该示例展示了如何使用 Magicbot-Gen1 SDK 进行初始化、连接机器人、机器人状态监控（故障、BMS）等基本操作。

C++

示例文件：monitor_example.cpp

参考文档：monitor_reference.md

#include "magic_robot.h"

#include <unistd.h>
#include <csignal>

#include <iostream>

using namespace magic::gen1;

magic::gen1::MagicRobot robot;

void signalHandler(int signum) {
  std::cout << "Interrupt signal (" << signum << ") received.\n";

  robot.Shutdown();
  // Exit process
  exit(signum);
}

int main() {
  // Bind SIGINT (Ctrl+C)
  signal(SIGINT, signalHandler);

  std::string local_ip = "192.168.54.111";
  // Configure local IP address for direct network connection and initialize SDK
  if (!robot.Initialize(local_ip)) {
    std::cerr << "robot sdk initialize failed." << std::endl;
    robot.Shutdown();
    return -1;
  }

  // Set RPC timeout to 5s
  robot.SetTimeout(5000);

  // Connect to robot
  auto status = robot.Connect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "connect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }
  // Wait 5s
  usleep(5000000);

  auto& monitor = robot.GetStateMonitor();

  auto state = monitor.GetCurrentState();

  std::cout << "health: " << state.bms_data.battery_health
            << ", percentage: " << state.bms_data.battery_percentage
            << ", state: " << std::to_string((int8_t)state.bms_data.battery_state)
            << ", power_supply_status: " << std::to_string((int8_t)state.bms_data.power_supply_status)
            << std::endl;

  auto& faults = state.faults;
  for (auto& [code, msg] : faults) {
    std::cout << "code: " << std::to_string(code)
              << ", message: " << msg;
  }

  // Disconnect from robot
  status = robot.Disconnect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "disconnect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }

  robot.Shutdown();

  return 0;
}

Python

示例文件：monitor_example.py

参考文档：monitor_reference.md

完整代码示例

#!/usr/bin/env python3

import sys
import time
import signal
import logging
from typing import Optional

import magicbot_gen1_python as magicbot

# Configure logging format and level
logging.basicConfig(
    level=logging.INFO,  # Minimum log level
    format="%(asctime)s [%(levelname)s] %(message)s",
    datefmt="%Y-%m-%d %H:%M:%S",
)


# Global variables
robot: Optional[magicbot.MagicRobot] = None


def signal_handler(signum, frame):
    """Signal handler function for graceful exit"""
    global robot
    logging.info("Received interrupt signal (%s), exiting...", signum)
    if robot:
        robot.disconnect()
        logging.info("Robot disconnected")
        robot.shutdown()
        logging.info("Robot shutdown")
    exit(-1)


def main():
    """Main function"""
    global robot

    # Bind signal handler
    signal.signal(signal.SIGINT, signal_handler)

    logging.info("Robot model: %s", magicbot.get_robot_model())

    # Create robot instance
    robot = magicbot.MagicRobot()

    try:
        # Configure local IP address for direct network connection and initialize SDK
        local_ip = "192.168.54.111"
        if not robot.initialize(local_ip):
            logging.error("Failed to initialize robot SDK")
            robot.shutdown()
            return -1

        # Connect to robot
        status = robot.connect()
        if status.code != magicbot.ErrorCode.OK:
            logging.error(
                "Failed to connect to robot, code: %s, message: %s",
                status.code,
                status.message,
            )
            robot.shutdown()
            return -1

        logging.info("Successfully connected to robot")

        # Wait 5 seconds
        logging.info("Waiting 5 seconds...")
        time.sleep(5)

        # Get state monitor
        monitor = robot.get_state_monitor()

        # Get current state
        state = monitor.get_current_state()

        # Print battery information
        logging.info("Battery health: %s", state.bms_data.battery_health)
        logging.info("Battery percentage: %s%%", state.bms_data.battery_percentage)
        logging.info("Battery state: %s", state.bms_data.battery_state)
        logging.info("Power supply status: %s", state.bms_data.power_supply_status)

        # Print fault information
        faults = state.faults
        for fault in faults:
            logging.info(
                "Error code: %s, Error message: %s",
                fault.error_code,
                fault.error_message,
            )

        return 0

    except Exception as e:
        logging.error("Exception occurred during program execution: %s", e)
        return -1

    finally:
        # Clean up resources
        try:
            logging.info("Clean up resources")
            # Close state monitor
            monitor = robot.get_state_monitor()
            monitor.shutdown()
            # Disconnect
            robot.disconnect()
            logging.info("Robot connection disconnected")

            # Shutdown robot
            robot.shutdown()
            logging.info("Robot shutdown")

        except Exception as e:
            logging.error("Exception occurred while cleaning up resources: %s", e)


if __name__ == "__main__":
    sys.exit(main())

运行说明

1. 环境准备：

# 设置环境变量
export PYTHONPATH=/opt/magic_robotics/magicbot_gen1_sdk/lib:$PYTHONPATH
export LD_LIBRARY_PATH=/opt/magic_robotics/magicbot_gen1_sdk/lib:$LD_LIBRARY_PATH

2. 运行示例：

# C++
./monitor_example
# Python
python3 monitor_example.py

3. 停止程序：

• 按 Ctrl+C 可以安全停止程序
• 程序会自动清理所有资源