import json
import asynctest
from asynctest import patch
from common.utils import logger_create
from tasks import tasks
from app.state_machine.state_machine import StateMachine, SystemState
from app.state_machine.state_machine_inputs import StateMachineInputs
from app.log_store import LogStore
from jetson_io.uart import LogPacket
# Create a logger
_LOGGER = logger_create(__name__, "unit_test")
logging.disable(level=logging.DEBUG)
_LOG_TEST_FUNC = lambda : _LOGGER.unit_test(inspect.stack()[1].function)
class TestTask_ConsumeLoggingPackets(asynctest.TestCase):
"""
Tests the class StateMachine
"""
TEST_JSON_FILE = "test.json"
TEST_JSON_CONTENTS = {
"type" : {
"info" : 0,
"error" : 1,
"status" : 2,
# Public libraries
from enum import Enum
from common.utils import logger_create
_LOGGER = logger_create(__name__, "debug")
class SystemState(Enum):
"""
Enumerates the different states of the state machine
"""
NAVIGATING_SIDEWALK = 0 # Still on the sidewalk
LOOKING_FOR_PATH = 1 # Found house but looking for path to the door
FOUND_PATH_TO_HOUSE = 2 # Found the path to door, need to pivot and start on it
NAVIGATING_PATH = 3 # Going down the path to the door
REACHED_DOOR = 4 # Got to the end of the path
DELIVER_PACKAGE = 5 # Activate delivery actuators
"""
@purpose:
Each of these functions are a callback for the state machine
Each function is given the current state and all the potential inputs
"""
async def _navigating_sidewalk_state_callback(current_state, state_inputs):
_LOGGER.debug("navigating_sidewalk_state_callback")
if state_inputs.found_house:
return SystemState.LOOKING_FOR_PATH
else: