def test_when_receive_message_from_stm_then_append_it_to_queue(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
ctrl.receive_stm_command()
self.assertEqual(1, len(ctrl._stm_responses_deque))
def test_when_receive_message_from_stm_then_receive_from_channel(self):
channel = MagicMock()
channel.attach_mock(
Mock(return_value=commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value)),
'receive_message')
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(), channel)
ctrl.receive_stm_command()
channel.receive_message.assert_called_once()