Bug in Earley parser when there is ambiguity in empty rules
**Describe the bug**

The Earley parser creates an incorrect tree

**To Reproduce**

```python
from lark import Lark
grammar = """
a: _x
_x: _x? b
b:
"""

p = Lark(grammar, start='a', ambiguity='explicit')
```

This will throw an `IndexError` because the wrong node constructor gets called.

The non-expanding variation doesn't throw an error, but creates a non-sensical result:

```python
from lark import Lark
grammar = """
a: x
x: x? b
b:
"""

p = Lark(grammar, start='a', ambiguity='explicit')
print(p.parse('').pretty())
```

Output
```python
a
  _ambig
    x
      b
    x
      b
```

Earlier versions of Lark throw `ParseError: Infinite recursion in grammar!`, which is technically more correct, although not very useful either.

diff --git a/lark/parsers/earley.py b/lark/parsers/earley.py
index 3ccba01..d6afa71 100644
--- a/lark/parsers/earley.py
+++ b/lark/parsers/earley.py
@@ -315,7 +315,7 @@ class Parser:
 
         if self.tree_class is not None:
             # Perform our SPPF -> AST conversion
-            transformer = ForestToParseTree(self.tree_class, self.callbacks, self.forest_sum_visitor and self.forest_sum_visitor(), self.resolve_ambiguity)
+            transformer = ForestToParseTree(self.tree_class, self.callbacks, self.forest_sum_visitor and self.forest_sum_visitor(), self.resolve_ambiguity, self.debug)
             return transformer.transform(solutions[0])
 
         # return the root of the SPPF
diff --git a/lark/parsers/earley_forest.py b/lark/parsers/earley_forest.py
index 532dedf..7a56bbc 100644
--- a/lark/parsers/earley_forest.py
+++ b/lark/parsers/earley_forest.py
@@ -483,26 +483,31 @@ class ForestToParseTree(ForestTransformer):
         tree.
     """
 
-    def __init__(self, tree_class=Tree, callbacks=dict(), prioritizer=ForestSumVisitor(), resolve_ambiguity=True):
+    def __init__(self, tree_class=Tree, callbacks=dict(), prioritizer=ForestSumVisitor(), resolve_ambiguity=True, debug=False):
         super(ForestToParseTree, self).__init__()
         self.tree_class = tree_class
         self.callbacks = callbacks
         self.prioritizer = prioritizer
         self.resolve_ambiguity = resolve_ambiguity
+        self.debug = debug
         self._on_cycle_retreat = False
+        self._cycle_node = None
+        self._successful_visits = set()
 
     def on_cycle(self, node, path):
-        logger.warning("Cycle encountered in the SPPF at node: %s. "
-                "As infinite ambiguities cannot be represented in a tree, "
-                "this family of derivations will be discarded.", node)
-        if self.resolve_ambiguity:
-            # TODO: choose a different path if cycle is encountered
-            logger.warning("At this time, using ambiguity resolution for SPPFs "
-                    "with cycles may result in None being returned.")
+        if self.debug:
+            logger.warning("Cycle encountered in the SPPF at node: %s. "
+                    "As infinite ambiguities cannot be represented in a tree, "
+                    "this family of derivations will be discarded.", node)
+        self._cycle_node = node
         self._on_cycle_retreat = True
 
     def _check_cycle(self, node):
         if self._on_cycle_retreat:
+            if id(node) == id(self._cycle_node):
+                self._cycle_node = None
+                self._on_cycle_retreat = False
+                return
             raise Discard()
 
     def _collapse_ambig(self, children):
@@ -531,11 +536,17 @@ class ForestToParseTree(ForestTransformer):
         raise Discard()
 
     def transform_symbol_node(self, node, data):
+        if id(node) not in self._successful_visits:
+            raise Discard()
+        self._successful_visits.remove(id(node))
         self._check_cycle(node)
         data = self._collapse_ambig(data)
         return self._call_ambig_func(node, data)
 
     def transform_intermediate_node(self, node, data):
+        if id(node) not in self._successful_visits:
+            raise Discard()
+        self._successful_visits.remove(id(node))
         self._check_cycle(node)
         if len(data) > 1:
             children = [self.tree_class('_inter', c) for c in data]
@@ -544,6 +555,8 @@ class ForestToParseTree(ForestTransformer):
 
     def transform_packed_node(self, node, data):
         self._check_cycle(node)
+        if self.resolve_ambiguity and id(node.parent) in self._successful_visits:
+            raise Discard()
         children = []
         assert len(data) <= 2
         data = PackedData(node, data)
@@ -559,21 +572,23 @@ class ForestToParseTree(ForestTransformer):
         return self._call_rule_func(node, children)
 
     def visit_symbol_node_in(self, node):
-        self._on_cycle_retreat = False
         super(ForestToParseTree, self).visit_symbol_node_in(node)
+        if self._on_cycle_retreat:
+            return
         if self.prioritizer and node.is_ambiguous and isinf(node.priority):
             self.prioritizer.visit(node)
-        if self.resolve_ambiguity:
-            return node.children[0]
         return node.children
 
     def visit_packed_node_in(self, node):
         self._on_cycle_retreat = False
-        return super(ForestToParseTree, self).visit_packed_node_in(node)
+        to_visit = super(ForestToParseTree, self).visit_packed_node_in(node)
+        if not self.resolve_ambiguity or id(node.parent) not in self._successful_visits:
+            return to_visit
 
-    def visit_token_node(self, node):
-        self._on_cycle_retreat = False
-        return super(ForestToParseTree, self).visit_token_node(node)
+    def visit_packed_node_out(self, node):
+        super(ForestToParseTree, self).visit_packed_node_out(node)
+        if not self._on_cycle_retreat:
+            self._successful_visits.add(id(node.parent))
 
 def handles_ambiguity(func):
     """Decorator for methods of subclasses of ``TreeForestTransformer``.
diff --git a/tests/test_parser.py b/tests/test_parser.py
index 32aa4fc..6d0981f 100644
--- a/tests/test_parser.py
+++ b/tests/test_parser.py
@@ -746,6 +746,76 @@ def _make_full_earley_test(LEXER):
             tree = parser.parse(text)
             self.assertEqual(tree.children, ['foo', 'bar'])
 
+        def test_cycle(self):
+            grammar = """
+            start: start?
+            """
+
+            l = Lark(grammar, ambiguity='resolve', lexer=LEXER)
+            tree = l.parse('')
+            self.assertEqual(tree, Tree('start', []))
+
+            l = Lark(grammar, ambiguity='explicit', lexer=LEXER)
+            tree = l.parse('')
+            self.assertEqual(tree, Tree('start', []))
+
+        def test_cycles(self):
+            grammar = """
+            a: b
+            b: c*
+            c: a
+            """
+
+            l = Lark(grammar, start='a', ambiguity='resolve', lexer=LEXER)
+            tree = l.parse('')
+            self.assertEqual(tree, Tree('a', [Tree('b', [])]))
+
+            l = Lark(grammar, start='a', ambiguity='explicit', lexer=LEXER)
+            tree = l.parse('')
+            self.assertEqual(tree, Tree('a', [Tree('b', [])]))
+
+        def test_many_cycles(self):
+            grammar = """
+            start: a? | start start
+            !a: "a"
+            """
+
+            l = Lark(grammar, ambiguity='resolve', lexer=LEXER)
+            tree = l.parse('a')
+            self.assertEqual(tree, Tree('start', [Tree('a', ['a'])]))
+
+            l = Lark(grammar, ambiguity='explicit', lexer=LEXER)
+            tree = l.parse('a')
+            self.assertEqual(tree, Tree('start', [Tree('a', ['a'])]))
+
+        def test_cycles_with_child_filter(self):
+            grammar = """
+            a: _x
+            _x: _x? b
+            b:
+            """
+
+            grammar2 = """
+            a: x
+            x: x? b
+            b:
+            """
+
+            l = Lark(grammar, start='a', ambiguity='resolve', lexer=LEXER)
+            tree = l.parse('')
+            self.assertEqual(tree, Tree('a', [Tree('b', [])]))
+
+            l = Lark(grammar, start='a', ambiguity='explicit', lexer=LEXER)
+            tree = l.parse('');
+            self.assertEqual(tree, Tree('a', [Tree('b', [])]))
+
+            l = Lark(grammar2, start='a', ambiguity='resolve', lexer=LEXER)
+            tree = l.parse('');
+            self.assertEqual(tree, Tree('a', [Tree('x', [Tree('b', [])])]))
+
+            l = Lark(grammar2, start='a', ambiguity='explicit', lexer=LEXER)
+            tree = l.parse('');
+            self.assertEqual(tree, Tree('a', [Tree('x', [Tree('b', [])])]))
 
 
 
['lark/parsers/earley_forest.py', 'tests/test_parser.py', 'lark/parsers/earley.py']