Format project with ruff

docs/conf.py

@@ -13,9 +13,7 @@
 import os
 import sys
 
-project_dir = os.path.abspath(
-    os.path.join(os.path.abspath(__file__), os.pardir, os.pardir)
-)
+project_dir = os.path.abspath(os.path.join(os.path.abspath(__file__), os.pardir, os.pardir))
 version_file = os.path.join(project_dir, "py_trees", "version.py")
 with open(version_file) as f:
     exec(f.read())  # makes __version__ available

docs/examples/blackboard_behaviour.py

@@ -11,19 +11,13 @@ def __init__(self, name: str) -> None:
         """Construct a new behaviour instance and sets up blackboard access."""
         super().__init__(name=name)
         self.blackboard = self.attach_blackboard_client(name="Foo Global")
-        self.parameters = self.attach_blackboard_client(
-            name="Foo Params", namespace="foo_parameters_"
-        )
-        self.state = self.attach_blackboard_client(
-            name="Foo State", namespace="foo_state_"
-        )
+        self.parameters = self.attach_blackboard_client(name="Foo Params", namespace="foo_parameters_")
+        self.state = self.attach_blackboard_client(name="Foo State", namespace="foo_state_")
 
         # create a key 'foo_parameters_init' on the blackboard
         self.parameters.register_key("init", access=py_trees.common.Access.READ)
         # create a key 'foo_state_number_of_noodles' on the blackboard
-        self.state.register_key(
-            "number_of_noodles", access=py_trees.common.Access.WRITE
-        )
+        self.state.register_key("number_of_noodles", access=py_trees.common.Access.WRITE)
 
     def initialise(self) -> None:
         """Initialise blackboard variables based on parameters."""
@@ -42,12 +36,8 @@ def update(self) -> py_trees.common.Status:
 # could equivalently do directly via the Blackboard static methods if
 # not interested in tracking / visualising the application configuration
 # Register and set up the configuration on the blackboard
-configuration = py_trees.blackboard.Client(
-    name="App Config", namespace="foo_parameters_"
-)  # Added namespace
-configuration.register_key(
-    "init", access=py_trees.common.Access.WRITE
-)  # Register key with correct namespace
+configuration = py_trees.blackboard.Client(name="App Config", namespace="foo_parameters_")  # Added namespace
+configuration.register_key("init", access=py_trees.common.Access.WRITE)  # Register key with correct namespace
 configuration.init = 3  # Set the initial value for 'foo_parameters_init'
 
 foo = Foo(name="The Foo")

docs/examples/blackboard_namespaces.py

@@ -8,9 +8,7 @@
 
 blackboard.register_key(key="foo", access=py_trees.common.Access.WRITE)
 blackboard.register_key(key="/bar", access=py_trees.common.Access.WRITE)
-blackboard.register_key(
-    key="/parameters/default_speed", access=py_trees.common.Access.WRITE
-)
+blackboard.register_key(key="/parameters/default_speed", access=py_trees.common.Access.WRITE)
 parameters.register_key(key="aggressive_speed", access=py_trees.common.Access.WRITE)
 
 blackboard.foo = "foo"

docs/examples/decorators.py

@@ -7,11 +7,7 @@
 
 if __name__ == "__main__":
     root = py_trees.composites.Sequence(name="Life", memory=False)
-    timeout = py_trees.decorators.Timeout(
-        name="Timeout", child=py_trees.behaviours.Success(name="Have a Beer!")
-    )
-    failure_is_success = py_trees.decorators.Inverter(
-        name="Inverter", child=py_trees.behaviours.Success(name="Busy?")
-    )
+    timeout = py_trees.decorators.Timeout(name="Timeout", child=py_trees.behaviours.Success(name="Have a Beer!"))
+    failure_is_success = py_trees.decorators.Inverter(name="Inverter", child=py_trees.behaviours.Success(name="Busy?"))
     root.add_children([failure_is_success, timeout])
     py_trees.display.render_dot_tree(root)

docs/examples/oneshot.py

@@ -17,6 +17,4 @@
         behaviour=sequence,
         policy=py_trees.common.OneShotPolicy.ON_COMPLETION,
     )
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/parallel.py

@@ -10,11 +10,7 @@
     b3 = py_trees.behaviours.Success(name="B3")
     root = py_trees.composites.Parallel(
         name="Parallel",
-        policy=py_trees.common.ParallelPolicy.SuccessOnSelected(
-            synchronise=True, children=[b1, b2]
-        ),
+        policy=py_trees.common.ParallelPolicy.SuccessOnSelected(synchronise=True, children=[b1, b2]),
     )
     root.add_children([b1, b2, b3])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/pickup_where_you_left_off.py

@@ -7,31 +7,19 @@
 if __name__ == "__main__":
     task_one = py_trees.behaviours.StatusQueue(
         name="Task 1",
-        queue=[
-            py_trees.common.Status.RUNNING,
-            py_trees.common.Status.RUNNING,
-        ],
+        queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.RUNNING],
         eventually=py_trees.common.Status.SUCCESS,
     )
     task_two = py_trees.behaviours.StatusQueue(
         name="Task 2",
-        queue=[
-            py_trees.common.Status.RUNNING,
-            py_trees.common.Status.RUNNING,
-        ],
+        queue=[py_trees.common.Status.RUNNING, py_trees.common.Status.RUNNING],
         eventually=py_trees.common.Status.SUCCESS,
     )
     high_priority_interrupt = py_trees.decorators.RunningIsFailure(
         name="High Priority Interrupt",
         child=py_trees.behaviours.Periodic(name="High Priority", n=3),
     )
-    piwylo = py_trees.idioms.pick_up_where_you_left_off(
-        name="Tasks", tasks=[task_one, task_two]
-    )
-    root = py_trees.composites.Selector(
-        name="Pick Up\nWhere You\nLeft Off", memory=False
-    )
+    piwylo = py_trees.idioms.pick_up_where_you_left_off(name="Tasks", tasks=[task_one, task_two])
+    root = py_trees.composites.Selector(name="Pick Up\nWhere You\nLeft Off", memory=False)
     root.add_children([high_priority_interrupt, piwylo])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/selector.py

@@ -10,6 +10,4 @@
     med = py_trees.behaviours.Success(name="Med Priority")
     low = py_trees.behaviours.Success(name="Low Priority")
     root.add_children([high, med, low])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/selector_with_memory.py

@@ -10,6 +10,4 @@
     med = py_trees.behaviours.Success(name="Med Priority")
     low = py_trees.behaviours.Success(name="Low Priority")
     root.add_children([high, med, low])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/sequence.py

@@ -11,6 +11,4 @@
     a2 = py_trees.behaviours.Success(name="Action 2")
     a3 = py_trees.behaviours.Success(name="Action 3")
     root.add_children([guard, a1, a2, a3])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/sequence_with_memory.py

@@ -11,6 +11,4 @@
     a2 = py_trees.behaviours.Success(name="Action 2")
     a3 = py_trees.behaviours.Success(name="Action 3")
     root.add_children([guard, a1, a2, a3])
-    py_trees.display.render_dot_tree(
-        root, py_trees.common.string_to_visibility_level("all")
-    )
+    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))

docs/examples/skeleton_behaviour.py

@@ -102,7 +102,4 @@ def terminate(self, new_status: py_trees.common.Status) -> None:
             - SUCCESS || FAILURE : your behaviour's work cycle has finished
             - INVALID : a higher priority branch has interrupted, or shutting down
         """
-        self.logger.debug(
-            "  %s [Foo::terminate().terminate()][%s->%s]"
-            % (self.name, self.status, new_status)
-        )
+        self.logger.debug("  %s [Foo::terminate().terminate()][%s->%s]" % (self.name, self.status, new_status))

py_trees/behaviour.py

@@ -64,24 +64,14 @@ class Behaviour(abc.ABC):
 
     def __init__(self, name: str):
         if not isinstance(name, str):
-            raise TypeError(
-                "a behaviour name should be a string, but you passed in {}".format(
-                    type(name)
-                )
-            )
-        self.id = (
-            uuid.uuid4()
-        )  # used to uniquely identify this node (helps with removing children from a tree)
+            raise TypeError("a behaviour name should be a string, but you passed in {}".format(type(name)))
+        self.id = uuid.uuid4()  # used to uniquely identify this node (helps with removing children from a tree)
         self.name: str = name
         self.blackboards: typing.List[blackboard.Client] = []
-        self.qualified_name = "{}/{}".format(
-            self.__class__.__qualname__, self.name
-        )  # convenience
+        self.qualified_name = "{}/{}".format(self.__class__.__qualname__, self.name)  # convenience
         self.status = common.Status.INVALID
         self.iterator = self.tick()
-        self.parent: typing.Optional[Behaviour] = (
-            None  # will get set if a behaviour is added to a composite
-        )
+        self.parent: typing.Optional[Behaviour] = None  # will get set if a behaviour is added to a composite
         self.children: typing.List[Behaviour] = []  # only set by composite behaviours
         self.logger = logging.Logger(name)
         self.feedback_message = ""  # useful for debugging, or human readable updates, but not necessary to implement
@@ -236,9 +226,7 @@ def shutdown(self) -> None:  # noqa: B027
     # Private Methods - use inside a behaviour
     ############################################
 
-    def attach_blackboard_client(
-        self, name: typing.Optional[str] = None, namespace: typing.Optional[str] = None
-    ) -> blackboard.Client:
+    def attach_blackboard_client(self, name: typing.Optional[str] = None, namespace: typing.Optional[str] = None) -> blackboard.Client:
         """
         Create and attach a blackboard to this behaviour.
 
@@ -309,10 +297,7 @@ def tick(self) -> typing.Iterator[Behaviour]:
         # don't set self.status yet, terminate() may need to check what the current state is first
         new_status = self.update()
         if new_status not in list(common.Status):
-            self.logger.error(
-                "A behaviour returned an invalid status, setting to INVALID [%s][%s]"
-                % (new_status, self.name)
-            )
+            self.logger.error("A behaviour returned an invalid status, setting to INVALID [%s][%s]" % (new_status, self.name))
             new_status = common.Status.INVALID
         if new_status != common.Status.RUNNING:
             self.stop(new_status)
@@ -376,11 +361,7 @@ def stop(self, new_status: common.Status) -> None:
             "%s.stop(%s)"
             % (
                 self.__class__.__name__,
-                (
-                    "%s->%s" % (self.status, new_status)
-                    if self.status != new_status
-                    else "%s" % new_status
-                ),
+                ("%s->%s" % (self.status, new_status) if self.status != new_status else "%s" % new_status),
             )
         )
         self.terminate(new_status)
@@ -408,9 +389,7 @@ def has_parent_with_name(self, name: str) -> bool:
             b = b.parent
         return False
 
-    def has_parent_with_instance_type(
-        self, instance_type: "typing.Type[Behaviour]"
-    ) -> bool:
+    def has_parent_with_instance_type(self, instance_type: "typing.Type[Behaviour]") -> bool:
         """
         Search this behaviour's ancestors for one of the specified type.