本文整理汇总了Python中flexbe_core.proxy.ProxySubscriberCached.set_callback方法的典型用法代码示例。如果您正苦于以下问题：Python ProxySubscriberCached.set_callback方法的具体用法？Python ProxySubscriberCached.set_callback怎么用？Python ProxySubscriberCached.set_callback使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类flexbe_core.proxy.ProxySubscriberCached的用法示例。
在下文中一共展示了ProxySubscriberCached.set_callback方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: PreemptableStateMachine
# 需要导入模块: from flexbe_core.proxy import ProxySubscriberCached [as 别名]
# 或者: from flexbe_core.proxy.ProxySubscriberCached import set_callback [as 别名]
class PreemptableStateMachine(LoopbackStateMachine):
"""
A state machine that can be preempted.
If preempted, the state machine will return the outcome preempted.
"""
_preempted_name = 'preempted'
def __init__(self, *args, **kwargs):
# add preempted outcome
if len(args) > 0:
args[0].append(self._preempted_name)
else:
outcomes = kwargs.get('outcomes', [])
outcomes.append(self._preempted_name)
kwargs['outcomes'] = outcomes
super(PreemptableStateMachine, self).__init__(*args, **kwargs)
# always listen to preempt so that the behavior can be stopped even if unsupervised
self._preempt_topic = 'flexbe/command/preempt'
self._sub = ProxySubscriberCached({self._preempt_topic: Empty})
self._sub.set_callback(self._preempt_topic, self._preempt_cb)
def _preempt_cb(self, msg):
if not self._is_controlled:
PreemptableState.preempt = True
rospy.loginfo("--> Preempted requested while unsupervised")