Provides monitoring of the robot system's operational status, including fault detection, battery status, etc.

Interface Definition

StateMonitor is responsible for monitoring the robot's operational status, including fault detection and battery status.

StateMonitor — State Monitor

Item	Description
Class Name	StateMonitor
Overview	Monitors the robot's operational status, including fault detection and battery status
Main Functions	Status query, fault monitoring, health check
Use Cases	System monitoring, fault diagnosis, status reporting

initialize

Item	Description
Method Name	initialize
Method Declaration	bool initialize()
Overview	Initializes the state monitor.
Return Value	true for success, false for failure.
Note	Must be called before first use.

shutdown

Item	Description
Method Name	shutdown
Method Declaration	void shutdown()
Overview	Shuts down the state monitor.
Note	Used together with initialize.

get_current_state

Item	Description
Method Name	get_current_state
Method Declaration	RobotState get_current_state()
Overview	Gets the current state information of the robot.
Return Value	Robot state information, including battery status, fault information, etc.
Note	Non-blocking interface, used to get the current state information of the robot.

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 area 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 area 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

Enum Type Definitions

BatteryState — Battery State Enum

Enum Value	Value	Description
UNKNOWN	0	Unknown state
GOOD	1	Good
OVERHEAT	2	Overheat
DEAD	3	Battery depleted
OVERVOLTAGE	4	Overvoltage
UNSPEC_FAILURE	5	Unspecified failure
COLD	6	Too cold
WATCHDOG_TIMER_EXPIRE	7	Watchdog timer expired
SAFETY_TIMER_EXPIRE	8	Safety timer expired

PowerSupplyStatus — Power Supply Status Enum

Enum Value	Value	Description
UNKNOWN	0	Unknown state
CHARGING	1	Charging
DISCHARGING	2	Discharging
NOTCHARGING	3	Not charging
FULL	4	Fully charged

Data Structure Definitions

FaultVector — Fault Information Vector

Item	Description
Type	Python binding of std::vector<magic::dog::Fault>
Overview	Dynamic array storing fault information, used for system status monitoring and error handling
Main Methods	Supports standard Python list operations, each element is a Fault struct
Use Cases	Fault diagnosis, system monitoring, error log recording

Fault — Fault Information Struct

Field Name	Type	Description
error_code	int	Error code
error_message	str	Error message

BmsData — Battery Management System Data Struct

Field Name	Type	Description
battery_percentage	float	Battery percentage
battery_health	float	Battery health
battery_state	BatteryState	Battery state
power_supply_status	PowerSupplyStatus	Power supply status

RobotState — Robot State Struct

Field Name	Type	Description
faults	FaultVector	Fault list
bms_data	BmsData	Battery data