py_trees/pull/380>`_
+2.2.x (2023-01-23) - Sequences and Selectors with and without Memory!
+---------------------------------------------------------------------
+
+**Headline Feature**
+
+* [composites] sequences and selectors with and without memory (previously experimental in 2.1.6)
+
+This can become confusing, so pay attention and let's define some terminology:
+
+.. code-block:: python
+
+    Without Memory - ticking starts with the **first** child
+    With Memory - ticking attempts to start with the **current** child
+
+Whether the current child exists or not, the composite will always follow the logic above. The only bearing
+that the current child has on proceedings is in what happens next. Without memory, if the current child is reached,
+it will tick it without re-initialising it since it is already RUNNING (all other children are not RUNNING
+and subsequently will be re-initialised). With memory, if no current child is found on that first tick,
+it will fall back to starting with the first child.
+
+Previously **Selectors** operated without memory and **Sequences** with memory. Now both composites support both
+paradigms. Not only does this bring a pleasing symmetry to the universe that his noodliness would approve of,
+but it does unlock several practical use cases that previously required rather complex idioms
+(combinations of behaviours / subtrees).
+
+Refer to the `Eternal Guard Demo <https://py-trees.readthedocs.io/en/release-2.2.x/demos.html#py-trees-demo-eternal-guard>`_
+for an example of a practically useful idiom with two Sequences, one with and the other without memory.
+
+**Other New Features**
+
+* [decorators] Repeat and Retry, `#371 <https://github.com/splintered-reality/py_trees/pull/371>`_
+* [devenv] much improved development environment, comprehensive formatting, linting, type-checking and testing
+
+  * [poetry] setuptools -> poetry, `#389 <https://github.com/splintered-reality/py_trees/pull/389>`_
+  * [common] remove viral ramifications of Any from ComparisonExpression, `#386 <https://github.com/splintered-reality/py_trees/pull/386>`_
+  * [tests] it's mypy now, by the time this ends, it'll be someone else's py , `#380 <https://github.com/splintered-reality/py_trees/pull/380>`_
+  * [tests] use tox, flake8 in prem-merge `#354 <https://github.com/splintered-reality/py_trees/pull/354>`_
+  * [tests] switch from deprecating nose to pytest, `#350 <https://github.com/splintered-reality/py_trees/pull/350>`_
+
+**Breaking API**
+
 * [behaviours, decorators] behaviours.Count -> behaviours.StatusQueue + decorators.Count (new), `#376 <https://github.com/splintered-reality/py_trees/pull/376>`_
-* [behaviours, decorators, composites] abstract base classes, `#375 <https://github.com/splintered-reality/py_trees/pull/375>`_
 * [behaviours] StatusSequence -> StatusQueue, `#372 <https://github.com/splintered-reality/py_trees/pull/372>`_
-* [decorators] repeat and retry, `#371 <https://github.com/splintered-reality/py_trees/pull/371>`_
+* [behaviours, decorators, composites] abstract base classes, `#375 <https://github.com/splintered-reality/py_trees/pull/375>`_
 * [composites] use explicit composite arguments, `#370 <https://github.com/splintered-reality/py_trees/pull/370>`_
-* [composites] restart the sequence, but allow children to retain their state `#368 <https://github.com/splintered-reality/py_trees/pull/368>`_
+
+The latter is a theme adopted more liberally across (most) of the py_trees library. As this library has grown, it's
+become apparent that being explicit about passing arguments to constructors is more important than the convenience
+of eliminating a few characters. Not only does it prevent bugs, it eases refactoring and greatly
+improves readability of the code. In fact, you'll save time in the long run.
+
+.. code-block:: python
+
+    # This:
+    parallel = py_trees.composite.Parallel(
+        name="Parallel",
+        policy=py_trees.common.ParallelPolicy.SuccessOnAll()
+    )
+
+    # Is better than:
+    parallel = py_trees.composite.Parallel()
+
+When upgrading, if you don't regularly pass in arguments with keywords, i.e. you do ``Parallel("Foo")`` instead of
+``Parallel(name="Foo")``, be on the lookout for bugs created by the ordering having changed in the method signatures.
+Quite often the argument for ``name`` had a default and was at the end of the line. With these changes it has moved
+to the front of the line in order to adopt a consistent convention across the whole library.
+
+**Bugfixes**
+
+* [display] bugfix off-the-grid bb nodes and render exclusive write edges, `#383 <https://github.com/splintered-reality/py_trees/pull/383>`_
 * [common] a practical inf, `#366 <https://github.com/splintered-reality/py_trees/pull/366>`_
 * [composites] avoid redundant stop for non-running children `#360 <https://github.com/splintered-reality/py_trees/pull/360>`_
 * [display] bugfix unicode use when no unicode for dot `#359 <https://github.com/splintered-reality/py_trees/pull/359>`_
-* [tests] use tox, flake8 in prem-merge `#354 <https://github.com/splintered-reality/py_trees/pull/354>`_
-* [tests] switch from deprecating nose to pytest, `#350 <https://github.com/splintered-reality/py_trees/pull/350>`_
+* [composites] restart the sequence, but allow children to retain their state `#368 <https://github.com/splintered-reality/py_trees/pull/368>`_
 
 2.1.6 (2021-05-31)
 ------------------

CONTRIBUTING.md

@@ -2,6 +2,12 @@
 
 Successfully collaborating on common problems is always an edifying experience that increases the desire to do more. 
 
+## Development Environment
+
+Short of having a poetry environment of your own, you can make use of github's codespaces.
+
+Refer to the [README - Getting Started](../README.md#geting-started) for details.
+
 ## Pull Requests
 
 ### Before Submitting
@@ -19,36 +25,51 @@ Some recommendations to help align your contribution and minimise the eventual b
 If it is a feature or bugfix that you'd like to see backported to one of the release branches, open a parallel PR for that
 release branch or mention that you'd like to see it backported in the original PR's description.
 
-### Coding
-
-Running `. ./venv.bash` in the root of the repository can create a nice, self-contained sandbox within which you can develop and test your contribution.
-
 ### The Pull Request
 
 Be sure to state clearly in the pull request's **description** (this helps expedite review):
 
 * The motivation, i.e. what problem is this solving.
 * A concise summary of what was done (and why if relevant).
 
-### Style
+### Format, Lint, Type-Check and Test
+
+The repository aims to conform to PEP8, please endeavour to do so. CI will get cranky if you don't ;)
+
+Test against at least one of `py38`, `py310`.
+
+```
+# Auto-format your code (if using VSCode, install the ufmt extension)
+$ poetry run tox -e format
 
-The repository aims to conform to PEP8, please endeavour to do so. There is a simple script `./lint/flake8` that can be used to check that the
-code conforms. This is run as part of the CI checks.
+# Style, Format
+$ poetry run tox -e check
 
-### Tests
+# Type-Check
+$ poetry run mypy38
 
-See [tests/README.md](tests/README.md) for instructions on how to run the tests all together or manually. If you are contributing new features, or
-bugfixing a problem that did not have coverage, it is expected that the pull requests will include a test for regression purposes.
+# Tests
+$ poetry run tox -e py38
+```
 
 ### Documentation
 
 Documentation is auto-generated as part of the PR process, but if you do wish to make changes and check locally:
 
+Generate the docs, view them from `./docs/html` in a browser.
+
+```
+# Install dependencies
+$ poetry install --with docs
+
+# Build
+$ poetry run make -C docs html
+```
+
+On doc dependency changes in `pyproject.toml`, export the requirements for ReadTheDocs.
+
 ```
-. ./venv.bash
-make docs
-...
-The HTML pages are in doc/html.
+$ poetry export -f requirements.txt --with docs -o docs/requirements.txt
 ```
 
 ### Changelog
@@ -68,8 +89,7 @@ Once the large button has gone `GREEN`, you or the reviewer may merge the pull r
 
 ## Releasing
 
-If you are interested in seeing your changes make it into a release (sooner rather than later) and distributed on
-PyPi, PPA or via the ROS ecosystem, please make the request via a comment in your PR or in an issue.
+If you are interested in seeing your changes make it into a release (sooner rather than later), please make the request via a comment in your PR or in an issue.
 
 ## Social Conduct