async def task_state_machine(sm_inputs):
"""
Coroutine
Handles the state machine transitions
@param sm_inputs : Reference to a StateMachineInputs object
@task : This is an infinite loop task
"""
# How often the task should wake up and check for potential state transitions
STATE_TRANSITION_FREQUENCY_HZ = 1
# How often in seconds
TIME_BETWEEN_STATE_TRANSITIONS_SEC = 1 / STATE_TRANSITION_FREQUENCY_HZ
# State machine object
state_machine = StateMachine(sm_inputs)
_LOGGER.info("%s starting...", inspect.stack()[0].function)
# Function that encapsulates what the task does
async def run_state_machine():
# Check for state transitions and transition if necessary
await state_machine.run()
# Sleep between state transition checks
await asyncio.sleep(TIME_BETWEEN_STATE_TRANSITIONS_SEC)
# In the unit test environment, execute the operation once, otherwise run an infinite loop
if "ENVIRONMENT" in os.environ and os.environ["ENVIRONMENT"] == "Unit Test":
await run_state_machine()
else: # pragma: no cover
# Main loop
while True:
await run_state_machine()
async def test_reached_door(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
# Transition to LOOKING_FOR_PATH
state_machine_inputs.found_house = True
await state_machine.run()
# Transition to FOUND_PATH_TO_HOUSE
state_machine_inputs.found_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.FOUND_PATH_TO_HOUSE)
# Transition to NAVIGATING_PATH
state_machine_inputs.ready_to_go_down_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_PATH)
# Stay in NAVIGATING_PATH
state_machine_inputs.left_ir_sensor = 50
state_machine_inputs.right_ir_sensor = 50
state_machine_inputs.bottom_ir_sensor = 50
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_PATH)
# Transition to REACHED_DOOR
state_machine_inputs.left_ir_sensor = 49
state_machine_inputs.right_ir_sensor = 49
state_machine_inputs.bottom_ir_sensor = 49
await state_machine.run()
self.assertEqual(state_machine.current_state, SystemState.REACHED_DOOR)
_LOG_TEST_FUNC()
async def test_looking_for_path(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
# Stays in NAVIGATING_SIDEWALK
state_machine_inputs.found_house = False
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_SIDEWALK)
# Transition to LOOKING_FOR_PATH
state_machine_inputs.found_house = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.LOOKING_FOR_PATH)
_LOG_TEST_FUNC()
async def test_found_path_to_found(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
# Transition to LOOKING_FOR_PATH
state_machine_inputs.found_house = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.LOOKING_FOR_PATH)
# Stay in LOOKING_FOR_PATH
state_machine_inputs.found_path = False
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.LOOKING_FOR_PATH)
# Transition to FOUND_PATH_TO_HOUSE
state_machine_inputs.found_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.FOUND_PATH_TO_HOUSE)
_LOG_TEST_FUNC()
async def test_navigation_path(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
# Transition to LOOKING_FOR_PATH
state_machine_inputs.found_house = True
await state_machine.run()
# Transition to FOUND_PATH_TO_HOUSE
state_machine_inputs.found_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.FOUND_PATH_TO_HOUSE)
# Stay in FOUND_PATH_TO_HOUSE
state_machine_inputs.ready_to_go_down_path = False
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.FOUND_PATH_TO_HOUSE)
# Transition to NAVIGATING_PATH
state_machine_inputs.ready_to_go_down_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_PATH)
_LOG_TEST_FUNC()
async def test_reset_resquence(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
# Transition to LOOKING_FOR_PATH
state_machine_inputs.found_house = True
await state_machine.run()
# Transition to FOUND_PATH_TO_HOUSE
state_machine_inputs.found_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.FOUND_PATH_TO_HOUSE)
# Transition to NAVIGATING_PATH
state_machine_inputs.ready_to_go_down_path = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_PATH)
# Transition to REACHED_DOOR
state_machine_inputs.left_ir_sensor = 49
state_machine_inputs.right_ir_sensor = 49
state_machine_inputs.bottom_ir_sensor = 49
await state_machine.run()
self.assertEqual(state_machine.current_state, SystemState.REACHED_DOOR)
# Transition to DELIVER_PACKAGE
state_machine_inputs.ready_to_drop_package = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.DELIVER_PACKAGE)
# Stay in DELIVER_PACKAGE
state_machine_inputs.dropped_off_package = False
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.DELIVER_PACKAGE)
# Transition to NAVIGATING_SIDEWALK
state_machine_inputs.dropped_off_package = True
await state_machine.run()
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_SIDEWALK)
_LOG_TEST_FUNC()
async def test_navigating_sidewalk(self):
state_machine_inputs = StateMachineInputs()
state_machine = StateMachine(state_machine_inputs)
self.assertEqual(state_machine.current_state,
SystemState.NAVIGATING_SIDEWALK)
_LOGGER.info(inspect.stack()[0].function)