ALDiagnosis API

Overview | API


Namespace : AL


           
            #include <alproxies/aldiagnosisproxy.h>

           
          

Methods

AL::ALValue ALDiagnosisProxy:: getActiveDiagnosis ( )

Return the actual state of the active diagnosis. Only the highest level of failure is returned.

Returns: An ALValue with the actual active diagnosis result with the following form:

[ int Level of failure severity , [AL::ALValue The list of device in failure ] ]

Where:

  • Level of failure severity is 0 ( NEGLIGIBLE ), 1 ( SERIOUS ) or 2 ( CRITICAL ).

    See: pepp Diagnosis key list .

  • The list of device in failure is a chain name or a sensor name.

    See: nao Chains , Actuator & Sensor list , pepp Chains , Actuator & Sensor list .

Example: [1, [“LArm”, “Sonar”]]

AL::ALValue ALDiagnosisProxy:: getDiagnosisStatus ( )

Return the actual state of the active and passive diagnosis. Only the highest level of failure is returned.

Returns: An ALValue with the summary of active and passive diagnosis result with the following form:

[ int Level of failure severity , [AL::ALValue The list of device in failure ] ]

Where:

  • Level of failure severity is 0 ( NEGLIGIBLE ), 1 ( SERIOUS ) or 2 ( CRITICAL ).

    See: pepp Diagnosis key list .

  • The list of device in failure is a chain name or a sensor name.

    See: nao Chains , Actuator & Sensor list , pepp Chains , Actuator & Sensor list .

Example: [1, [“LArm”, “Sonar”]]

AL::ALValue ALDiagnosisProxy:: getPassiveDiagnosis ( )

Return the actual state of the passive diagnosis. Only the highest level of failure is returned.

Returns: An ALValue containing the actual passive diagnosis result with the following form:

[ int Level of failure severity , [AL::ALValue The list of device in failure ] ]

Where:

  • Level of failure severity is 0 ( NEGLIGIBLE ), 1 ( SERIOUS ) or 2 ( CRITICAL ).

    See: pepp Diagnosis key list .

  • The list of device in failure is a chain name or a sensor name.

    See: nao Chains , Actuator & Sensor list , pepp Chains , Actuator & Sensor list .

Example: [1, [“LArm”, “Sonar”]]

bool ALDiagnosisProxy:: isNotificationEnabled ( )

Get notification status. Returns true if notification is active.

Returns: Return true if notification is active.
void ALDiagnosisProxy:: setEnableNotification ( bool enable )

Enable / Disable passive diagnosis notification.

Parameters:
  • enable – If true enables passive diagnosis notification.

Events

Event: "ActiveDiagnosisErrorChanged"
callback ( std::string eventName , AL::ALValue activeDiagnosis , std::string subscriberIdentifier )

Raised when the active diagnosis status has changed.

Parameters:
  • eventName ( std::string ) – “ActiveDiagnosisErrorChanged”
  • activeDiagnosis – The same return ALValue as the API ALDiagnosisProxy::getActiveDiagnosis
  • subscriberIdentifier ( std::string ) –
Event: "ALDiagnosis/DiagnosisErrorChanged"
callback ( std::string eventName , AL::ALValue diagnosis , std::string subscriberIdentifier )

Raised when the active or passive diagnosis status has changed.

Parameters:
  • eventName ( std::string ) – “ALDiagnosis/DiagnosisErrorChanged”
  • diagnosis – The same return ALValue as the API ALDiagnosisProxy::getDiagnosisStatus
  • subscriberIdentifier ( std::string ) –
Event: "PassiveDiagnosisErrorChanged"
callback ( std::string eventName , AL::ALValue passiveDiagnosis , std::string subscriberIdentifier )

Raised when the passive diagnosis status has changed.

Parameters:
  • eventName ( std::string ) – “PassiveDiagnosisErrorChanged”
  • passiveDiagnosis – The same return ALValue as the API ALDiagnosisProxy::getPassiveDiagnosis
  • subscriberIdentifier ( std::string ) –
Event: "ALDiagnosis/RobotIsReady"
callback ( std::string eventName , AL::ALValue robotIsReady , std::string subscriberIdentifier )

Raised when the active diagnosis, automatically launched after the NAOqi startup, is finished.

Parameters:
  • eventName ( std::string ) – “ALDiagnosis/RobotIsReady”
  • robotIsReady – True if no critical error is detected at start-up diagnosis.
  • subscriberIdentifier ( std::string ) –
Event: "ALDiagnosis/ActiveDiagnosisFinished"
callback ( std::string eventName , AL::ALValue type , std::string subscriberIdentifier )

Raised when an active diagnosis is finished.

Parameters:
  • eventName ( std::string ) – “ALDiagnosis/ActiveDiagnosisFinished”
  • type – “wakeUp” when active diagnosis at wakeUp finished. “rest” when active diagnosis at rest finished.
  • subscriberIdentifier ( std::string ) –