为了更加规范的实现状态机，我将使用两种结构来完成。
- 用多返回值（状态值）的函数，通过主循环和switch实现
- 使用Python的smach思想，定好状态机和event的模板， 再对具体事件进行构造,函数中对关键信号量进行监控,对状态函数切换更加清晰（虽然复杂一些）
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