Fix MyPy errors in Python 3.12 (#455)

docs/examples/blackboard_activity_stream.py

@@ -12,4 +12,5 @@
 writer.foo = "foobar"
 unused_result = reader.foo
 print(py_trees.display.unicode_blackboard_activity_stream())
+assert py_trees.blackboard.Blackboard.activity_stream is not None
 py_trees.blackboard.Blackboard.activity_stream.clear()

docs/examples/blackboard_behaviour.py

@@ -7,7 +7,7 @@
 class Foo(py_trees.behaviour.Behaviour):
     """Example behaviour that reads from and writes to the blackboard."""
 
-    def __init__(self, name):
+    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")
@@ -25,11 +25,11 @@ def __init__(self, name):
             "number_of_noodles", access=py_trees.common.Access.WRITE
         )
 
-    def initialise(self):
+    def initialise(self) -> None:
         """Initialise blackboard variables based on parameters."""
         self.state.number_of_noodles = self.parameters.init
 
-    def update(self):
+    def update(self) -> py_trees.common.Status:
         """Update blackboard variables as the behaviour ticks."""
         self.state.number_of_noodles += 1
         self.feedback_message = self.state.number_of_noodles

docs/examples/blackboard_disconnected.py

@@ -4,7 +4,7 @@
 import py_trees
 
 
-def check_foo():
+def check_foo() -> None:
     """Read the value of a blackboard variable in a different scope."""
     blackboard = py_trees.blackboard.Client(name="Reader")
     blackboard.register_key(key="foo", access=py_trees.common.Access.READ)

docs/examples/blackboard_nested.py

@@ -7,11 +7,11 @@
 class Nested(object):
     """Simple object that contains a few attributes."""
 
-    def __init__(self):
-        self.foo = None
-        self.bar = None
+    def __init__(self) -> None:
+        self.foo: str | None = None
+        self.bar: str | None = None
 
-    def __str__(self):
+    def __str__(self) -> str:
         return str(self.__dict__)
 
 

docs/examples/decorators.py

@@ -6,7 +6,7 @@
 import py_trees.display
 
 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!")
     )

docs/examples/oneshot.py

@@ -5,7 +5,7 @@
 import py_trees
 
 if __name__ == "__main__":
-    sequence = py_trees.composites.Sequence("Sequence")
+    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")

docs/examples/parallel.py

@@ -9,9 +9,10 @@
     b2 = py_trees.behaviours.Success(name="B2")
     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]
-        )
+        ),
     )
     root.add_children([b1, b2, b3])
     py_trees.display.render_dot_tree(

docs/examples/pickup_where_you_left_off.py

@@ -22,12 +22,15 @@
         eventually=py_trees.common.Status.SUCCESS,
     )
     high_priority_interrupt = py_trees.decorators.RunningIsFailure(
-        child=py_trees.behaviours.Periodic(name="High Priority", n=3)
+        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")
+    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")

docs/examples/selector.py

@@ -5,7 +5,7 @@
 import py_trees
 
 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")

docs/examples/sequence.py

@@ -5,7 +5,7 @@
 import py_trees
 
 if __name__ == "__main__":
-    root = py_trees.composites.Sequence("Sequence")
+    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")

docs/examples/skeleton_behaviour.py

@@ -3,14 +3,15 @@
 """Example showing how to create a skeleton behaviour."""
 
 import random
+import typing
 
 import py_trees
 
 
 class Foo(py_trees.behaviour.Behaviour):
     """A skeleton behaviour that inherits from the PyTrees Behaviour class."""
 
-    def __init__(self, name):
+    def __init__(self, name: str) -> None:
         """
         Minimal one-time initialisation.
 
@@ -22,7 +23,7 @@ def __init__(self, name):
         """
         super(Foo, self).__init__(name)
 
-    def setup(self):
+    def setup(self, **kwargs: typing.Any) -> None:
         """
         Minimal setup implementation.
 
@@ -54,7 +55,7 @@ def setup(self):
         """
         self.logger.debug("  %s [Foo::setup()]" % self.name)
 
-    def initialise(self):
+    def initialise(self) -> None:
         """
         Minimal initialisation implementation.
 
@@ -68,7 +69,7 @@ def initialise(self):
         """
         self.logger.debug("  %s [Foo::initialise()]" % self.name)
 
-    def update(self):
+    def update(self) -> py_trees.common.Status:
         """
         Minimal update implementation.
 
@@ -92,7 +93,7 @@ def update(self):
             self.feedback_message = "Uh oh"
             return py_trees.common.Status.FAILURE
 
-    def terminate(self, new_status):
+    def terminate(self, new_status: py_trees.common.Status) -> None:
         """
         Minimal termination implementation.
 

docs/examples/skeleton_tree.py

@@ -5,7 +5,7 @@
 import py_trees
 
 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")
@@ -15,7 +15,7 @@
     print(py_trees.display.unicode_tree(root=root))
     behaviour_tree.setup(timeout=15)
 
-    def print_tree(tree):
+    def print_tree(tree: py_trees.trees.BehaviourTree) -> None:
         """Print the behaviour tree and its current status."""
         print(py_trees.display.unicode_tree(root=tree.root, show_status=True))
 

py_trees/trees.py

@@ -122,7 +122,7 @@ def visited_setup() -> None:
         signal.signal(
             _SIGNAL,
             functools.partial(
-                signal_handler, original_signal_handler=original_signal_handler
+                signal_handler, original_signal_handler=original_signal_handler  # type: ignore[arg-type]
             ),
         )
         try:

tests/__init__.py

@@ -3,7 +3,7 @@
 
 
 class ImportTest(unittest.TestCase):
-    def test_import(self):
+    def test_import(self) -> None:
         """
         This test serves to make the buildfarm happy in Python 3.12 and later.
         See https://github.com/colcon/colcon-core/issues/678 for more information.

tests/test_blackboard_behaviours.py

@@ -262,7 +262,7 @@ def test_set_blackboard_variable() -> None:
     )
     assert nested_set_foo.status == py_trees.common.Status.FAILURE
 
-    class Count:
+    class Count:  # type: ignore[unreachable]
         value: int = 0
 
     def generator() -> int:

tests/test_decorators.py

@@ -82,7 +82,7 @@ def test_repeat_until_success() -> None:
     print("child.status == py_trees.common.Status.SUCCESS")
     assert child.status == py_trees.common.Status.SUCCESS
 
-    decorator.tick_once()
+    decorator.tick_once()  # type: ignore[unreachable]
     print("\n--------- Tick 3 ---------\n")
     print("decorator.status == py_trees.common.Status.SUCCESS")
     assert decorator.status == py_trees.common.Status.SUCCESS
@@ -116,7 +116,7 @@ def test_repeat_interrupting_failure() -> None:
     print("child.status == py_trees.common.Status.SUCCESS")
     assert child.status == py_trees.common.Status.SUCCESS
 
-    decorator.tick_once()
+    decorator.tick_once()  # type: ignore[unreachable]
     print("\n--------- Tick 3 ---------\n")
     print("decorator.status == py_trees.common.Status.FAILURE")
     assert decorator.status == py_trees.common.Status.FAILURE
@@ -154,7 +154,7 @@ def test_retry_until_success() -> None:
     print("child.status == py_trees.common.Status.FAILURE")
     assert child.status == py_trees.common.Status.FAILURE
 
-    decorator.tick_once()
+    decorator.tick_once()  # type: ignore[unreachable]
     print("\n--------- Tick 3 ---------\n")
     print("decorator.status == py_trees.common.Status.SUCCESS")
     assert decorator.status == py_trees.common.Status.SUCCESS
@@ -194,7 +194,7 @@ def test_retry_eventual_failure() -> None:
     print("child.status == py_trees.common.Status.FAILURE")
     assert child.status == py_trees.common.Status.FAILURE
 
-    decorator.tick_once()
+    decorator.tick_once()  # type: ignore[unreachable]
     print("\n--------- Tick 3 ---------\n")
     print("decorator.status == py_trees.common.Status.FAILURE")
     assert decorator.status == py_trees.common.Status.FAILURE
@@ -465,7 +465,7 @@ def test_timeout() -> None:
         print("\n--------- Assertions ---------\n")
         print("timeout.status == py_trees.common.Status.FAILURE")
         assert timeout.status == py_trees.common.Status.FAILURE
-        print("running.status == py_trees.common.Status.INVALID")
+        print("running.status == py_trees.common.Status.INVALID")  # type: ignore[unreachable]
         assert running.status == py_trees.common.Status.INVALID
 
     # test that it passes on success
@@ -490,7 +490,7 @@ def test_timeout() -> None:
     print("\n--------- Assertions ---------\n")
     print("timeout.status == py_trees.common.Status.SUCCESS")
     assert timeout.status == py_trees.common.Status.SUCCESS
-    print("count.status == py_trees.common.Status.SUCCESS")
+    print("count.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
     assert count.status == py_trees.common.Status.SUCCESS
 
     # test that it passes on failure
@@ -570,7 +570,7 @@ def test_condition() -> None:
     print("\n--------- Assertions ---------\n")
     print("child.status == py_trees.common.Status.SUCCESS")
     assert child.status == py_trees.common.Status.SUCCESS
-    print("condition.status == py_trees.common.Status.SUCCESS")
+    print("condition.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
     assert condition.status == py_trees.common.Status.SUCCESS
 
 

tests/test_either_or.py

@@ -110,7 +110,7 @@ def test_basic_workflow() -> None:
         result=task_one.status,
     )
     assert task_one.status == py_trees.common.Status.RUNNING
-    root.tick_once()
+    root.tick_once()  # type: ignore[unreachable]
     root.tick_once()
     py_trees.tests.print_assert_details(
         text="Tick 6 - task one finished",

tests/test_eternal_guard.py

@@ -67,7 +67,7 @@ def impl_eternal_guard_checks(
     )
     assert eternal_guard.status == py_trees.common.Status.RUNNING
 
-    py_trees.tests.tick_tree(root, 3, 3, print_snapshot=True)
+    py_trees.tests.tick_tree(root, 3, 3, print_snapshot=True)  # type: ignore[unreachable]
     py_trees.tests.tick_tree(root, 4, 4, print_snapshot=True)
     py_trees.tests.tick_tree(root, 5, 5, print_snapshot=True)
     print(

tests/test_oneshot.py

@@ -240,4 +240,4 @@ def untest_oneshot_with_subtrees_and_interrupt() -> None:
                 + " [{}]".format(py_trees.common.Status.INVALID)
             )
             assert oneshot.status == py_trees.common.Status.SUCCESS
-            assert worker_subtree.status == py_trees.common.Status.INVALID
+            assert worker_subtree.status == py_trees.common.Status.INVALID  # type: ignore[unreachable]

tests/test_parallels.py

@@ -141,7 +141,7 @@ def test_parallel_running() -> None:
     print("\n--------- Assertions ---------\n")
     print("root.status == py_trees.common.Status.RUNNING")
     assert root.status == py_trees.common.Status.RUNNING
-    print("success_after_1.status == py_trees.common.Status.SUCCESS")
+    print("success_after_1.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
     assert success_after_1.status == py_trees.common.Status.SUCCESS
     print("running.status == py_trees.common.Status.RUNNING")
     assert running.status == py_trees.common.Status.RUNNING
@@ -220,7 +220,7 @@ def test_parallel_success_on_selected() -> None:
     print("\n--------- Assertions ---------\n")
     print("root.status == py_trees.common.Status.SUCCESS")
     assert root.status == py_trees.common.Status.SUCCESS
-    print("running1.status == py_trees.common.Status.INVALID")
+    print("running1.status == py_trees.common.Status.INVALID")  # type: ignore[unreachable]
     assert running1.status == py_trees.common.Status.INVALID
     print("success1.status == py_trees.common.Status.SUCCESS")
     assert success1.status == py_trees.common.Status.SUCCESS
@@ -329,7 +329,7 @@ def test_parallel_synchronisation() -> None:
     print("\n--------- Assertions ---------\n")
     print("root.status == py_trees.common.Status.SUCCESS")
     assert root.status == py_trees.common.Status.SUCCESS
-    print("success.status == py_trees.common.Status.SUCCESS")
+    print("success.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
     assert success.status == py_trees.common.Status.SUCCESS
     print("success_every_second.status == py_trees.common.Status.SUCCESS")
     assert success_every_second.status == py_trees.common.Status.SUCCESS

tests/test_pickup.py

@@ -70,7 +70,7 @@ def test_high_priority_interrupt() -> None:
     print("\n--------- Assertions ---------\n")
     print("high_priority_interrupt.status == py_trees.common.Status.SUCCESS")
     assert high_priority_interrupt.status == py_trees.common.Status.SUCCESS
-    print("piwylo.status == py_trees.common.Status.INVALID")
+    print("piwylo.status == py_trees.common.Status.INVALID")  # type: ignore[unreachable]
     assert piwylo.status == py_trees.common.Status.INVALID
     print("task_one.status == py_trees.common.Status.INVALID")
     assert task_one.status == py_trees.common.Status.INVALID

tests/test_selectors.py

@@ -54,7 +54,7 @@ def test_tick_running_with_no_memory() -> None:
         "2::Selector Status", py_trees.common.Status.SUCCESS, root.status
     )
     assert root.status == py_trees.common.Status.SUCCESS
-    py_trees.tests.print_assert_details(
+    py_trees.tests.print_assert_details(  # type: ignore[unreachable]
         "2::Child 1 Status", py_trees.common.Status.SUCCESS, child_1.status
     )
     assert child_1.status == py_trees.common.Status.SUCCESS
@@ -103,7 +103,7 @@ def test_with_memory_priority_handling() -> None:
         "1::Selector Status", py_trees.common.Status.SUCCESS, root.status
     )
     assert root.status == py_trees.common.Status.SUCCESS
-    py_trees.tests.print_assert_details(
+    py_trees.tests.print_assert_details(  # type: ignore[unreachable]
         "2::Child 1 Status", py_trees.common.Status.INVALID, child_1.status
     )
     assert child_1.status == py_trees.common.Status.INVALID

tests/test_sequences.py

@@ -60,7 +60,7 @@ def test_running_with_no_memory_children_do_not_reset() -> None:
         "2::Selector Status", py_trees.common.Status.SUCCESS, root.status
     )
     assert root.status == py_trees.common.Status.SUCCESS
-    py_trees.tests.print_assert_details(
+    py_trees.tests.print_assert_details(  # type: ignore[unreachable]
         "2::Child 1 Status", py_trees.common.Status.SUCCESS, child_1.status
     )
     assert child_1.status == py_trees.common.Status.SUCCESS
@@ -111,7 +111,7 @@ def test_running_with_no_memory_invalidate_dangling_runners() -> None:
         "2::Child 1 Status", py_trees.common.Status.RUNNING, child_1.status
     )
     assert child_1.status == py_trees.common.Status.RUNNING
-    py_trees.tests.print_assert_details(
+    py_trees.tests.print_assert_details(  # type: ignore[unreachable]
         "2::Child 2 Status", py_trees.common.Status.INVALID, child_2.status
     )
     assert child_2.status == py_trees.common.Status.INVALID
@@ -166,7 +166,7 @@ def test_running_with_memory_proceeds() -> None:
         "2::Child 2 Status", py_trees.common.Status.SUCCESS, child_2.status
     )
     assert child_2.status == py_trees.common.Status.SUCCESS
-    py_trees.tests.print_assert_details(
+    py_trees.tests.print_assert_details(  # type: ignore[unreachable]
         "3::Child 3 Status", py_trees.common.Status.RUNNING, child_3.status
     )
     assert child_3.status == py_trees.common.Status.RUNNING