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7.7 系统状态部分

7.7 系统状态部分

Section titled “7.7 系统状态部分”

7.7.1 BMS 状态获取 RPC 接口

Section titled “7.7.1 BMS 状态获取 RPC 接口”
接口名 pb:/aimdk.protocol.HalBmsService/GetBmsState
功能概述 获取系统状态
接口类型 HTTP JSON RPC
URL http://10.42.10.10:56430/rpc/aimdk.protocol.HalBmsService/GetBmsState
入参 
{}
出参 
{
  "data": {
    "ver": {
      "hardware_major": 49,
      "hardware_minor": 48,
      "hardware_revision": 49,
      "software_major": 55,
      "software_minor": 48,
      "software_revision": 49
    },
    "voltage": 45460,
    "current": -1156,
    "power": 52551,
    "temperature": 289,
    "capacity": 4220,
    "charge": 29,
    "power_supply_health": "PowerSupplyHealth_GOOD",
    "power_supply_status": "PowerSupplyStatus_IDEL",
    "cycles_num": 1,
    "cycles_capacity": 21,
    "abnormal_state": "PowerAbnormalStatus_NORMAL",
    "charger_state": "ChargerNotPulgin",
    "bms_state": "BatteryStatus_Connected",
    "max_current": 0,
    "battery_firmware_type": "BatteryFirmwareType_OLD",
    "battery_key_state": "BatteryKeyStatus_SHORT_CURCUIT",
    "battery_pack_state": "BatteryPackStatus_NORMAL",
    "battery_comm_state": "BatteryCommunication_NORMAL"
  }
}

  • ver: 版本号信息

  • voltage: 当前电压，单位 mV

  • current: 当前电流，单位 mA

  • power: 当前功率，单位 mW

  • temperature: 当前温度，单位 0.1 摄氏度

  • capacity: 当前容量，单位：mAh

  • charge: 当前电量百分比

  • power_supply_health: 暂不开放

  • power_supply_status: 充电状态

    • PowerSupplyStatus_IDEL
    • PowerSupplyStatus_CHARGING
    • PowerSupplyStatus_FULL

  • cycles_num: 循环次数

  • cycles_capacity: 循环容量(当前电池包总共充放电的容量总计), 单位： Ah

  • abnormal_state: 异常状态

    • PowerAbnormalStatus_NORMAL
    • PowerAbnormalStatus_SHORT_CIRCUIT
    • PowerAbnormalStatus_DISCHARGE_OVERCURRENT
    • PowerAbnormalStatus_CHARGING_OVERCURRENT
    • PowerAbnormalStatus_UNDERVOLTAGE
    • PowerAbnormalStatus_OVERVOLTAGE
    • PowerAbnormalStatus_EXCEED_DISCHARGE_TEMP_LIMIT
    • PowerAbnormalStatus_EXCEED_CHARGING_TEMP_LIMIT

  • charger_state: 充电器是否插入

    • ChargerNotPulgin
    • ChargerConnected

  • bms_state: 电池是否插入

    • BatteryStatus_NotPulgin
    • BatteryStatus_Connected

  • max_current: 当前最大的电流

  • battery_firmware_type: 电池包固件版本

    • BatteryFirmwareType_OLD
    • BatteryFirmwareType_NEW

  • battery_key_state: 电池包 key 状态

    • BatteryKeyStatus_SHORT_CURCUIT
    • BatteryKeyStatus_CONNECTED

  • battery_pack_state: 电池包异常状态

    • BatteryPackStatus_NORMAL
    • BatteryPackStatus_ABNORMAL

  • battery_comm_state: 电池包通信状态

    • BatteryCommunication_NORMAL
    • BatteryCommunication_ABNORMAL
示例脚本 examples/other/bms.py
备注

7.7.2 急停状态获取 RPC 接口

Section titled “7.7.2 急停状态获取 RPC 接口”

急停触发时，同样会有告警发出，也可以通过 GetAlertList 来获悉急停状态，此处提供一个单独接口来查询急停状态。

接口名 pb:/aimdk.protocol.HalEmergencyService/GetEmergencyState
功能概述 获取急停状态
接口类型 HTTP JSON RPC
URL http://10.42.10.10:56430/rpc/aimdk.protocol.HalEmergencyService/GetEmergencyState
入参 
{}
出参 
{
  "data": {
    "active": true,
    "reason": "Reason_WIRELESS_ESTOP",
    "left_front_sensor_alarm": false,
    "right_front_sensor_alarm": false,
    "left_sensor_alarm": false,
    "right_sensor_alarm": false,
    "left_back_sensor_alarm": false,
    "right_back_sensor_alarm": false,
    "lift_upper_limit_alarm": false,
    "lift_lower_limit_alarm": false,
    "tray_limit_alarm": false,
    "front_left_tof_alarm": false,
    "front_right_tof_alarm": false,
    "right_front_tof_alarm": false,
    "right_back_tof_alarm": false,
    "back_tof_alarm": false,
    "left_back_tof_alarm": false,
    "left_front_tof_alarm": false,
    "wired_emergency_stop": false,
    "wireless_emergency_stop": true,
    "software_emergency_stop": false
  }
}
  • active: 急停是否触发
  • reason: 急停触发原因
  • wireless_emergency_stop: 无线急停是否触发
  • software_emergency_stop: 软件急停是否触发
其余字段无需关注
示例脚本 examples/other/emergency_state.py
备注
  • 软急停接口暂未开放二开使用，无法通过接口触发软急停。
  • 如返回空的 json body，代表所有参数均为默认值，即急停未触发。