via/alice-sdv-demo Private

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import unittestfrom edge.state_machine import Event, InvalidTransition, PatrolStateMachine, Stateclass PatrolStateMachineTest(unittest.TestCase):    def test_nominal_patrol_returns_to_idle(self) -> None:        machine = PatrolStateMachine()        for event in (            Event.START_PATROL,            Event.ENTERED_ROUTE,            Event.PATROL_COMPLETED,            Event.RETURNED_HOME,        ):            machine = machine.dispatch(event)        self.assertEqual(machine.state, State.IDLE)    def test_abort_during_enter_returns_home(self) -> None:        machine = PatrolStateMachine().dispatch(Event.START_PATROL)        self.assertEqual(machine.dispatch(Event.ABORT).state, State.RETURN)    def test_safety_timeout_enters_fault(self) -> None:        machine = PatrolStateMachine().dispatch(Event.START_PATROL).dispatch(Event.ENTERED_ROUTE)        self.assertEqual(machine.dispatch(Event.SAFETY_TIMEOUT).state, State.FAULT)    def test_invalid_transition_is_rejected(self) -> None:        with self.assertRaises(InvalidTransition):            PatrolStateMachine().dispatch(Event.RETURNED_HOME)if __name__ == "__main__":    unittest.main()