SoftBank Robotics documentation What's new in NAOqi 2.8?

ALBodyTemperature API

NAOqi Sensors & LEDs - Overview | API


Namespace : AL

#include <alproxies/albodytemperatureproxy.h>

Method list

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

class ALBodyTemperatureProxy

Methods

AL::ALValue ALBodyTemperatureProxy::getTemperatureDiagnosis()

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

Returns:An AL::ALValue containing the actual temperature diagnosis result with the follwing form:

[ int Level of failure severity, [vector<string> The list chain 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.

    See: nao Chains, pepp Chains.

bool ALBodyTemperatureProxy::areNotificationsEnabled()

Get notifications status. Return true if notifications are active.

Returns:Return true is notifications are active.
void ALBodyTemperatureProxy::setEnableNotifications(bool enable)

Enables / Disables temperature notifications.

Parameters:
  • enable – If true enable temperature notifications.

Events

Event: "HotJointDetected"
callback(std::string eventName, AL::ALValue hotJoints, std::string subscriberIdentifier)

Deprecated since version 1.22: Use HotDeviceDetected() instead.

Raised when at least one joint has a high temperature.

Parameters:
  • eventName (std::string) – “HotJointDetected”
  • hotJoints – the list of joints with high temperature.
  • subscriberIdentifier (std::string) –
Event: "HotDeviceDetected"
callback(std::string eventName, AL::ALValue hotDevices, std::string subscriberIdentifier)

Raised when at least one device (joint, actuator, sensor) has a high temperature.

Parameters:
  • eventName (std::string) – “HotDeviceDetected”
  • hotJoints – the list of devices with high temperature.
  • subscriberIdentifier (std::string) –
Event: "DeviceNoLongerHotDetected"
callback(std::string eventName, AL::ALValue deviceNoLongerHot, std::string subscriberIdentifier)

Raised when at least one device is no longer hot.

Parameters:
  • eventName (std::string) – “DeviceNoLongerHotDetected”
  • hotJoints – the list of devices no longer hot.
  • subscriberIdentifier (std::string) –
Event: "TemperatureDiagnosisErrorChanged"
callback(std::string eventName, AL::ALValue temperatureDiagnosis, std::string subscriberIdentifier)

Raised when the temperature diagnosis status has changed.

Parameters:
Event: "HeadProcessorIsHot"
callback(std::string eventName, float temperature, std::string subscriberIdentifier)

Raised when the head processor is hot.

Parameters:
  • eventName (std::string) – “HeadProcessorIsHot”
  • temperature – The current processor temperature in degree celsius.
  • subscriberIdentifier (std::string) –
Event: "HeadProcessorIsCriticallyHot"
callback(std::string eventName, float temperature, std::string subscriberIdentifier)

Raised when the head processor is critically hot.

Parameters:
  • eventName (std::string) – “HeadProcessorIsCriticallyHot”
  • temperature – The current processor temperature in degree celsius.
  • subscriberIdentifier (std::string) –
Event: "TemperatureStatusChanged"
callback(std::string eventName, AL::ALValue temperatureStatus, std::string subscriberIdentifier)

Raised when the temperature status has changed.

Parameters:
  • eventName (std::string) – “TemperatureStatusChanged”
  • temperatureStatus

    Return an AL::ALValue with the actual temperature status with the follwing form:

    [ int Temperature status, [vector<string> The list of devices in failure] ].

    • Temperature status 0(NORMAL), 1(HIGH), 2(VERY HIGH) or 3(CRITICAL).
    • The list of devices in failure: could be a chain name, sensor name or actuator name.
  • subscriberIdentifier (std::string) –