7.10 Fault Diagnosis Section

7.10 Fault Diagnosis Section

7.10.1 Overview

The robot itself provides basic fault diagnosis and health monitoring capabilities, capable of monitoring some fundamental anomalies and faults, such as joint overheating, sensor failure, system occupancy consistently too high, and low battery power.

There are two basic concepts in fault diagnosis: Alert and Exception. Alerts are clusters of Exceptions. An Alert refers to a broad category of faults, while an Exception is a specific fault. For example, repositioning failure is an Alert, which corresponds to many different failure reasons, each being a specific Exception. AimMaster generally displays Alerts, as Exceptions are more numerous and less intuitive. If you need to continuously monitor the robot’s abnormal state, it is recommended to query the current alert list periodically (the frequency should not be too high, recommended 0.2 Hz or lower).

The full list of alerts can be found in the /agibot/software/v0/config/hds_master/database/alert_info.yaml file on the orin machine.

7.10.2 Get Current Alert List RPC Interface

Interface Name	pb:/aimdk.protocol.HDSService/GetAlertList
Function Summary	Get the current alert list
Interface Type	HTTP JSON RPC
URL	http://192.168.100.110:50587/rpc/aimdk.protocol.HDSService/GetAlertList
Input Parameters	{}
Output Parameters	{ "data": { "alerts": [ { "id": "c39f6ccc-85d9-4976-a2e9-08f2906cc237", "appeared_timestamp": "1762933137153", "disappeared_timestamp": "0", "alert_code": "A2000003", "state": "AlertState_ACTIVE", "exception_list": [ { "type": "ExceptionType_Normal", "module_id": 81, "code": 100, "info": "Emergency stop pressed", "module_name": "Health Management HDS" } ], "description": "Emergency stop pressed", "level": "AlertLevel_HIDDEN_DANGERS", "manual_clear": true, "show_type": "AlertShowType_Normal", "solution_list": [ { "type": "txt", "content": "Please rotate the emergency stop button counterclockwise to release the emergency stop state." } ] } ] } } id: The ID of this alert appeared_timestamp: The timestamp when the alert appeared disappeared_timestamp: The timestamp when the alert disappeared alert_code: The alert code state: The alert state AlertState_UNDEFINED: Unknown AlertState_ACTIVE: Alert active AlertState_CLEARED: Cleared AlertState_ExceptionChanged: Alert with changed exception AlertState_Recovering: Recovering exception_list: The list of exceptions exception_list[i].type: The type of exception ExceptionType_Normal: Normal type, this type of exception needs to be reported periodically ExceptionType_Trigger_Appear: Triggered exception (reported once when the exception occurs) set this exception to the occurrence state ExceptionType_Trigger_Disappear: Triggered exception (reported once when the exception disappears) set this exception to the disappearance state exception_list[i].module_id: The ID of the exception module exception_list[i].code: The module exception code exception_list[i].info: The exception information exception_list[i].module_name: The name of the module description: The alert description level: The alert level AlertLevel_UNDEFINED: No alert AlertLevel_FATAL: Fatal alert AlertLevel_SERIOUS: Serious alert AlertLevel_WARNING: Warning alert AlertLevel_HIDDEN_DANGERS: The current system has hidden dangers AlertLevel_STATUS: The current system has status-related alerts manual_clear: Whether manual clearing is supported show_type: The alert display type AlertShowType_Normal AlertShowType_Toast solution_list: The list of solutions solution_list[i].type: The type of solution solution_list[i].content: The content of the solution
Example Script	examples/hds/get_alert_list.sh
Notes

7.10.3 Attempt to Clear Alert RPC Interface

Interface Name	pb:/aimdk.protocol.HDSService/ClearAlert
Function Summary	Attempt to clear an alert, requiring the alert ID to be passed in
Interface Type	HTTP JSON RPC
URL	http://192.168.100.110:50587/rpc/aimdk.protocol.HDSService/ClearAlert
Input Parameters	{ "id": "c92f2fdd-cea5-4209-b02f-d0eb62ae18ce" } id: Fill in the specific alert ID, which can be obtained through the GetAlertList interface
Output Parameters	{ "header": { "code": "1", "msg": "clear alert failed!", "trace_id": "", "domin": "" }, "data": { "data": "c92f2fdd-cea5-4209-b02f-d0eb62ae18ce" } } data: The alert ID passed in The header returns information about whether the clearance was successful, with code 0 indicating success
Example Script	examples/hds/clear_alert.sh
Notes	Although the emergency stop alert has manual_clear set to true, it will still fail to clear. You need to manually release the emergency stop before clearing it. In general, do not call this interface to clear alerts. Please fully understand the meaning of the alert before considering using this interface to clear it.

7.10.4 Other Health Diagnosis Interfaces

In addition to the GetAlertList and ClearAlert interfaces, the following interfaces are also available:

1. GetTotalAlertList: Get all alerts in the system, including historical information
2. GetAlertCount: Get the number of all current alerts in the system
3. GetExceptionEvent: Get the fault events in the system
4. SetShieldAlertLevel: Shield all alerts at a certain level and below

However, these interfaces provide too much information or are inconvenient to use. It is recommended to use only the GetAlertList and ClearAlert interfaces for basic alert information retrieval and clearing operations. Examples for each of these open interfaces are located in the examples/hds directory and are not detailed here.