updates to enable waypoint_reached priority to be highest

README.md

@@ -7,16 +7,16 @@
 
 | Field         | Value        |
 |---------------|--------------|
-| Last Updated  | 2026-08-10   |
-| Version       | 1.0.0        |
+| Last Updated  | 2026-08-13   |
+| Version       | 1.0.1        |
 
 ## Overview
 
 `colav-automaton` is a maritime **col**lision **av**oidance hybrid automaton, built on the [hybrid-automaton](https://github.com/rymc-dev/hybrid-automaton) framework. It steers an autonomous surface vehicle (USV) toward a goal waypoint while avoiding a dynamically-updatable **unsafe region** (a risk envelope), generating temporary "virtual" avoidance waypoints on the fly rather than requiring a pre-planned path.
 
 This is not a full COLREGs rule-engine (it doesn't encode give-way/stand-on role logic for head-on, crossing, or overtaking encounters) - it's a general risk-envelope-avoidance automaton. Feed it any polygon as an unsafe region (a static hazard, a buffered obstacle, a COLREGs-derived exclusion zone computed upstream, etc.) and it will route around it.
 
-**Framework Status**: v1.0.0 - Stable API, tested against real `hybrid-automaton>=1.0.0`, ready for simulation use and ROS2 integration testing on hardware.
+**Framework Status**: v1.0.1 - Stable API, tested against real `hybrid-automaton>=1.0.1`, ready for simulation use and ROS2 integration testing on hardware.
 
 If you have ideas for improvement or want to contribute, please reach out and become a collaborator!
 
@@ -135,7 +135,7 @@ Please cite this package as described below if used in research:
 ```bibtex
 @misc{colav_automaton_2026,
   author       = {Ryan McKee},
-  title        = {colav-automaton v1.0.0},
+  title        = {colav-automaton v1.0.1},
   howpublished = {GitHub repository},
   year         = {2026},
   note         = {Accessed: Aug. 10, 2026},

pyproject.toml

@@ -25,7 +25,7 @@ classifiers = [
   "Programming Language :: Python :: Implementation :: PyPy",
 ]
 dependencies = [
-  "hybrid-automaton>=1.0.0",
+  "hybrid-automaton>=1.0.1",
   "shapely",
 ]
 

src/colav_automaton/__about__.py

@@ -1,4 +1,4 @@
 # SPDX-FileCopyrightText: 2025-present Ryan McKee <ryanmckee47@icloud.com>
 #
 # SPDX-License-Identifier: MIT
-__version__ = "1.0.0"
+__version__ = "1.0.1"

src/colav_automaton/automaton.py

@@ -70,32 +70,35 @@ def ColavAutomaton(
         name="e1",
         to_state=q2,
         guards=[heading_not_within_tolerance_guard],
-        priority=1
+        priority=2
     )
     e2 = Transition(
         name="e2",
         to_state=q2,
         guards=[los_clear_to_waypoint_guard],
         reset=generate_new_virtual_waypoint,
-        priority=0
+        priority=1
     )
     e4 = Transition(
         name="e4",
         to_state=q4,
-        guards=[waypoint_reached_guard]
+        guards=[waypoint_reached_guard],
+        priority=0
     )
     q1.add_transitions([e1, e2, e4])
 
     # NOTE: transitions from Turn to LOS (q2)
     e5 = Transition(
         name = "e5",
         to_state=q1,
-        guards=[heading_within_tolerance_guard]
+        guards=[heading_within_tolerance_guard],
+        priority=1
     )
     e6 = Transition(
         name="e6",
         to_state=q3,
-        guards=[unsafe_conditions_guard]
+        guards=[unsafe_conditions_guard],
+        priority=0
     )
     q2.add_transitions([e5, e6])
 
@@ -104,7 +107,8 @@ def ColavAutomaton(
     e8 = Transition(
         name="e8",
         to_state=q1,
-        guards=[safe_conditions_guard]
+        guards=[safe_conditions_guard],
+        priority=0
     )
     q3.add_transition(e8)
 
@@ -113,14 +117,15 @@ def ColavAutomaton(
         name="e7",
         to_state=q1,
         guards=[virtual_waypoints_guard],
-        reset=pop_virtual_waypoint
+        reset=pop_virtual_waypoint,
+        priority=0
     )
     q4.add_transition(e7)
 
 
     ha = Automaton(
         name="COLAV Automaton",
-        version="1.0.0",
+        version="1.0.1",
         states=[
             q1,
             q2,

src/colav_automaton/dynamics/__init__.py

@@ -1,5 +1,5 @@
 __author__ = "Ryan McKee <ryanmckee47@icloud.com>"
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 __description__ = "dynamics functions for the states of hybrid-automaton colav-automaton"
 
 from .dynamics import constant_heading_dynamics, flow_los_heading

src/colav_automaton/guards/__init__.py

@@ -9,7 +9,7 @@
 )
 
 __author__ = "Ryan McKee <ryanmckee47@icloud.com>"
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 __description__ = "hybrid-automaton framework guards for colav-automaton"
 
 __all__ = [

src/colav_automaton/invariants/__init__.py

@@ -1,7 +1,7 @@
 from .invariants import failing_invariant
 
 __author__ = "Ryan McKee <ryanmckee47@icloud.com>"
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 __description__ = "hybrid-automaton framework invariants for colav-automaton"
 
 __all__ = [

src/colav_automaton/resets/__init__.py

@@ -7,7 +7,7 @@
 )
 
 __author__ = "Ryan McKee <ryanmckee47@icloud.com>"
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 __description__ = "resets for hybrid-automaton transitions that will takes all inputs and " \
                 "output update continous states (agent continous state scalers, auxielary continous" \
                 "states dictionary) these resets are specifically for colav-automaton"

src/colav_automaton_evaluation/__init__.py

@@ -5,7 +5,7 @@
 from .figure_generator import plot_xy_position_over_time
 
 __author__ = "Ryan McKee <ryanmckee47@icloud.com>"
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 __description__ = "evaluation/visualization utilities for colav-automaton run results"
 
 __all__ = [