{"id":11212,"date":"2026-04-08T09:22:00","date_gmt":"2026-04-08T01:22:00","guid":{"rendered":"https:\/\/www.archimetric.com\/cn\/state-machine-diagram-best-practices-robotics-deadlocks\/"},"modified":"2026-04-08T09:22:00","modified_gmt":"2026-04-08T01:22:00","slug":"state-machine-diagram-best-practices-robotics-deadlocks","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/cn\/state-machine-diagram-best-practices-robotics-deadlocks\/","title":{"rendered":"\u673a\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9501\u7684\u72b6\u6001\u673a\u56fe\u6700\u4f73\u5b9e\u8df5"},"content":{"rendered":"<p>\u8bbe\u8ba1\u53ef\u9760\u7684\u673a\u5668\u4eba\u63a7\u5236\u7cfb\u7edf\u9700\u8981\u7cbe\u786e\u6027\u3002\u56fa\u4ef6\u4e2d\u7684\u4e00\u4e2a\u903b\u8f91\u9519\u8bef\u5c31\u53ef\u80fd\u5bfc\u81f4\u64cd\u4f5c\u505c\u6b62\u6216\u9020\u6210\u786c\u4ef6\u635f\u574f\u3002\u72b6\u6001\u673a\u4e3a\u7ba1\u7406\u590d\u6742\u884c\u4e3a\u63d0\u4f9b\u4e86\u4e00\u79cd\u7ed3\u6784\u5316\u7684\u65b9\u6cd5\u3002\u6b63\u786e\u5b9e\u65bd\u65f6\uff0c\u5b83\u4eec\u80fd\u63d0\u9ad8\u7cfb\u7edf\u7684\u53ef\u9884\u6d4b\u6027\u548c\u53ef\u7ef4\u62a4\u6027\u3002\u7136\u800c\uff0c\u8bbe\u8ba1\u4e0d\u5f53\u4f1a\u5f15\u5165\u6b7b\u9501\u7b49\u98ce\u9669\u3002\u8fd9\u4e9b\u60c5\u51b5\u4f1a\u4f7f\u7cfb\u7edf\u51bb\u7ed3\uff0c\u963b\u6b62\u8fdb\u4e00\u6b65\u7684\u8fdb\u5c55\u3002<\/p>\n<p>\u672c\u6307\u5357\u63a2\u8ba8\u4e86UML\u72b6\u6001\u673a\u56fe\u7684\u6700\u4f73\u5b9e\u8df5\u3002\u91cd\u70b9\u5728\u4e8e\u673a\u5668\u4eba\u56fa\u4ef6\u7684\u5e94\u7528\u573a\u666f\u3002\u6211\u4eec\u7814\u7a76\u5982\u4f55\u8bbe\u8ba1\u8f6c\u6362\u3001\u7ba1\u7406\u8d44\u6e90\u4ee5\u53ca\u5904\u7406\u5e76\u53d1\u95ee\u9898\u3002\u76ee\u6807\u662f\u5728\u4e0d\u589e\u52a0\u4e0d\u5fc5\u8981\u7684\u590d\u6742\u6027\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter\"><img alt=\"Infographic illustrating best practices for UML state machine diagrams in robotics firmware to prevent deadlocks, featuring common causes like circular dependencies and missing guards, plus solutions including timeout transitions, deterministic guards, and resource management strategies, designed with clean flat style and pastel colors for educational use\" decoding=\"async\" src=\"https:\/\/www.archimetric.com\/wp-content\/uploads\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\"\/><\/figure>\n<\/div>\n<h2>\ud83e\udde0 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\u56fa\u4ef6\u4e2d\u6b7b\u9501\u7684\u5e38\u89c1\u539f\u56e0<\/h2>\n<p>\u5728\u5e94\u7528\u4fee\u590d\u63aa\u65bd\u4e4b\u524d\uff0c\u5fc5\u987b\u5148\u7406\u89e3\u6839\u672c\u539f\u56e0\u3002\u673a\u5668\u4eba\u56fa\u4ef6\u4e2d\u7684\u6b7b\u9501\u901a\u5e38\u6e90\u4e8e\u4e8b\u4ef6\u7684\u6392\u961f\u65b9\u5f0f\u4ee5\u53ca\u8d44\u6e90\u7684\u83b7\u53d6\u65b9\u5f0f\u3002<\/p>\n<h3>1. \u5faa\u73af\u8d44\u6e90\u4f9d\u8d56<\/h3>\n<p>\u72b6\u6001A\u7b49\u5f85\u72b6\u6001B\u6301\u6709\u7684\u8d44\u6e90\uff0c\u800c\u72b6\u6001B\u53c8\u7b49\u5f85\u72b6\u6001A\u6301\u6709\u7684\u8d44\u6e90\u3002\u4e24\u8005\u90fd\u65e0\u6cd5\u7ee7\u7eed\u6267\u884c\u3002\u8fd9\u5728\u591a\u7ebf\u7a0b\u6216\u591a\u8fdb\u7a0b\u67b6\u6784\u4e2d\u5f88\u5e38\u89c1\u3002<\/p>\n<h3>2. \u7f3a\u5c11\u8f6c\u6362\u5b88\u536b<\/h3>\n<p>\u5982\u679c\u8f6c\u6362\u6761\u4ef6\u4ece\u672a\u6ee1\u8db3\uff0c\u7cfb\u7edf\u5c06\u6c38\u8fdc\u505c\u7559\u5728\u67d0\u4e2a\u72b6\u6001\u3002\u5bf9\u64cd\u4f5c\u5458\u800c\u8a00\uff0c\u8fd9\u770b\u8d77\u6765\u50cf\u6b7b\u9501\uff0c\u4f46\u5b9e\u9645\u4e0a\u662f\u4e00\u79cd\u903b\u8f91\u505c\u6ede\u3002<\/p>\n<h3>3. \u963b\u585e\u4e8b\u4ef6\u961f\u5217<\/h3>\n<p>\u9ad8\u4f18\u5148\u7ea7\u4e8b\u4ef6\u88ab\u4f4e\u4f18\u5148\u7ea7\u4e8b\u4ef6\u963b\u585e\u3002\u5982\u679c\u961f\u5217\u5df2\u6ee1\uff0c\u65b0\u4e8b\u4ef6\u5c06\u88ab\u4e22\u5f03\uff0c\u6216\u7cfb\u7edf\u4f1a\u963b\u585e\u7b49\u5f85\u7a7a\u95f4\u3002<\/p>\n<h3>4. \u9519\u8bef\u5904\u7406\u4e0d\u5f53<\/h3>\n<p>\u5f53\u53d1\u751f\u9519\u8bef\u65f6\uff0c\u673a\u5668\u4f1a\u8fdb\u5165\u201c\u9519\u8bef\u201d\u72b6\u6001\u3002\u5982\u679c\u8be5\u72b6\u6001\u6ca1\u6709\u5b9a\u4e49\u9000\u51fa\u6761\u4ef6\uff0c\u673a\u5668\u4eba\u5c06\u505c\u6b62\u54cd\u5e94\u6240\u6709\u8f93\u5165\u3002<\/p>\n<h2>\ud83d\udee1\ufe0f \u56fe\u5f62\u8bbe\u8ba1\u7684\u6700\u4f73\u5b9e\u8df5<\/h2>\n<p>\u8bbe\u8ba1\u56fe\u8868\u662f\u7b2c\u4e00\u9053\u9632\u7ebf\u3002\u89c6\u89c9\u6a21\u578b\u5fc5\u987b\u88ab\u51c6\u786e\u8f6c\u6362\u4e3a\u4ee3\u7801\uff0c\u800c\u4e0d\u4f1a\u5f15\u5165\u903b\u8f91\u9519\u8bef\u3002<\/p>\n<h3>1. \u660e\u786e\u5b9a\u4e49\u8fdb\u5165\u548c\u9000\u51fa\u52a8\u4f5c<\/h3>\n<p>\u6bcf\u4e2a\u72b6\u6001\u90fd\u5e94\u5728\u8fdb\u5165\u548c\u9000\u51fa\u65f6\u5177\u6709\u660e\u786e\u7684\u884c\u4e3a\u3002\u8fd9\u80fd\u786e\u4fdd\u8d44\u6e90\u5f97\u5230\u4e00\u81f4\u7ba1\u7406\u3002<\/p>\n<ul>\n<li><strong>\u8fdb\u5165\u52a8\u4f5c\uff1a<\/strong> \u521d\u59cb\u5316\u53d8\u91cf\uff0c\u542f\u52a8\u8ba1\u65f6\u5668\uff0c\u6216\u542f\u7528\u4f20\u611f\u5668\u3002<\/li>\n<li><strong>\u9000\u51fa\u52a8\u4f5c\uff1a<\/strong> \u505c\u6b62\u6267\u884c\u5668\uff0c\u91ca\u653e\u9501\uff0c\u6216\u8bb0\u5f55\u6570\u636e\u3002<\/li>\n<li><strong>\u6548\u679c\uff1a<\/strong> \u5728\u72b6\u6001\u8f6c\u6362\u53d1\u751f\u65f6\u7acb\u5373\u6267\u884c\u7684\u52a8\u4f5c\u3002<\/li>\n<\/ul>\n<p><strong>\u793a\u4f8b\uff1a<\/strong><\/p>\n<ul>\n<li>\u8fdb\u5165 <em>\u8fd0\u52a8<\/em> \u72b6\u6001\uff1a\u542f\u7528\u7535\u673a\u9a71\u52a8\u5668\u3002<\/li>\n<li>\u9000\u51fa <em>\u8fd0\u52a8<\/em> \u72b6\u6001\uff1a\u7981\u7528\u7535\u673a\u9a71\u52a8\u5668\u3002<\/li>\n<\/ul>\n<h3>2. \u4e3a\u590d\u6742\u5b50\u673a\u4f7f\u7528\u5386\u53f2\u72b6\u6001<\/h3>\n<p>\u590d\u6742\u7684\u673a\u5668\u4eba\u5177\u6709\u5d4c\u5957\u884c\u4e3a\u3002\u6b63\u4ea4\u533a\u57df\u5141\u8bb8\u72ec\u7acb\u7684\u8fdb\u7a0b\u540c\u65f6\u8fd0\u884c\u3002\u5386\u53f2\u72b6\u6001\u4f1a\u8bb0\u4f4f\u6700\u540e\u6fc0\u6d3b\u7684\u5b50\u72b6\u6001\u3002<\/p>\n<ul>\n<li><strong>\u6df1\u5c42\u5386\u53f2\uff1a<\/strong> \u8fd4\u56de\u5230\u6700\u6df1\u5c42\u7684\u6d3b\u52a8\u72b6\u6001\u3002<\/li>\n<li><strong>\u6d45\u5c42\u5386\u53f2\uff1a<\/strong> \u8fd4\u56de\u5230\u8be5\u5c42\u7ea7\u4e0a\u6700\u8fd1\u8fdb\u5165\u7684\u72b6\u6001\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u53ef\u4ee5\u9632\u6b62\u7cfb\u7edf\u5728\u6bcf\u6b21\u91cd\u65b0\u8fdb\u5165\u5b50\u673a\u65f6\u90fd\u91cd\u7f6e\u4e3a\u9ed8\u8ba4\u72b6\u6001\uff0c\u4ece\u800c\u964d\u4f4e\u5ef6\u8fdf\u548c\u6f5c\u5728\u7684\u7ade\u4e89\u6761\u4ef6\u3002<\/p>\n<h3>3. \u4fdd\u62a4\u6761\u4ef6\u5fc5\u987b\u662f\u786e\u5b9a\u6027\u7684<\/h3>\n<p>\u4fdd\u62a4\u6761\u4ef6\u51b3\u5b9a\u8f6c\u6362\u662f\u5426\u53d1\u751f\u3002\u5b83\u4eec\u5fc5\u987b\u5feb\u901f\u4e14\u4e00\u81f4\u5730\u8bc4\u4f30\u3002\u907f\u514d\u5728\u4fdd\u62a4\u6761\u4ef6\u4e2d\u8fdb\u884c\u590d\u6742\u7684\u8ba1\u7b97\u3002<\/p>\n<ul>\n<li><strong>\u4e0d\u826f\uff1a<\/strong> \u4f7f\u7528\u5d4c\u5957\u5faa\u73af\u68c0\u67e5\u4e00\u4e2a\u5f88\u957f\u7684\u4f20\u611f\u5668\u503c\u5217\u8868\u3002<\/li>\n<li><strong>\u826f\u597d\uff1a<\/strong> \u68c0\u67e5\u7531\u540e\u53f0\u4efb\u52a1\u8bbe\u7f6e\u7684\u5e03\u5c14\u6807\u5fd7\u3002<\/li>\n<\/ul>\n<h3>4. 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\u6700\u5c0f\u5316\u5e76\u53d1\u533a\u57df<\/h3>\n<p>\u5e76\u53d1\u533a\u57df\uff08\u6b63\u4ea4\u72b6\u6001\uff09\u529f\u80fd\u5f3a\u5927\u4f46\u5b58\u5728\u98ce\u9669\u3002\u533a\u57df\u8d8a\u591a\uff0c\u53d1\u751f\u540c\u6b65\u9519\u8bef\u7684\u53ef\u80fd\u6027\u5c31\u8d8a\u5927\u3002<\/p>\n<ul>\n<li>\u5c3d\u53ef\u80fd\u4fdd\u6301\u533a\u57df\u4e4b\u95f4\u7684\u72ec\u7acb\u6027\u3002<\/li>\n<li>\u8c28\u614e\u4f7f\u7528\u4e8b\u4ef6\u5e7f\u64ad\u3002<\/li>\n<li>\u907f\u514d\u5728\u5e76\u53d1\u533a\u57df\u4e4b\u95f4\u5171\u4eab\u53ef\u53d8\u72b6\u6001\u3002<\/li>\n<\/ul>\n<h2>\ud83d\udd04 \u5904\u7406\u8f6c\u6362\u548c\u4e8b\u4ef6<\/h2>\n<p>\u72b6\u6001\u4e4b\u95f4\u7684\u8f6c\u6362\u662f\u5927\u591a\u6570\u903b\u8f91\u9519\u8bef\u53d1\u751f\u7684\u5730\u65b9\u3002\u4e8b\u4ef6\u5904\u7406\u987a\u5e8f\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<h3>\u4e8b\u4ef6\u4f18\u5148\u7ea7<\/h3>\n<p>\u5e76\u975e\u6240\u6709\u4e8b\u4ef6\u90fd\u540c\u7b49\u91cd\u8981\u3002\u786c\u4ef6\u6545\u969c\u4e8b\u4ef6\u5fc5\u987b\u8986\u76d6\u72b6\u6001\u66f4\u65b0\u4e8b\u4ef6\u3002\u5728\u56fe\u4e2d\u5b9a\u4e49\u4f18\u5148\u7ea7\u7ea7\u522b\u3002<\/p>\n<h3>\u8f6c\u6362\u89e6\u53d1\u5668<\/h3>\n<p>\u786e\u4fdd\u6bcf\u4e2a\u72b6\u6001\u5bf9\u6bcf\u4e2a\u76f8\u5173\u4e8b\u4ef6\u90fd\u6709\u660e\u786e\u7684\u54cd\u5e94\u3002\u5982\u679c\u5ffd\u7565\u67d0\u4e2a\u4e8b\u4ef6\uff0c\u5b83\u5c06\u88ab\u89c6\u4e3a\u65e0\u64cd\u4f5c\u3002\u5982\u679c\u4e8b\u4ef6\u51fa\u4e4e\u610f\u6599\uff0c\u53ef\u80fd\u4f1a\u5f15\u53d1\u672a\u5b9a\u4e49\u884c\u4e3a\u3002<\/p>\n<h3>\u81ea\u8f6c\u6362<\/h3>\n<p>\u4f7f\u7528\u81ea\u8f6c\u6362\uff08\u505c\u7559\u5728\u540c\u4e00\u72b6\u6001\uff09\u6709\u52a9\u4e8e\u5904\u7406\u91cd\u8bd5\u6216\u5faa\u73af\u3002\u7136\u800c\uff0c\u907f\u514d\u5728\u6ca1\u6709\u4e2d\u65ad\u6761\u4ef6\u7684\u60c5\u51b5\u4e0b\u5728\u81ea\u8f6c\u6362\u4e2d\u5f62\u6210\u65e0\u9650\u5faa\u73af\u3002<\/p>\n<h2>\ud83d\udcca \u8f6c\u6362\u7b56\u7565\u5bf9\u6bd4<\/h2>\n<table border=\"1\" cellpadding=\"10\" cellspacing=\"0\">\n<tr>\n<th>\u7b56\u7565<\/th>\n<th>\u4f18\u70b9<\/th>\n<th>\u7f3a\u70b9<\/th>\n<th>\u6b7b\u9501\u98ce\u9669<\/th>\n<\/tr>\n<tr>\n<td>\u7acb\u5373\u6267\u884c<\/td>\n<td>\u54cd\u5e94\u65f6\u95f4\u66f4\u5feb<\/td>\n<td>\u66f4\u96be\u4e2d\u65ad<\/td>\n<td>\u4f4e<\/td>\n<\/tr>\n<tr>\n<td>\u5ef6\u8fdf\u6267\u884c<\/td>\n<td>\u5141\u8bb8\u62a2\u5360<\/td>\n<td>\u66f4\u9ad8\u7684\u5ef6\u8fdf<\/td>\n<td>\u4e2d\u7b49<\/td>\n<\/tr>\n<tr>\n<td>\u4e8b\u4ef6\u6392\u961f<\/td>\n<td>\u53ef\u5904\u7406\u7a81\u53d1\u60c5\u51b5<\/td>\n<td>\u5185\u5b58\u5f00\u9500<\/td>\n<td>\u9ad8\uff08\u5982\u679c\u961f\u5217\u963b\u585e\uff09<\/td>\n<\/tr>\n<tr>\n<td>\u4e2d\u65ad\u9a71\u52a8<\/td>\n<td>\u5b9e\u65f6\u54cd\u5e94\u6027<\/td>\n<td>\u590d\u6742\u7684\u540c\u6b65<\/td>\n<td>\u4e2d\u7b49<\/td>\n<\/tr>\n<\/table>\n<h2>\ud83e\udde9 \u8d44\u6e90\u4e0e\u9501\u7684\u7ba1\u7406<\/h2>\n<p>\u56fa\u4ef6\u901a\u5e38\u4e0e\u786c\u4ef6\u5916\u8bbe\u4ea4\u4e92\u3002\u8fd9\u4e9b\u8d44\u6e90\u9700\u8981\u72ec\u5360\u8bbf\u95ee\u4ee5\u9632\u6b62\u635f\u574f\u3002<\/p>\n<h3>\u8d44\u6e90\u5206\u914d<\/h3>\n<p>\u5bf9\u83b7\u53d6\u9501\u5e94\u7528\u4e25\u683c\u7684\u89c4\u5219\u3002<\/p>\n<ul>\n<li>\u5728\u6240\u6709\u72b6\u6001\u4e2d\u4ee5\u4e00\u81f4\u7684\u987a\u5e8f\u83b7\u53d6\u9501\u3002<\/li>\n<li>\u4f7f\u7528\u540e\u7acb\u5373\u91ca\u653e\u9501\u3002<\/li>\n<li>\u5728\u7b49\u5f85\u5176\u4ed6\u8d44\u6e90\u65f6\u6c38\u8fdc\u4e0d\u8981\u6301\u6709\u9501\u3002<\/li>\n<\/ul>\n<h3>\u6b7b\u9501\u9884\u9632\u77e9\u9635<\/h3>\n<p>\u4f7f\u7528\u77e9\u9635\u6765\u8ddf\u8e2a\u8d44\u6e90\u4f9d\u8d56\u5173\u7cfb\u3002<\/p>\n<ul>\n<li>\u5217\u51fa\u6240\u6709\u72b6\u6001\u3002<\/li>\n<li>\u5217\u51fa\u6240\u6709\u8d44\u6e90\u3002<\/li>\n<li>\u6807\u8bb0\u54ea\u4e9b\u72b6\u6001\u6301\u6709\u54ea\u4e9b\u8d44\u6e90\u3002<\/li>\n<li>\u8bc6\u522b\u4f9d\u8d56\u56fe\u4e2d\u7684\u5faa\u73af\u3002<\/li>\n<\/ul>\n<p>\u5982\u679c\u5b58\u5728\u5faa\u73af\uff0c\u5219\u91cd\u65b0\u8bbe\u8ba1\u72b6\u6001\u6d41\u7a0b\u4ee5\u6253\u7834\u5b83\u3002<\/p>\n<h2>\ud83e\uddea \u6d4b\u8bd5\u4e0e\u9a8c\u8bc1<\/h2>\n<p>\u8bbe\u8ba1\u56fe\u8868\u53ea\u662f\u5de5\u4f5c\u7684\u4e00\u534a\u3002\u9a8c\u8bc1\u786e\u4fdd\u5b9e\u73b0\u4e0e\u6a21\u578b\u4e00\u81f4\u3002<\/p>\n<h3>\u6a21\u578b\u5728\u73af\u6d4b\u8bd5<\/h3>\n<p>\u5728\u90e8\u7f72\u5230\u786c\u4ef6\u4e4b\u524d\uff0c\u5148\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8fd0\u884c\u72b6\u6001\u673a\u903b\u8f91\u3002\u8fd9\u53ef\u4ee5\u5728\u4e0d\u5371\u53ca\u7269\u7406\u7ec4\u4ef6\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u538b\u529b\u6d4b\u8bd5\u3002<\/p>\n<h3>\u786c\u4ef6\u5728\u73af\u6d4b\u8bd5<\/h3>\n<p>\u5c06\u56fa\u4ef6\u8fde\u63a5\u5230\u6a21\u62df\u7684\u7269\u7406\u73af\u5883\u3002\u9a8c\u8bc1\u65f6\u5e8f\u7ea6\u675f\u548c\u4f20\u611f\u5668\u53cd\u9988\u56de\u8def\u3002<\/p>\n<h3>\u6a21\u7cca\u6d4b\u8bd5<\/h3>\n<p>\u5411\u7cfb\u7edf\u6ce8\u5165\u968f\u673a\u4e8b\u4ef6\u3002\u89c2\u5bdf\u72b6\u6001\u673a\u662f\u5426\u80fd\u4f18\u96c5\u5730\u5904\u7406\u610f\u5916\u8f93\u5165\uff0c\u6216\u662f\u5426\u5d29\u6e83\u3002<\/p>\n<h3>\u65e5\u5fd7\u8bb0\u5f55\u4e0e\u8ffd\u8e2a<\/h3>\n<p>\u4e3a\u72b6\u6001\u8f6c\u6362\u5b9e\u73b0\u8be6\u7ec6\u7684\u65e5\u5fd7\u8bb0\u5f55\u3002<\/p>\n<ul>\n<li>\u8bb0\u5f55\u8fdb\u5165\u548c\u9000\u51fa\u7684\u65f6\u95f4\u6233\u3002<\/li>\n<li>\u8bb0\u5f55\u4e8b\u4ef6\u89e6\u53d1\u548c\u8f6c\u6362\u7ed3\u679c\u3002<\/li>\n<li>\u8bb0\u5f55\u8d44\u6e90\u7684\u83b7\u53d6\u548c\u91ca\u653e\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u4e9b\u6570\u636e\u5bf9\u4e8e\u8bca\u65ad\u4ec5\u5728\u7279\u5b9a\u6761\u4ef6\u4e0b\u53d1\u751f\u7684\u95f4\u6b47\u6027\u6b7b\u9501\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<h2>\ud83d\udd0d \u5206\u6790\u7279\u5b9a\u7684\u6b7b\u9501\u573a\u666f<\/h2>\n<p>\u8ba9\u6211\u4eec\u770b\u770b\u673a\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73b0\u95ee\u9898\u7684\u5177\u4f53\u4f8b\u5b50\u3002<\/p>\n<h3>\u573a\u666f1\uff1a\u4f20\u611f\u5668\u7b49\u5f85<\/h3>\n<p><strong>\u72b6\u6001\uff1a<\/strong> \u7b49\u5f85\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u3002<\/p>\n<p><strong>\u6761\u4ef6\uff1a<\/strong> \u4ec5\u5728\u201cDataReceived\u201d\u65f6\u8f6c\u6362\u3002<\/p>\n<p><strong>\u95ee\u9898\uff1a<\/strong> \u5982\u679c\u4f20\u611f\u5668\u672a\u80fd\u53d1\u9001\u6570\u636e\uff0c\u8be5\u72b6\u6001\u5c06\u6c38\u8fdc\u4e0d\u4f1a\u9000\u51fa\u3002\u673a\u5668\u4eba\u5c06\u51bb\u7ed3\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848\uff1a<\/strong> \u6dfb\u52a0\u8d85\u65f6\u8f6c\u6362\u3002\u5982\u679c\u201cDataReceived\u201d\u57285\u79d2\u5185\u672a\u5230\u8fbe\uff0c\u5219\u8f6c\u6362\u5230\u201cSensorError\u201d\u72b6\u6001\u3002<\/p>\n<h3>\u573a\u666f2\uff1a\u7535\u673a\u9501\u5b9a<\/h3>\n<p><strong>\u72b6\u6001\uff1a<\/strong> \u5145\u7535\u7535\u6c60\u3002<\/p>\n<p><strong>\u6761\u4ef6\uff1a<\/strong> \u5f53\u7535\u6c60\u5145\u6ee1\u65f6\u8f6c\u6362\u5230\u201c\u7a7a\u95f2\u201d\u72b6\u6001\u3002<\/p>\n<p><strong>\u95ee\u9898\uff1a<\/strong> \u201cBatteryFull\u201d\u4e8b\u4ef6\u7531\u5145\u7535\u7535\u8def\u751f\u6210\u3002\u4e3b\u5904\u7406\u5668\u4ece\u672a\u8f6e\u8be2\u72b6\u6001\u5bc4\u5b58\u5668\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848\uff1a<\/strong> \u786e\u4fdd\u4e2d\u65ad\u5904\u7406\u7a0b\u5e8f\u5c06\u4e8b\u4ef6\u53d1\u5e03\u5230\u72b6\u6001\u673a\u961f\u5217\u4e2d\u3002\u4e0d\u8981\u4f9d\u8d56\u5fd9\u5faa\u73af\u4e2d\u7684\u8f6e\u8be2\u3002<\/p>\n<h3>\u573a\u666f3\uff1a\u5d4c\u5957\u8c03\u7528<\/h3>\n<p><strong>\u72b6\u6001\uff1a<\/strong> \u5bfc\u822a\u3002<\/p>\n<p><strong>\u6761\u4ef6\uff1a<\/strong> \u8c03\u7528\u5b50\u51fd\u6570\u201cPathPlanning\u201d\u3002<\/p>\n<p><strong>\u95ee\u9898\uff1a<\/strong> \u201cPathPlanning\u201d\u4f1a\u963b\u585e10\u79d2\u3002\u5728\u6b64\u671f\u95f4\uff0c\u72b6\u6001\u673a\u65e0\u6cd5\u5904\u7406\u5176\u4ed6\u4e8b\u4ef6\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848\uff1a<\/strong> \u5c06\u957f\u65f6\u95f4\u4efb\u52a1\u79fb\u81f3\u540e\u53f0\u7ebf\u7a0b\u3002\u5411\u4e3b\u72b6\u6001\u673a\u53d1\u5e03\u4e00\u4e2a\u201c\u89c4\u5212\u5b8c\u6210\u201d\u4e8b\u4ef6\u3002<\/p>\n<h2>\ud83d\udd27 \u7f16\u7801\u5b9e\u73b0\u6a21\u5f0f<\/h2>\n<p>\u8be5\u56fe\u5fc5\u987b\u80fd\u6e05\u6670\u5730\u6620\u5c04\u5230\u4ee3\u7801\u3002\u5b58\u5728\u591a\u79cd\u6a21\u5f0f\u53ef\u5b9e\u73b0\u8fd9\u4e00\u70b9\u3002<\/p>\n<h3>Switch-Case \u6a21\u5f0f<\/h3>\n<p>\u4f7f\u7528\u4e00\u4e2a\u4e3b\u5faa\u73af\uff0c\u6839\u636e\u5f53\u524d\u72b6\u6001\u53d8\u91cf\u8fdb\u884c\u5207\u6362\u3002\u8fd9\u79cd\u65b9\u6cd5\u7b80\u5355\uff0c\u4f46\u72b6\u6001\u8f83\u591a\u65f6\u4f1a\u53d8\u5f97\u96be\u4ee5\u7ef4\u62a4\u3002<\/p>\n<ul>\n<li>\u4f18\u70b9\uff1a\u5bf9\u4e8e\u7b80\u5355\u673a\u5668\uff0c\u6613\u4e8e\u9605\u8bfb\u3002<\/li>\n<li>\u7f3a\u70b9\uff1a\u96be\u4ee5\u91cd\u6784\uff0ccase 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