The robot itself provides basic fault diagnosis and health monitoring capabilities, capable of monitoring some basic anomalies and faults, such as joint overheating, sensor failure, system occupancy consistently too high, low battery power, etc.
There are two basic concepts in fault diagnosis: Alert and Exception. An Alert is a cluster of Exceptions. An Alert represents a broad category of faults, while an Exception is a specific fault. For example, repositioning failure is an Alert, which corresponds to many different failure reasons, each being a specific Exception. AimMaster generally displays Alerts, as Exceptions can be numerous and less intuitive. If you need to continuously monitor the robot's abnormal state, it is recommended to query the current alert list at regular intervals (not too frequently, a frequency of 0.2 Hz or lower is recommended).
The full list of alerts can be found in the file /agibot/software/v0/config/hds_master/database/alert_info.yaml on the x86 machine.
The header returns information about whether the current clearing was successful, a code of 0 indicates success
Example Script
examples/hds/clear_alert.sh
Notes
Although the emergency stop alert has manual_clear set to true, it will still fail to clear. The emergency stop must be manually released before it can be cleared.
In general, do not call this interface to clear alerts. Please fully understand the meaning of the alert before considering using this interface to clear it.
