ALDiagnosis API

Overview | API

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Namespace : AL

#include <alproxies/aldiagnosisproxy.h>

Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class ALDiagnosisProxy

• ALDiagnosisProxy::getActiveDiagnosis
• ALDiagnosisProxy::getDiagnosisStatus
• ALDiagnosisProxy::getPassiveDiagnosis
• ALDiagnosisProxy::isNotificationEnabled
• ALDiagnosisProxy::setEnableNotification

Event list

• ActiveDiagnosisErrorChanged()
• PassiveDiagnosisErrorChanged()
• ALDiagnosis/RobotIsReady()
• ALDiagnosis/ActiveDiagnosisFinished()
• ALDiagnosis/DiagnosisErrorChanged()

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: Diagnosis key list, Diagnosis key list.

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

  See: Chains, Actuator & Sensor list, 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: Diagnosis key list, Diagnosis key list.

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

  See: Chains, Actuator & Sensor list, 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: Diagnosis key list, Diagnosis key list.

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

  See: Chains, Actuator & Sensor list, 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) –