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。

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();
  // 退出进程
  exit(signum);
}

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

  std::string local_ip = "192.168.54.111";
  // 配置本机网线直连机器的IP地址，并进行SDK初始化
  if (!robot.Initialize(local_ip)) {
    std::cerr << "robot sdk initialize failed." << std::endl;
    robot.Shutdown();
    return -1;
  }

  // 设置rpc超时时间为5s
  robot.SetTimeout(5000);

  // 连接机器人
  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;
  }
  // 等待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;
  }

  // 断开与机器人的链接
  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;
}