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How to use update_state_machine method in localstack
Best Python code snippet using localstack_python
brainAttacker.py
Source:brainAttacker.py 
...87 self.roi_width = msg.ball.roi_width88 self.roi_height = msg.ball.roi_height89 self.ball_centered, self.ball_close, self.motorhead = self.thoughts.vision(self.x_ball, self.y_ball, self.roi_width, self.roi_height, self.ball)90 91 self.update_state_machine()92 # Metodo para a visão na robo simulada93 def callback_vision_sim(self, msg): # Acionado toda vez que uma mensagem da Visão chega94 self.searching = msg.searching95 self.ball = msg.found96 self.x_ball = msg.x # Coordenada horizontal da bola97 self.y_ball = msg.y # Coordenada vertical da bola98 self.roi_width = msg.roi_width99 self.roi_height = msg.roi_height100 self.ball_centered, self.ball_close, self.motorhead = self.thoughts.vision(self.x_ball, self.y_ball, self.roi_width, self.roi_height, self.ball)101 102 self.update_state_machine()103 def callback_head(self, msg):104 self.neck_horizontal_position = msg.data[18]105 self.neck_vertical_position = msg.data[19]106 self.body_alignment, self.motor_limit_reached = self.thoughts.movement(self.neck_horizontal_position, self.neck_vertical_position)107 self.walking = msg.source108 self.update_state_machine()109 def walk_service(self, first_pose, move_head, walk_flag, test_mode):110 111 rospy.wait_for_service('/humanoid_walking/walking_cmd')112 try:113 service_walk = rospy.ServiceProxy('/humanoid_walking/walking_cmd', LipCmdSrv)114 service_walk(first_pose, move_head, walk_flag, False, test_mode, self.vx, self.vy, self.vz)115 except rospy.ServiceException as e:116 print("Service call failed: {e}")117 118 def callback_sensor(self, msg):119 #pegar valores pertinentes do sensor IMU 120 self.x_sensor = msg.x121 self.y_sensor = msg.y122 self.z_sensor = msg.z123 self.falled = self.thoughts.sensor_think(self.x_sensor, self.y_sensor, self.z_sensor)124 self.update_state_machine()125 126 def call_predefined_movement(self, predef_name):127 self.finished_page = 'not_finished'128 rospy.wait_for_service('/movement_predefined/request_txt')129 130 try:131 service_predef_mov = rospy.ServiceProxy('/movement_predefined/request_txt', PredefinedMovementSrv)132 resp = service_predef_mov(predef_name)133 self.finished_page = 'finished'134 self.update_state_machine()135 except rospy.ServiceException as e:136 print("Service call failed: {e}")137 # Método destinado a repassar as variveis para a máquina de estados138 def update_state_machine(self):139 # Visão140 self.robot.ball = self.ball141 self.robot.searching = self.searching142 self.robot.ball_centered = self.ball_centered143 self.robot.ball_close = self.ball_close144 # Movimento145 self.robot.moving = self.moving146 self.robot.falling = self.falled147 self.robot.finish_kicking = self.finish_kicking148 self.robot.motor_limit_reached = self.motor_limit_reached149 # Método responsavel por passar comandos ao movimento150 def run_movement(self):151 if self.robot.state != 'S_Search_ball':152 self.walk_service(first_pose=False, move_head = False, walk_flag = False, test_mode = self.test_mode)153 if self.robot.state == 'S_Getting_up':154 # Movimento desligar motores momentos antes de a robô realmente cair155 self.moving = False156 time.sleep(1) # Esperar um pouco para garantir que ela caiu157 self.position_falled = self.thoughts.falled_position(self.x_sensor, self.y_sensor, self.z_sensor) #verificar a posição que a robo caiu 158 print (self.position_falled) 159 if self.walking == 'not_walking' or self.finished_page == 'finished': 160 if self.position_falled == 'front':161 self.call_predefined_movement('stand_up_front')162 print('stand_up_front')163 164 elif self.position_falled == 'back':165 self.call_predefined_movement('stand_up_back')166 print('stand_up_back')167 elif self.position_falled == 'left_side':168 self.call_predefined_movement('stand_up_left')169 print('stand_up_left')170 171 elif self.position_falled == 'right_side':172 self.call_predefined_movement('stand_up_right')173 print('stand_up_right')174 elif self.finished_page == 'finished':175 self.falled = False176 self.moving = False177 self.update_state_machine() 178 elif (self.robot.state == 'S_Walking' and self.finished_page == 'finished'):179 180 count = 0181 182 if self.body_alignment == 'body_centralized':183 self.moving = True184 185 #Chamando page de andar reto varias vezes, pois anda pouco186 while count <= 4:187 self.call_predefined_movement('go_ahead')188 print('Andando reto')189 count += 1190 191 elif self.body_alignment == 'turn_left':192 self.moving = True193 #Chamando page de virar para a esquerda194 self.call_predefined_movement('turn_left')195 print('Girando para esquerda')196 elif self.body_alignment == 'turn_right':197 self.moving = True198 #Chamando page de virar para a direita 199 self.call_predefined_movement('turn_right')200 print('Girando para direita')201 202 203 self.update_state_machine()204 self.robot.state = 'S_Search_ball' 205 elif (self.robot.state == 'S_Kick' and self.finished_page == 'finished'):206 count = 0207 while count <= 4:208 self.call_predefined_movement('go_ahead')209 print('go_ahead no kick')210 count += 1211 self.call_predefined_movement('weak_kick')212 print('chamou kick')213 #self.finish_kicking = True214 self.update_state_machine()215 elif (self.robot.state == 'S_Stand_still' and self.finished_page == 'finished'):216 self.call_predefined_movement('first_pose')217 print('first_pose no stand_still')218 self.update_state_machine()219 elif (self.robot.state == 'S_Search_ball' and self.finished_page == 'finished'):220 self.headMsg.pos = self.motorhead221 self.pub_comm_head_params.publish(self.headMsg)222 if self.motorhead == 4: #Procurou demais223 self.call_predefined_movement('turn_left')224 print('turn_left no search_ball')225 elif self.motorhead == 3: #Casos legitimos226 self.walk_service(self.first_pose, move_head = True, walk_flag = False, test_mode = self.test_mode)227 228 else:229 self.walk_service(self.first_pose, move_head = True, walk_flag = False, test_mode = self.test_mode)230 self.update_state_machine()231 232 elif (self.robot.state == 'S_Body_alignment' and self.finished_page == 'finished'): 233 self.headMsg.pos = -self.motorhead234 self.pub_comm_head_params.publish(self.headMsg)235 self.walk_service(self.first_pose, move_head = True, walk_flag = False, test_mode = self.test_mode)236 time.sleep(5)237 self.walk_service(self.first_pose, move_head = False, walk_flag = False, test_mode = self.test_mode)238 239 if self.body_alignment == 'turn_left':240 self.moving = True241 print('Body_alignment virando a esquerda com cabeça à ', self.motorhead)242 self.call_predefined_movement('turn_left')243 elif self.body_alignment == 'turn_right':244 self.moving = True245 print('Body_alignment virando a direita com cabeça à ', self.motorhead)246 self.call_predefined_movement('turn_right')247 248 self.robot.state = 'S_Search_ball'249 self.update_state_machine()250 251 def start(self):252 rospy.Subscriber('/webots_natasha/vision_inference', WebotsVisionMsg, self.callback_vision) #Subscrição precisa ser feita apenas uma vez253 rospy.Subscriber('/webots_natasha/behaviour_controller', Vector3, self.callback_sensor)254 rospy.Subscriber('/opencm/request', OpencmRequestMsg, self.callback_head)255 #rospy.Subscriber('objects_sim', Ball, self.callback_vision_sim)256 #rospy.Subscriber('robot_actions', StateMachineActionsMsg, self.callback_test)257 self.pub_comm_head_params = rospy.Publisher('/motor_comm/head_params', HeadMoveMsg, queue_size = 100)258 259 self.robot.game_controller = True260 self.update_state_machine() # Método para atualizar a máquina de estados261 262 self.test_mode = True263 self.first_pose = False264 self.walk_service(self.first_pose, move_head = False, walk_flag = False, test_mode = self.test_mode)265 266 time.sleep(10)267 self.first_pose = True268 self.walk_service(self.first_pose, move_head = False, walk_flag = False, test_mode = self.test_mode)269 self.call_predefined_movement('first_pose')270 time.sleep(10)271 self.first_pose = False272 self.walk_service(self.first_pose, move_head = False, walk_flag = False, test_mode = self.test_mode)273 # Loop que mantém o Behaviour em execução274 while not rospy.is_shutdown():...
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