Created State Machine Blind

Author: Vaibhav-Hariani

ros2/CStop.py

@@ -0,0 +1,39 @@
+from statemachine import StateMachine, State
+
+class Car(StateMachine):
+    # State Machine for the Cooper Union Intelligent Ground Vehicle
+    Lane_Following = State("LF")
+    Lane_Change = State("LC")
+    # C stop is Controlled, E stop is Emergency
+    Cstop = State("CS",initial=True)
+    Estop = State("ES",final=True)
+
+
+    Resume = Cstop.to(Lane_Following)
+    Obj_Avoidance = Lane_Following.to(Lane_Change)
+    Stop_Trigger = Lane_Following.to(Cstop) | Lane_Change.to(Cstop)
+    Emergency_Trigger =(
+                        Lane_Following.to(Estop)
+                        | Lane_Change.to(Estop) 
+                        | Cstop.to(Estop)
+                        )
+    Return_To_Follow = Lane_Change.to(Lane_Following)
+
+#The Lane Follow State 
+    @Lane_Following.enter
+    def Follow():
+        print("Following Lanes")
+
+
+    @Cstop.enter
+    def on_CStop():
+        print("Car is Stopped temporarily")
+
+    @Estop.enter
+    def on_EStop():
+        print("UH OH")
+
+if "__name__" == "__main__":
+    test_machin = Car()
+    img_path = "visualizer.png"
+    test_machin._graph().write_png(img_path)