From 3c70a0e5fd669b9a2ad83d2c1c5f71c7676cfc2c Mon Sep 17 00:00:00 2001
From: RexBerry <59031902+RexBerry@users.noreply.github.com>
Date: Thu, 7 Nov 2024 19:02:32 -0600
Subject: [PATCH] Add Mapping state and impl #29

---
 state_machine/states/__init__.py          | 10 +++++-
 state_machine/states/impl/__init__.py     |  1 +
 state_machine/states/impl/mapping_impl.py | 44 +++++++++++++++++++++++
 state_machine/states/mapping.py           | 30 ++++++++++++++++
 4 files changed, 84 insertions(+), 1 deletion(-)
 create mode 100644 state_machine/states/impl/mapping_impl.py
 create mode 100644 state_machine/states/mapping.py

diff --git a/state_machine/states/__init__.py b/state_machine/states/__init__.py
index 1dc0bf68..50dc37f4 100644
--- a/state_machine/states/__init__.py
+++ b/state_machine/states/__init__.py
@@ -1,4 +1,12 @@
 """Defines the state classes."""
 
-from state_machine.states.impl import Airdrop, Land, ODLC, Start, Takeoff, Waypoint
+from state_machine.states.impl import (
+    Airdrop,
+    Land,
+    Mapping,
+    ODLC,
+    Start,
+    Takeoff,
+    Waypoint,
+)
 from state_machine.states.state import State
diff --git a/state_machine/states/impl/__init__.py b/state_machine/states/impl/__init__.py
index a43e65ef..707d602c 100644
--- a/state_machine/states/impl/__init__.py
+++ b/state_machine/states/impl/__init__.py
@@ -2,6 +2,7 @@
 
 from state_machine.states.impl.airdrop_impl import Airdrop
 from state_machine.states.impl.land_impl import Land
+from state_machine.states.impl.mapping_impl import Mapping
 from state_machine.states.impl.odlc_impl import ODLC
 from state_machine.states.impl.start_impl import Start
 from state_machine.states.impl.takeoff_impl import Takeoff
diff --git a/state_machine/states/impl/mapping_impl.py b/state_machine/states/impl/mapping_impl.py
new file mode 100644
index 00000000..4d107f8e
--- /dev/null
+++ b/state_machine/states/impl/mapping_impl.py
@@ -0,0 +1,44 @@
+"""Implements the behavior of the Mapping state."""
+
+import asyncio
+import logging
+
+import dronekit
+
+from state_machine.state_tracker import (
+    update_state,
+    update_drone,
+    update_flight_settings,
+)
+from state_machine.states.mapping import Mapping
+
+
+async def run(self: Mapping) -> None:
+    """
+    Implements the run method for the Mapping state.
+
+    This method captures photos of the mapping area and then transitions to the ODLC state.
+
+    Returns
+    -------
+    ODLC : State
+        The next state after the drone has successfully landed.
+    """
+    try:
+        update_state("Mapping")
+        update_drone(self.drone)
+        update_flight_settings(self.flight_settings)
+
+        logging.info("Mapping")
+
+        # TODO: Implement the mapping state
+        raise NotImplementedError("Mapping state not implemented yet")
+
+        logging.info("Mapping state complete.")
+    except asyncio.CancelledError as ex:
+        logging.error("Mapping state canceled")
+        raise ex
+
+
+# Setting the run_callable attribute of the Mapping class to the run function
+Mapping.run_callable = run
diff --git a/state_machine/states/mapping.py b/state_machine/states/mapping.py
new file mode 100644
index 00000000..b0966693
--- /dev/null
+++ b/state_machine/states/mapping.py
@@ -0,0 +1,30 @@
+"""Declares the Mapping state class."""
+
+from typing import Awaitable, Callable, ClassVar
+
+from state_machine.states.state import State
+
+
+class Mapping(State):
+    """
+    The Mapping state of the state machine.
+
+    This state represents the phase in which the drone is capturing photos of the mapping area.
+
+    Attributes
+    ----------
+    run_callable : ClassVar[Callable[["Mapping"], Awaitable[State]]]
+        The callable object to call when this state is run. This object is
+        shared between all instances of this class.
+
+    Methods
+    -------
+    run(self) -> Awaitable[State]:
+        Execute the logic associated with this state and return the next state
+        to transition to.
+    """
+
+    run_callable: ClassVar[Callable[["Mapping"], Awaitable[State]]]
+
+    def run(self) -> Awaitable[State]:
+        return self.run_callable()