7.7 System Status

7.7.1 BMS Status Subscription Interface

Interface Name	`/aima/bms/data/pb_3Aaimdk_2Eprotocol_2EBmsStateChannel`
Overview	Get BMS battery status
Interface Type	ROS2 Topic
Output	text { "bms_datas": [ { "voltage": 0, "current": 0, "power": 0, "temperature": 0, "capacity": 0, "charge": 0, "charger_state": "ChargerNotPulgin", "bms_state": "BatteryStatus_NotPulgin", "abnormal_state": "PowerAbnormalStatus_NORMAL" }, { "voltage": 58910, "current": 7976, "power": 0, "temperature": 314, "capacity": 4047, "charge": 42, "power_supply_status": "PowerSupplyStatus_CHARGING", "charger_state": "ChargerConnected", "bms_state": "BatteryStatus_Connected", "abnormal_state": "PowerAbnormalStatus_NORMAL" } ] } `voltage`: Current voltage, in mV `current`: Current, in mA. Positive while charging and negative while discharging `power`: Current power, in mW `temperature`: Current temperature, in 0.1 degrees Celsius `capacity`: Current capacity, in mAh `charge`: Current battery percentage `power_supply_status`: Charging status (`IDEL` idle / `CHARGING` charging / `FULL` fully charged) `charger_state`: Whether the charger is plugged in (`ChargerNotPulgin` / `ChargerConnected`) `bms_state`: Whether the battery is inserted (`BatteryStatus_NotPulgin` / `BatteryStatus_Connected`) `abnormal_state`: Abnormal state (`NORMAL` / `SHORT_CIRCUIT` / overcurrent / overvoltage / undervoltage / temperature limit exceeded) `bms_datas`: Dual-battery array (index `0` is the unplugged battery pack, index `1` is the active battery pack)
Example Script	examples/other/bms.py
Remarks	The ROS2 message type is `ros2_plugin_proto/msg/RosMsgWrapper`. Before use, run `source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash`, install the `.whl` files under `prebuilt`, and deserialize with `aimdk.protocol_pb2.BmsStateChannel`. The subscriber must use `BEST_EFFORT`.

7.7.2 Emergency Stop Status Subscription Interface

Interface Name	`/hal_state/emergency/pb_3Aaimdk_2Eprotocol_2EEmergencyStateChannel`
Overview	Get emergency stop status
Interface Type	ROS2 Topic
Output	text { "data": { "reason": "Reason_UNDEFINED", "wired_emergency_stop": false, "wireless_emergency_stop": false, "software_emergency_stop": false, "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 } } `active`: Whether the emergency stop is triggered `reason`: Reason for the emergency stop (`Reason_ESTOP` wired / `Reason_WIRELESS_ESTOP` wireless / `Reason_SOFTWARE_ESTOP` software / sensor or TOF alarm / `Reason_UNDEFINED` not triggered) `wired_emergency_stop`: Whether the wired emergency stop is triggered
Example Script	examples/other/emergency_state.py
Remarks	The ROS2 message type is `ros2_plugin_proto/msg/RosMsgWrapper`. Before use, run `source prebuilt/ros2_plugin_proto_aarch64/share/ros2_plugin_proto/local_setup.bash`, install the `.whl` files under `prebuilt`, and deserialize with `aimdk.protocol_pb2.EmergencyStateChannel`. The subscriber must use `BEST_EFFORT`.