Provides a robot state monitoring interface class. Through StateMonitor, you can perform state queries and related functions.

Interface Definition

StateMonitor is the robot system state monitoring management class. This class is typically used for managing the robot's state and supports state queries.

GetCurrentState

Item	Description
Function Name	GetCurrentState
Function Declaration	RobotState GetCurrentState();
Overview	Get the current aggregated robot state.
Parameter Description	robot_state: Used to receive the state struct.
Return Value	RobotState object.
Remarks	Non-blocking interface. Retrieves the most recently monitored robot state data, including BMS battery status, fault information, etc. More features will be added in the future.

RobotState — Robot State Data Structure

Represents the overall state information of the robot:

Field Name	Type	Description
faults	std::vector<Fault>	List of fault information
bms_data	BmsData	Battery Management System data

BmsData — Battery Management System Data Structure

Represents the battery status information:

Field Name	Type	Description
battery_percentage	float	Current battery remaining percentage (0~100)
battery_health	float	Battery health status (higher value means better health)
battery_state	BatteryState	Battery state (see enum below)
power_supply_status	PowerSupplyStatus	Battery charge/discharge status (see enum below)

Enum Type Definitions

BatteryState — Battery State Enum

Represents the current state of the battery, used for determining and handling battery status in the system:

Enum Value	Value	Description
BatteryState::UNKNOWN	0	Unknown state
BatteryState::GOOD	1	Battery is in good condition
BatteryState::OVERHEAT	2	Battery overheated
BatteryState::DEAD	3	Battery damaged
BatteryState::OVERVOLTAGE	4	Battery overvoltage
BatteryState::UNSPEC_FAILURE	5	Unknown failure
BatteryState::COLD	6	Battery too cold
BatteryState::WATCHDOG_TIMER_EXPIRE	7	Watchdog timer expired
BatteryState::SAFETY_TIMER_EXPIRE	8	Safety timer expired

PowerSupplyStatus — Battery Charge/Discharge Status

Represents the current charge/discharge status of the battery:

Enum Value	Value	Description
PowerSupplyStatus::UNKNOWN	0	Unknown status
PowerSupplyStatus::CHARGING	1	Battery charging
PowerSupplyStatus::DISCHARGING	2	Battery discharging
PowerSupplyStatus::NOTCHARGING	3	Battery not charging/discharging
PowerSupplyStatus::FULL	4	Battery fully charged

Error Code Mapping Table

Error Code (Hex)	Error Description
0x0000	No error
0x1101	Failed to call ROS service
0x1301	Main control node lost
0x1302	APP node lost
0x1304	Audio node lost
0x1305	Motion node lost
0x1306	LCD node lost
0x1307	Realsense node lost
0x1308	Stereo camera node lost
0x1309	LDS node lost
0x130A	Sensor board node lost
0x130B	Touch node lost
0x130C	SLAM node lost
0x130D	Navigation node lost
0x130E	AI node lost
0x130F	Head node lost
0x1310	Cloud processor node lost
0x3201	No laser data
0x3202	No stereo camera data
0x3203	Stereo camera data error
0x3204	Stereo camera initialization failed
0x320B	No odometry data
0x320C	No IMU data
0x6101	Robot failed to connect to APP
0x6102	Disconnected from APP
0x9201	Failed to open LCD serial port
0x7201	Failed to open head serial port
0x7202	No head data
0x8201	Failed to open sensor board serial port
0x8202	No sensor board data
0x2201	Error: Navigation did not receive tf data
0x2202	Error: Navigation did not receive map data
0x2203	Error: Navigation did not receive localization data
0x2204	Error: Navigation did not receive ultrasonic data
0x2205	Error: Navigation did not receive laser data
0x2206	Error: Navigation did not receive RGBD data
0x2207	Error: Navigation did not receive multi-line laser data
0x2208	Error: Navigation did not receive point TOF data
0x2209	Error: Navigation did not receive surface TOF data
0x220A	Error: Navigation did not receive odometry data
0x2101	Warning: Navigation did not receive tf data
0x2102	Warning: Navigation did not receive map data
0x2103	Warning: Navigation did not receive localization data
0x2104	Warning: Navigation did not receive ultrasonic data
0x2105	Warning: Navigation did not receive laser data
0x2106	Warning: Navigation did not receive RGBD TOF data
0x2107	Warning: Navigation did not receive multi-line laser data
0x2108	Warning: Navigation did not receive point TOF data
0x2109	Warning: Navigation did not receive surface TOF data
0x210A	Warning: Navigation did not receive odometry data
0x4201	SLAM localization error
0x4102	Error: SLAM did not receive laser data
0x4103	Error: SLAM did not receive odometry data
0x4205	SLAM map error