7.5 System Status Section

7.5.1 Overview

System status refers to the state of the software system, which can be referenced in the previous section Software System Overview.

7.5.2 System Status Retrieval RPC Interface

Interface Name	`pb:/aimdk.protocol.SystemService/GetSystemState`
Function Summary	Retrieve system status
Interface Type	HTTP JSON RPC
URL	http://127.0.0.1:51011/rpc/aimdk.protocol.SystemService/GetSystemState
Input Parameters	text `{}`
Output Parameters	text `{ "header": { "code": "0", "msg": "", "trace_id": "", "domin": "" }, "cur_state": "EStop", "cur_status": "SystemStatus_IN_READY" }` cur_state: Current system state Startup: Starting up state Ready: Startup completed state Manual: Manual operation state MotionStream: Remote operation state OTA: Remote upgrade state Estop: Emergency stop state Poweroff: Power off state Reboot: Rebooting state Reset: Resetting state Safe: Safe state cur_status: Current system condition SystemStatus_IN_INITIAL: Initializing SystemStatus_IN_READY: Transition completed SystemStatus_IN_MOVE: Transitioning SystemStatus_IN_ROLLBACK: Rolling back SystemStatus_IN_RECOVERY: Recovering
Example Script	examples/status/get_system_status.sh
Notes

7.5.3 BMS Status Retrieval RPC Interface

Interface Name	`pb:/aimdk.protocol.HalBmsService/GetBmsState`
Function Summary	Retrieve system status
Interface Type	HTTP JSON RPC
URL	http://127.0.0.1:56421/rpc/aimdk.protocol.HalBmsService/GetBmsState
Input Parameters	text `{}`
Output Parameters	text { "data": { "ver": { "hardware_major": 49, "hardware_minor": 48, "hardware_revision": 49, "software_major": 55, "software_minor": 48, "software_revision": 49 }, "voltage": 45460, "current": -1156, "power": 52551, "temperature": 289, "capacity": 4220, "charge": 29, "power_supply_health": "PowerSupplyHealth_GOOD", "power_supply_status": "PowerSupplyStatus_IDEL", "cycles_num": 1, "cycles_capacity": 21, "abnormal_state": "PowerAbnormalStatus_NORMAL", "charger_state": "ChargerNotPulgin", "bms_state": "BatteryStatus_Connected", "max_current": 0, "battery_firmware_type": "BatteryFirmwareType_OLD", "battery_key_state": "BatteryKeyStatus_SHORT_CURCUIT", "battery_pack_state": "BatteryPackStatus_NORMAL", "battery_comm_state": "BatteryCommunication_NORMAL" } } ver: Version information voltage: Current voltage, unit mV current: Current current, unit mA power: Current power, unit mW temperature: Current temperature, unit 0.1 degrees Celsius capacity: Current capacity, unit: mAh charge: Current charge percentage power_supply_health: Not currently available power_supply_status: Charging status PowerSupplyStatus_IDEL PowerSupplyStatus_CHARGING PowerSupplyStatus_FULL cycles_num: Number of cycles cycles_capacity: Cycle capacity (total charge and discharge capacity of the current battery pack), unit: Ah abnormal_state: Abnormal status PowerAbnormalStatus_NORMAL PowerAbnormalStatus_SHORT_CIRCUIT PowerAbnormalStatus_DISCHARGE_OVERCURRENT PowerAbnormalStatus_CHARGING_OVERCURRENT PowerAbnormalStatus_UNDERVOLTAGE PowerAbnormalStatus_OVERVOLTAGE PowerAbnormalStatus_EXCEED_DISCHARGE_TEMP_LIMIT PowerAbnormalStatus_EXCEED_CHARGING_TEMP_LIMIT charger_state: Whether the charger is plugged in ChargerNotPulgin ChargerConnected bms_state: Whether the battery is connected BatteryStatus_NotPulgin BatteryStatus_Connected max_current: Maximum current battery_firmware_type: Battery pack firmware version BatteryFirmwareType_OLD BatteryFirmwareType_NEW battery_key_state: Battery pack key status BatteryKeyStatus_SHORT_CURCUIT BatteryKeyStatus_CONNECTED battery_pack_state: Battery pack abnormal status BatteryPackStatus_NORMAL BatteryPackStatus_ABNORMAL battery_comm_state: Battery pack communication status BatteryCommunication_NORMAL BatteryCommunication_ABNORMAL
Example Script	examples/status/get_bms_status.sh
Notes

7.5.4 Emergency Stop Status Retrieval RPC Interface

When an emergency stop is triggered, an alert will also be issued, and the emergency stop status can be obtained through the GetAlertList. This section provides a separate interface to query the emergency stop status.

Interface Name	`pb:/aimdk.protocol.HalEmergencyService/GetEmergencyState`
Function Summary	Retrieve emergency stop status
Interface Type	HTTP JSON RPC
URL	http://127.0.0.1:56421/rpc/aimdk.protocol.HalEmergencyService/GetEmergencyState
Input Parameters	text `{}`
Output Parameters	text { "data": { "active": true, "reason": "Reason_WIRELESS_ESTOP", "left_front_sensor_alarm": false, "right_front_sensor_alarm": false, "left_sensor_alarm": false, "right_sensor_alarm": false, "left_back_sensor_alarm": false, "right_back_sensor_alarm": false, "lift_upper_limit_alarm": false, "lift_lower_limit_alarm": false, "tray_limit_alarm": false, "front_left_tof_alarm": false, "front_right_tof_alarm": false, "right_front_tof_alarm": false, "right_back_tof_alarm": false, "back_tof_alarm": false, "left_back_tof_alarm": false, "left_front_tof_alarm": false, "wired_emergency_stop": false, "wireless_emergency_stop": true, "software_emergency_stop": false } } active: Whether the emergency stop is triggered reason: Reason for the emergency stop wireless_emergency_stop: Whether the wireless emergency stop is triggered software_emergency_stop: Whether the software emergency stop is triggered Other fields are not of concern.
Example Script	examples/status/get_estop_status.sh
Notes	The soft emergency stop interface is not yet open for secondary development, and cannot be triggered via the interface. If an empty JSON body is returned, it indicates that all parameters are at their default values, meaning the emergency stop has not been triggered.

7.5.5 Software Version Retrieval RPC Interface

Interface Name	`pb:/aimdk.protocol.OTAService/GetRobotOtaInfo`
Function Summary	Retrieve software version information
Interface Type	HTTP JSON RPC
URL	http://127.0.0.1:57900/rpc/aimdk.protocol.OTAService/GetRobotOtaInfo
Input Parameters	text `{}`
Output Parameters	text `{ "robot_info": { "model": "A2_T3D1_LITE" }, "current_apk_info": { "apk_version": "A2_LITE-v1.2.4-0-g17e2f79fe-2510271122", "pub_time": "", "soc_info": [], "mcu_info": [], "contents": "", "fota_version": "" }, "support_rollback_apk_infos": [] }` apk_version: Software version information Other fields are not of concern.
Example Script	examples/status/get_version_info.sh
Notes