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 `wireless_emergency_stop`: Whether the wireless emergency stop is triggered `software_emergency_stop`: Whether the software emergency stop is triggered Other sensor and TOF alarm fields indicate chassis touch sensors, lift limits, and TOF alarms in different directions, and usually do not need focused attention.
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`.