async def test_update_input(self):
"""
Test updating inputs to new values
"""
# Test zero initial values
obj_under_test = StateMachineInputs()
for i, input in enumerate(TestStateMachine.INPUTS):
self.assertEqual(obj_under_test.__dict__[input], 0)
await obj_under_test.update_input(input, i)
self.assertEqual(obj_under_test.__dict__[input], i)
# Test all initial values
TEST_VALUE = 123
kwargs = {input: TEST_VALUE for input in TestStateMachine.INPUTS}
obj_under_test = StateMachineInputs(**kwargs)
for i, input in enumerate(TestStateMachine.INPUTS):
self.assertEqual(obj_under_test.__dict__[input], TEST_VALUE)
await obj_under_test.update_input(input, i)
self.assertEqual(obj_under_test.__dict__[input], i)
# Test some initial values
TEST_VALUE = 8687687
random_samples = random.sample(TestStateMachine.INPUTS, 5)
kwargs = {sample: TEST_VALUE for sample in random_samples}
obj_under_test = StateMachineInputs(**kwargs)
for i, sample in enumerate(random_samples):
self.assertEqual(obj_under_test.__dict__[sample], TEST_VALUE)
await obj_under_test.update_input(input, i)
self.assertEqual(obj_under_test.__dict__[input], i)
# Test invalid inputs
await obj_under_test.update_input("INVALID_INPUT", "INVALID")
_LOG_TEST_FUNC()
async def test_deliver_package(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)
# Stay in REACHED_DOOR
state_machine_inputs.ready_to_drop_package = False
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)
_LOG_TEST_FUNC()
async def test_init(self):
"""
Test initializing the object's member variables
"""
# Test zero initial values
obj_under_test = StateMachineInputs()
for input in TestStateMachine.INPUTS:
self.assertEqual(obj_under_test.__dict__[input], 0)
# Test all initial values
TEST_VALUE = 123
kwargs = {input: TEST_VALUE for input in TestStateMachine.INPUTS}
obj_under_test = StateMachineInputs(**kwargs)
for input in TestStateMachine.INPUTS:
self.assertEqual(obj_under_test.__dict__[input], TEST_VALUE)
# Test some initial values
TEST_VALUE = 8687687
random_samples = random.sample(TestStateMachine.INPUTS, 5)
kwargs = {sample: TEST_VALUE for sample in random_samples}
obj_under_test = StateMachineInputs(**kwargs)
for sample in random_samples:
self.assertEqual(obj_under_test.__dict__[sample], TEST_VALUE)
_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_task_state_machine(self):
"""
This task does not really need to be tested, all it does is run the StateMachine and sleep
"""
TEST_INPUTS = StateMachineInputs()
await tasks.task_state_machine(TEST_INPUTS)
async def _register_server_background_tasks_on_startup(self, app):
"""
Startup handler for registering background tasks
"""
CONFIG_JSON_FILE = "config.json"
# Parse configurations
with open(CONFIG_JSON_FILE, "r") as config_file:
configuration = json.load(config_file)
protocol_json_file = configuration["protocol_json_file"]["value"]
# Shared task variables
state_machine_inputs = StateMachineInputs(
) # Bundled state machine inputs object
log_store = LogStore(protocol_json_file) # Stores logging data
packet_queue = asyncio.Queue(100) # Logging packet queue
# Tasks that run in the background of the web server
app["background_tasks"] = [
app.loop.create_task(
tasks.task_state_machine(state_machine_inputs)),
app.loop.create_task(
tasks.task_consume_logging_packets(packet_queue,
state_machine_inputs,
log_store,
protocol_json_file), ),
]
# This coroutine is enabled by the passed in flag
if self.open_browser:
app["background_tasks"].append(
app.loop.create_task(tasks.task_open_browser(True)), )
# Add a reader (asynchronous interrupt) to the event loop for UART serial data
self._add_reader_process_uart(packet_queue)
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_task_consume_logging_packets(self):
"""
Tests an infrared_log_type packet in the queue
"""
TEST_QUEUE = asyncio.Queue()
TEST_SM_INPUTS = StateMachineInputs()
TEST_LOG_STORE = LogStore(TestTask_ConsumeLoggingPackets.TEST_JSON_FILE)
TEST_PACKET = LogPacket(type=6, length=1, payload="x")
await TEST_QUEUE.put(TEST_PACKET)
with patch("tasks.tasks.state_machine_inputs.StateMachineInputs.update_input") as patcher:
await tasks.task_consume_logging_packets(
TEST_QUEUE,
TEST_SM_INPUTS,
TEST_LOG_STORE,
TestTask_ConsumeLoggingPackets.TEST_JSON_FILE
)
patcher.assert_called_once_with(6, "x")
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_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)