7.4 Fault Diagnosis Section

7.4.1 Overview

The robot is equipped with built-in capabilities for basic fault diagnosis and health monitoring. It can track fundamental anomalies and faults, such as joint overheating, sensor failures, persistently high system resource usage, and low battery levels. If you need to continuously monitor the robot's status, we recommend querying the current alarm list at regular intervals. Please keep the frequency low to avoid performance impact; a frequency of 0.2 Hz or lower is recommended. The full list of faults and alarms can be found in the exception_info.yaml file located at /agibot/software/v0/config/hds/database/exception_info.yaml on the MDU.

7.4.2 Get Current Alert List RPC Interface

Interface Name	`pb:/aimdk.protocol.HDSService/GetAlertList`
Function Overview	Get Current Alert List
Interface Type	HTTP JSON RPC
URL	http://10.42.10.12:50587/rpc/aimdk.protocol.HDSService/GetAlertList
Input Parameters	text `{}`
Output Parameters	text `{ "data": { "alerts": [ { "id": "c39f6ccc-85d9-4976-a2e9-08f2906cc237", "appeared_timestamp": "1762933137153", "disappeared_timestamp": "0", "alert_code": "A2000003", "state": "AlertState_ACTIVE", "description": "Emergency stop pressed", "level": "AlertLevel_H5_STATUS", "alert_text": { "zh_CN": "Emergency stop pressed", "en_US": "Emergency Stop Triggered" }, "alert_module": { "zh_CN": "monitor", "en_US": "Health Management HDS" } } ] } }` id: Alert ID for this entry appeared_timestamp: Timestamp when the alert appeared disappeared_timestamp: Timestamp when the alert disappeared alert_code: Alert code state: Alert status AlertState_UNDEFINED: Unknown AlertState_ACTIVE: Alerting AlertState_CLEARED: Cleared description: Alert description level: Alert level AlertLevel_UNDEFINED: No alert AlertLevel_H1_FATAL: Robot has irreversible anomalies and cannot continue working AlertLevel_H2_CRITICAL: Robot has malfunction with risk of falling AlertLevel_H2_PERMANENT: Robot has irreversible anomalies and some functions have been disabled AlertLevel_H3_ERROR: Robot has malfunction with risk of falling AlertLevel_H3_PERMANENT: Robot has irreversible anomalies affecting partial function experience AlertLevel_H4_WARNING: Robot has malfunction affecting partial function experience AlertLevel_H4_EVENT: Robot is in poor condition with risk of falling AlertLevel_H5_EVENT: Robot is in poor condition affecting partial function experience AlertLevel_H5_TRIVIAL: Robot has malfunction that may affect partial function experience AlertLevel_H5_STATUS: No notification AlertLevel_H6_RESERVE: Gray release AlertLevel_H7_EVENT: Normal function AlertLevel_H7_DELETE: Non-fault event alert_text: Client alert text, supports multiple languages alert_module: Fault reporting module, supports multiple languages
Example Script	examples/hds/get_alert_list.sh
Remarks

7.4.3 Other Health Diagnostic Interfaces

In addition to the above GetAlertList interface, the following interfaces are also available

GetTotalAlertList : Get all alerts in the system, including historical information
GetAlertCount: Get the number of all current alerts in the system
GetExceptionEvent: Get fault events in the system

However, the information obtained from the above interfaces is too redundant or inconvenient to use. It is recommended to only use the GetAlertList interface for basic alert information retrieval operations. Examples for each of the above open interfaces are located in the examples/hds directory, and their input and output parameters are not detailed here.