via/alice-sdv-demo Private

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from __future__ import annotationsfrom dataclasses import dataclassfrom enum import Enumclass State(str, Enum):    IDLE = "IDLE"    ENTER = "ENTER"    PATROL = "PATROL"    RETURN = "RETURN"    FAULT = "FAULT"class Event(str, Enum):    START_PATROL = "START_PATROL"    ENTERED_ROUTE = "ENTERED_ROUTE"    PATROL_COMPLETED = "PATROL_COMPLETED"    RETURNED_HOME = "RETURNED_HOME"    ABORT = "ABORT"    SAFETY_TIMEOUT = "SAFETY_TIMEOUT"    RESET = "RESET"TRANSITIONS: dict[tuple[State, Event], State] = {    (State.IDLE, Event.START_PATROL): State.ENTER,    (State.ENTER, Event.ENTERED_ROUTE): State.PATROL,    (State.ENTER, Event.ABORT): State.RETURN,    (State.PATROL, Event.PATROL_COMPLETED): State.RETURN,    (State.PATROL, Event.ABORT): State.RETURN,    (State.RETURN, Event.RETURNED_HOME): State.IDLE,    (State.ENTER, Event.SAFETY_TIMEOUT): State.FAULT,    (State.PATROL, Event.SAFETY_TIMEOUT): State.FAULT,    (State.RETURN, Event.SAFETY_TIMEOUT): State.FAULT,    (State.FAULT, Event.RESET): State.IDLE,}class InvalidTransition(ValueError):    """Raised when an event is not allowed from the current state."""@dataclass(frozen=True)class PatrolStateMachine:    state: State = State.IDLE    def dispatch(self, event: Event) -> "PatrolStateMachine":        next_state = TRANSITIONS.get((self.state, event))        if next_state is None:            raise InvalidTransition(f"{event} is not allowed from {self.state}")        return PatrolStateMachine(next_state)