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+# Pytrees
+
+**Summary:** This document states the current state of the decision tree, with its leafs and evaluations. Explains what data is recieved and processed.
+
+---
+
+## Author
+
+Samuel Kühnel
+
+## Date
+
+26.11.2023
+
+## Overview
+
+![pytree_status](../00_assets/pytree_PAF_status.drawio.png)
+
+### Explanation
+
+A short explanation of all components used.
+
+#### Selector
+
+Tries to execute each of its child behaviors in turn until one is successful. It has a priority hierarchy from left (high priority) to right (low priority).
+
+#### Sequence
+
+Executes all of its child behaviors sequentially after one another until all behaviors have returned `SUCCESS` or one behavior returned `FAILURE`. In that case, the sequence is aborted. If one behaviour returns `RUNNING` the sequence halts and returns the result.
+
+#### Behaviour
+
+Leaf element in the tree representing the actual action that will be executed.
+
+#### Condition
+
+Is always the first child of a sequence. It decides if the sequence should be executed or aborted. Currently implemented as behaviour.
+
+#### Example
+
+To explain everything better we explain the elements with the `Intersection`-Subtree. It is located at the very left side in the preceding selector, so it will be executed with a high priority (so at first).
+
+- The sequence `Intersection` will be executed.
+  1. Behaviour `Intersection ahead` will be executed: Checks if intersection is ahead. Returns `FAILURE` if no intersection is ahead and `SUCCESS` if intersection is ahead.
+     - `FAILURE`: Sequence aborts and result is returned to root selector `Priorities`. `Priorities` will continue with selector `Laneswitch`.
+     - `SUCCESS`: Sequence continues with sequence `Intersection ahead`
+  2. Sequence `Intersection ahead`: Executes 4 behaviours sequentially. If every behaviour is executed with `SUCCESS` the seqence will return this result to the parent sequence `Intersection`. If one behaviour returns `RUNNING` or `FAILURE` the sequence will halt and also return the result.
+
+### Inputs and Outpus
+
+#### Subscribed topics from blackboard
+
+- `/paf/hero/traffic_light`:
+  - `Approach Intersection`
+  - `Wait Intersection`
+  - `Enter Intersection`
+
+- `/paf/hero/waypoint_distance`:
+  - `Approach Intersection`
+  - `Enter intersection`
+  - `Intersevtion ahead?`
+
+- `/paf/hero/stop_sign`:
+  - `Approach Intersection`
+
+- `/paf/hero/speed_limit`:
+  - `Leave intersection`
+  - `Leave lane change`
+
+- `/paf/hero/lane_change_distance`:
+  - `Approach lane change`
+  - `Wait lane change`
+  - `Enter lane change`
+  - `Lane change ahead?`
+
+- `/paf/hero/lane_status`:
+  - `Switch lane left`
+  - `Switch lane right`
+  - `Mulit-Lane?`
+  - `Right lane available?`
+  - `Left lane available?`
+
+- `/paf/hero/slowed_by_car_in_front`:
+  - `Not slowed by car in front?`
+
+- `/paf/hero/Obstacle_on_left_lane`:
+  - `Wait left lane free`
+
+- `/paf/hero/obstacle_on_right_lane`:
+  - `Wait for right lane free`
+
+- `/carla/hero/Speed`:
+  - `Approach Intersection`
+  - `Approach lane change`
+
+- `/carla/hero/LIDAR_range`:
+  - `Wait Intersection`
+
+- `/carla/hero/LIDAR_range_rear_left`:
+  - `Approach lane change`
+  - `Wait lane change`
+
+- `/carla/hero/LIDAR_range_rear_right`:
+  - `Approach lane change`
+  - `Wait lane change`
+
+### Output
+
+The total tree only publishes the desired velocity in the different situations (e. g. intersections) to the topic `/paf/hero/max_tree_velocity`.
+
+## Status
+
+### Working components
+
+The behaviours that work currently are `Intersection` `Lanewitch`. Altough with some restrictions as no traffic light and obstacle detection information is published.
+
+### Not working components
+
+Due to lacking information a big part of the tree doesn't work. Overtaking currently doesn't work and some behaviors are not implemented i. e. do not contain code and subscriptions:
+
+- `Overtake possible?`
+- `Single lane with dotted line?`
+- `Overtake`
+- `Not slowed by car in front right`