[example] fixed old examples can not runs

docs/examples/blackboard_behaviour.py

@@ -8,13 +8,19 @@ class Foo(py_trees.behaviour.Behaviour):
     def __init__(self, name):
         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):
         self.state.number_of_noodles = self.parameters.init
@@ -30,9 +36,14 @@ def update(self):
 
 # could equivalently do directly via the Blackboard static methods if
 # not interested in tracking / visualising the application configuration
-configuration = py_trees.blackboard.Client(name="App Config")
-configuration.register_key("foo_parameters_init", access=py_trees.common.Access.WRITE)
-configuration.foo_parameters_init = 3
+# 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.init = 3  # Set the initial value for 'foo_parameters_init'
 
 foo = Foo(name="The Foo")
 for i in range(1, 8):

docs/examples/decorators.py

@@ -4,16 +4,14 @@
 import py_trees.decorators
 import py_trees.display
 
-if __name__ == '__main__':
+if __name__ == "__main__":
 
-    root = py_trees.composites.Sequence(name="Life")
+    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!")
+        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?")
-        )
+        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

@@ -3,8 +3,8 @@
 
 import py_trees
 
-if __name__ == '__main__':
-    sequence = py_trees.composites.Sequence("Sequence")
+if __name__ == "__main__":
+    sequence = py_trees.composites.Sequence("Sequence", memory=False)
     guard = py_trees.behaviours.Success(name="Guard")
     a1 = py_trees.behaviours.Success(name="Action 1")
     a2 = py_trees.behaviours.Success(name="Action 2")
@@ -14,5 +14,8 @@
         name="OneShot",
         variable_name="oneshot",
         behaviour=sequence,
-        policy=py_trees.common.OneShotPolicy.ON_COMPLETION)
-    py_trees.display.render_dot_tree(root, py_trees.common.string_to_visibility_level("all"))
+        policy=py_trees.common.OneShotPolicy.ON_COMPLETION,
+    )
+    py_trees.display.render_dot_tree(
+        root, py_trees.common.string_to_visibility_level("all")
+    )

docs/examples/parallel.py

@@ -3,15 +3,17 @@
 
 import py_trees
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     b1 = py_trees.behaviours.Success(name="B1")
     b2 = py_trees.behaviours.Success(name="B2")
     b3 = py_trees.behaviours.Success(name="B3")
     root = py_trees.composites.Parallel(
+        name="Root",
         policy=py_trees.common.ParallelPolicy.SuccessOnSelected(
-            synchronise=True,
-            children=[b1, b2]
-        )
+            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

@@ -3,35 +3,34 @@
 
 import py_trees
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     task_one = py_trees.behaviours.StatusQueue(
         name="Task 1",
         queue=[
             py_trees.common.Status.RUNNING,
             py_trees.common.Status.RUNNING,
         ],
-        eventually=py_trees.common.Status.SUCCESS
+        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,
         ],
-        eventually=py_trees.common.Status.SUCCESS
+        eventually=py_trees.common.Status.SUCCESS,
     )
     high_priority_interrupt = py_trees.decorators.RunningIsFailure(
-        child=py_trees.behaviours.Periodic(
-            name="High Priority",
-            n=3
-        )
+        name="Running Failure",
+        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]
+        name="Tasks", tasks=[task_one, task_two]
+    )
+    root = py_trees.composites.Selector(
+        name="Pick Up\nWhere You\nLeft Off", memory=False
     )
-    root = py_trees.composites.Selector(name="Pick Up\nWhere You\nLeft Off")
     root.add_children([high_priority_interrupt, piwylo])
     py_trees.display.render_dot_tree(
-        root,
-        py_trees.common.string_to_visibility_level("all"))
+        root, py_trees.common.string_to_visibility_level("all")
+    )

docs/examples/selector.py

@@ -3,10 +3,12 @@
 
 import py_trees
 
-if __name__ == '__main__':
-    root = py_trees.composites.Selector("Selector")
+if __name__ == "__main__":
+    root = py_trees.composites.Selector("Selector", memory=False)
     high = py_trees.behaviours.Success(name="High Priority")
     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

@@ -3,11 +3,13 @@
 
 import py_trees
 
-if __name__ == '__main__':
-    root = py_trees.composites.Sequence("Sequence")
+if __name__ == "__main__":
+    root = py_trees.composites.Sequence("Sequence", memory=False)
     guard = py_trees.behaviours.Success(name="Guard")
     a1 = py_trees.behaviours.Success(name="Action 1")
     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_tree.py

@@ -3,17 +3,15 @@
 
 import py_trees
 
-if __name__ == '__main__':
+if __name__ == "__main__":
 
-    root = py_trees.composites.Selector("Selector")
+    root = py_trees.composites.Selector("Selector", memory=False)
     high = py_trees.behaviours.Success(name="High Priority")
     med = py_trees.behaviours.Success(name="Med Priority")
     low = py_trees.behaviours.Success(name="Low Priority")
     root.add_children([high, med, low])
 
-    behaviour_tree = py_trees.trees.BehaviourTree(
-        root=root
-    )
+    behaviour_tree = py_trees.trees.BehaviourTree(root=root)
     print(py_trees.display.unicode_tree(root=root))
     behaviour_tree.setup(timeout=15)
 
@@ -25,7 +23,7 @@ def print_tree(tree):
             period_ms=500,
             number_of_iterations=py_trees.trees.CONTINUOUS_TICK_TOCK,
             pre_tick_handler=None,
-            post_tick_handler=print_tree
+            post_tick_handler=print_tree,
         )
     except KeyboardInterrupt:
         behaviour_tree.interrupt()