Provides robot state monitoring interface class. Through the StateMonitor, you can provide state query and other interfaces.

Interface Definition

StateMonitor is a robot system state monitoring management class, typically used to control robot state management, supporting state queries.

StateMonitor

Item	Content
Function Name	StateMonitor
Function Declaration	StateMonitor();
Function Overview	Constructor, initializes state monitor object.
Notes	Constructs internal state.

~StateMonitor

Item	Content
Function Name	~StateMonitor
Function Declaration	virtual ~StateMonitor();
Function Overview	Destructor, releases resources.
Notes	Sensors should be closed before calling.

Initialize

Item	Content
Function Name	Initialize
Function Declaration	bool Initialize();
Function Overview	Initialize controller, including resource allocation and driver loading.
Return Value	true indicates success, false indicates failure.
Notes	Object must be constructed before calling.

Shutdown

Item	Content
Function Name	Shutdown
Function Declaration	void Shutdown();
Function Overview	Shutdown and release resources.
Notes	Used in conjunction with Initialize.

GetCurrentState

Item	Content
Function Name	GetCurrentState
Function Declaration	RobotState GetCurrentState();
Function Overview	Get current robot aggregated state
Return Value	RobotState object
Notes	Non-blocking interface, gets recently monitored robot state data, including BMS/fault state monitoring, etc., will be iteratively expanded

RobotState — Robot State Data Structure

Used to represent overall robot state information:

Field Name	Type	Description
faults	vector<Fault>	Fault information list
bms_data	BmsData	Battery management system data

BmsData — Battery Management System Data Structure

Represents battery state information:

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

Enumeration Type Definitions

BatteryState — Battery State Enumeration Type

Used to represent current battery state, for battery state judgment and processing in the system:

Enumeration Value	Value	Description
BatteryState::UNKNOWN	0	Unknown state
BatteryState::GOOD	1	Battery state good
BatteryState::OVERHEAT	2	Battery overheating
BatteryState::DEAD	3	Battery damaged
BatteryState::OVERVOLTAGE	4	Battery overvoltage
BatteryState::UNSPEC_FAILURE	5	Unknown fault
BatteryState::COLD	6	Battery too cold
BatteryState::WATCHDOG_TIMER_EXPIRE	7	Watchdog timer timeout
BatteryState::SAFETY_TIMER_EXPIRE	8	Safety timer timeout

PowerSupplyStatus — Battery Charge/Discharge State

Used to represent current battery charge/discharge state:

Enumeration Value	Value	Description
PowerSupplyStatus::UNKNOWN	0	Unknown state
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 (Hexadecimal)	Error Description
0x0000	No fault
0x1101	Service invocation failed
0x1301	Central control node lost
0x1302	App node lost
0x1303	Audio node lost
0x1304	Stereo camera node lost
0x1305	LIDAR node lost
0x1306	SLAM node lost
0x1307	Navigation node lost
0x1308	AI node lost
0x1309	Head node lost
0x130A	Point cloud node lost
0x2201	No LIDAR data received
0x2202	No stereo camera data received
0x2203	Stereo camera data error
0x2204	Stereo camera initialization failed
0x220B	No odometry data received
0x220C	No IMU data received
0x2215	Depth camera not detected
0x3101	Failed to connect robot to app
0x3102	Heartbeat lost - assertion failed
0x4201	Failed to open head serial port
0x4202	No head data received
0x5201	No navigation TF data
0x5202	No navigation map data
0x5203	No navigation localization data
0x5204	No navigation LIDAR data
0x5205	No navigation depth camera data
0x5206	No navigation multi-line LIDAR data
0x5207	No navigation odometry data
0x6201	SLAM localization error
0x6102	No SLAM LIDAR data
0x6103	No SLAM odometry data
0x6104	SLAM map data error
0x7201	LCM connection timeout
0x8201	Left leg hardware error
0x8202	Right leg hardware error
0x8203	Left arm hardware error
0x8204	Right arm hardware error
0x8205	Waist hardware error
0x8206	Head hardware error
0x8207	Hand hardware error
0x8208	Gripper hardware error
0x8209	IMU hardware error
0x820A	Power system hardware error
0x820B	Leg force sensor hardware error
0x820C	Arm force sensor hardware error
0x9201	ECAT (EtherCAT) hardware error
0xA201	Motion posture error
0xA202	Foot position deviation during movement
0xA203	Joint velocity error during motion