def test_when_execute_stm_tasks_then_priority_todo_moved_to_sent_queue(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_commands_todo.append(command)
ctrl._execute_stm_tasks()
self.assertEqual(command, ctrl._stm_sent_queue.get())
def test_when_execute_stm_tasks_then_send_via_channel(self):
channel = MagicMock()
channel.attach_mock(Mock(), 'send_command')
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(), channel)
ctrl._stm_commands_todo.append(command)
ctrl._execute_stm_tasks()
channel.send_command.assert_called_once_with(
StmCommand.factory(command))