7.10 Fault Diagnosis Section

7.10.1 Overview

The robot provides basic fault diagnosis and health monitoring capabilities, and can monitor common anomalies and faults such as joint overheating, sensor failure, sustained high system load, and low battery level.

There are two core concepts in fault diagnosis: Exception and Alert. Exception refers to a specific fault, while Alert is the user-friendly message shown in the AimMaster client for that exception. For example, the exception “severe IMU message delay” may correspond to the alert “system abnormality”. In most cases, Exception and Alert are one-to-one, meaning one exception corresponds to one alert code. Different alert codes may still share the same alert text.

If you need continuous monitoring of abnormal robot status, query the current alert list periodically (recommended frequency: 0.2 Hz or lower).

The full list of exceptions and alerts can be found in /agibot/software/v0/config/hds/database/exception_info.yaml on ORIN.

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", "description": "急停拍下", "level": "AlertLevel_H5_STATUS", "alert_text": { "zh_CN": "急停拍下", "en_US": "Emergency Stop Triggered" }, "alert_module": { "zh_CN": "monitor", "en_US": "Health Management HDS" } } ] } } id: Alert ID. appeared_timestamp: Timestamp when the alert appeared. disappeared_timestamp: Timestamp when the alert disappeared. alert_code: Alert code. state: Alert state. AlertState_UNDEFINED: Unknown AlertState_ACTIVE: Active AlertState_CLEARED: Cleared description: Alert description. level: Alert level. AlertLevel_UNDEFINED: No alert AlertLevel_H1_FATAL: Irreversible fault, robot cannot continue working AlertLevel_H2_CRITICAL: Fault with fall risk AlertLevel_H2_PERMANENT: Irreversible fault, some functions are disabled AlertLevel_H3_ERROR: Fault with fall risk AlertLevel_H3_PERMANENT: Irreversible fault affecting part of the user experience AlertLevel_H4_WARNING: Fault affecting part of the user experience AlertLevel_H4_EVENT: Suboptimal robot state with fall risk AlertLevel_H5_EVENT: Suboptimal robot state affecting part of the user experience AlertLevel_H5_TRIVIAL: Fault that may affect part of the user experience AlertLevel_H5_STATUS: No prompt AlertLevel_H6_RESERVE: Gray release AlertLevel_H7_EVENT: Normal function AlertLevel_H7_DELETE: Non-fault event alert_text: Client-facing alert text, multilingual. alert_module: Fault reporting module, multilingual.
Example Script	examples/hds/get_alert_list.sh
Notes

7.10.3 Other Health Diagnosis Interfaces

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

1. GetTotalAlertList: Get all alerts in the system, including historical records.
2. GetAlertCount: Get the number of currently active alerts.
3. GetExceptionEvent: Get exception events in the system.

These interfaces are relatively verbose or inconvenient for routine usage. For basic alert retrieval, GetAlertList is recommended. Example scripts for all open interfaces are under examples/hds, and detailed input/output fields are omitted here.