Diagnosis service

The diagnosis service provides calling diagnosis related functions and monitoring fault information of each part. DiagnosisManager provides the main API of the diagnosis service, can be obtained through the RobotContext object.

DiagnosisManager diagnosisManager = aRobotContext.getSystemService(DiagnosisManager.SERVICE);

Diagnosis of parts

Cruzr is composed of several parts. The diagnosis service can diagnose one or more parts at the same time. Each item will be described below.

Diagnosis of a single component . Diagnose the head part with the following code:

promise /* [1] */ = diagnosisManager.diagnose("HeadPitch")
    .progress(new ProgressCallback<DiagnosisProgress>() {
        @Override
        public void onProgress(DiagnosisProgress/* [2] */ diagnosisProgress) {
            // Callback of diagnostic process
        }
    })
    .done(new DoneCallback<Diagnosis>() {
        @Override
        public void onDone(Diagnosis/* [3] */ diagnosis) {
            // Callback of diagnostic execution completion
        }
    })
    .fail(new FailCallback<DiagnosisException>() {
        @Override
        public void onFail(DiagnosisException e) {
            // Callback of diagnostic execution failed
        }
    });

[1] The asynchronous object returned by the diagnostic operation, through which the result is obtained and the processing is cancelled. Refer to Promise for specific usage.

[2] The DiagnosisProgress object of the asynchronous callback describes the progress information of the diagnosis, including:

Constants Descriptions
DiagnosisProgress.PROGRESS_BEGAN Start of diagnosis
DiagnosisProgress.PROGRESS_ENDED End of diagnosis

[3] The Diagnosis object of the asynchronous callback describes the diagnosis result information, including:

Attribute getter Descriptions
Diagnosis.partId Part ID
Diagnosis.faulty If it is faulty
Diagnosis.info Diagnosis information
Diagnosis.fault Fault information
Diagnosis.cause Reason for fault

Diagnose multiple parts

ArrayList partIds = new ArrayList<String>();
partIds.add("LShoulderYaw");
partIds.add("RShoulderYaw");
promise = diagnosisManager.diagnose(partIds);

Listen fault information

Register listener

DiagnosisListener diagnosisListener = new DiagnosisListener() {
    @Override

    public void onDiagnosed(Diagnosis/* [1] */ diagnosis) {
        // Callback of diagnostic information change
    }
};
diagnosisManager.registerListener(diagnosisListener);/* [2] */
diagnosisManager.registerListener(diagnosisListener, partId);/* [3] */
diagnosisManager.registerListener(diagnosisListener, partIds);/* [4] */

[1] The Diagnosis object of the asynchronous callback describes the diagnosis result information. Please refer to Diagnosis

[2] Register listener to listen the diagnosis information of all components

[3] Register listener to listen the diagnosis information of a specific component

[4] Register listener to listen the diagnosis information of multiple components

Unregister listener

diagnosisManager.unregisterListener(diagnosisListener);

Repair the part

If the device has the ability of self-healing, it can call its self-healing function through the diagnostic service when a part is abnormal. The following code is implemented: calling the self-healing function of the head joint

promise /* [1] */ = diagnosisManager.repair("HeadPitch")
    .progress(new ProgressCallback<RepairProgress>() {
        @Override
        public void onProgress(RepairProgress/* [2] */ repairProgress) {
            // Callback of repair process
        }
    })
    .done(new DoneCallback<Void>() {
        @Override
        public void onDone(Void aVoid) {
            // Callback of repair execution completion
        }
    })
    .fail(new FailCallback<RepairException>() {
        @Override
        public void onFail(RepairException e) {
            // Callback of repair execution failed
        }
    });

[1] The asynchronous object returned by the repair operation, through which the result is obtained and the processing is cancelled. Refer to Promise for specific usage.

[2] The RepairProgress object of the asynchronous callback describes the progress information of the diagnosis, including:

Constants Descriptions
RepairProgress.PROGRESS_BEGAN Start repairs
RepairProgress.PROGRESS_ENDED End repairs

Diagnostic information code

System diagnostic information

Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SYS_COMM 10000 System communication

Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 system_comm_ok Normal system communication 10000
1 system_comm_anormaly Abnormal system communication 10001 Plug and unplug the network cable or restart by bottom switch

Chassis motor diagnostic information

Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_MOTOR1 20100 Motor No. 1
DIAG_MOTOR2 20200 Motor No. 2
DIAG_MOTOR3 20300 Motor No. 3 (unique to Cruzr1)

Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 motor_ok The motor works normally 20100
1 motor_overcurrent Motor overcurrent 20101 Restart the robot or move to a safe area to wait
2 motor_can_error Abnormal motor CAN 20102 Restart or contact after sales
3 motor_overtension Motor overtension 20103 Restart or contact after sales
4 motor_uvp Motor voltage too low 20104 Restart or contact after sales
5 motor_overtemperature Motor temperature too high 20105 Restart or contact after sales
6 motor_vel_anormaly Abnormal motor speed 20106 Restart or contact after sales
7 motor_anormaly Abnormal sensor and current 20107 Restart or contact after sales

Servo diagnostic information

Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SERVO1 30100 "LShoulderPitch"
DIAG_SERVO2 30200 "LShoulderRoll"
DIAG_SERVO3 30300 "LShoulderYaw"
DIAG_SERVO4 30400 "LElbowRoll"
DIAG_SERVO5 30500 "LElbowYaw"
DIAG_SERVO7 30700 "RShoulderPitch"
DIAG_SERVO8 30800 "RShoulderRoll"
DIAG_SERVO9 30900 "RShoulderYaw"
DIAG_SERVO10 31000 "RElbowRoll"
DIAG_SERVO11 31100 "RElbowYaw"
DIAG_SERVO13 31300 "HeadYaw" (unique to Cruzr1）
DIAG_SERVO14 31400 "HeadPitch"
DIAG_SERVO15 31500 "LHand"
DIAG_SERVO16 31600 "RHand"

Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 servo_ok Servo works normally 30100
1 servo_fail Servo does not respond to function operation or response timeout 30101 Restart or contact after sales
2 servo_paramerr Servo response data error 30102 Restart or contact after sales
3 servo_libiniterr Servo group structure read / write function not initialized or failed 30103 Restart or contact after sales
4 servo_tempraturelowerr Low temperature protection of Servo 30104 Restart or contact after sales
5 servo_tempraturelowwarn Low temperature alarm of Servo 30105 Restart or contact after sales
6 servo_tempraturehigherr Over temperature protection of Servo 30106 Restart or contact after sales
7 servo_tempraturehighwarn Over temperature alarm of Servo 30107 Restart or contact after sales
8 servo_voltagelowerr Low pressure protection of Servo 30108 Restart or contact after sales
9 servo_voltagelowwarn Low pressure alarm of Servo 30109 Restart or contact after sales
10 servo_voltagehigherr Over voltage protection of Servo 30110 Restart or contact after sales
11 servo_voltagehighwarn Over voltage alarm of Servo 30111 Restart or contact after sales
12 servo_currentovererr Over current protection of Servo 30112 Restart or contact after sales
13 servo_currentoverwarn Over current alarm of Servo 30113 Restart or contact after sales
14 servo_torqueovererr Moment protection of Servo 30114 Restart or contact after sales
15 servo_torqueoverwarn Torque warning of Servo 30115 Restart or contact after sales
16 servo_fuseerr Servo fuse dislocation protection 30116 Restart or contact after sales
17 servo_fusewarn Servo fuse dislocation alarm 30117 Restart or contact after sales
18 servo_pwmerr Locked rotor protection of Servo 30118 Restart or contact after sales
19 servo_pwmwarn Locked rotor alarm of Servo 30119 Restart or contact after sales
20 servo_speederr Servo speed deviation fault 30120 Restart or contact after sales
21 servo_speedwarn Servo speed deviation alarm 30121 Restart or contact after sales
22 servo_commuerr Communication disconnection protection of Servo 30122 Restart or contact after sales
23 servo_commuwarn Servo communication disconnection alarm 30123 Restart or contact after sales
24 servo_brokenerr Damage of Servo 30124 Restart or contact after sales
25 servo_brokenwarn Servo damage alarm 30125 Restart or contact after sales
26 servo_ambtempratureerr Ambient temperature fault of Servo 30126 Restart or contact after sales
27 servo_ambtempraturewarn Ambient temperature warning for Servo 30127 Restart or contact after sales
28 servo_poslimupwarn Servo position over upper limit alarm 30128 Restart or contact after sales
29 servo_poslimdownwarn Servo position over lower limit alarm 30129 Restart or contact after sales
30 servo_spdlimwarn Servo speed overrun alarm 30130 Restart or contact after sales
31 servo_torqlimwarn Servo current over limit alarm 30131 Restart

Sensor diagnostic information

LIDAR Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_LIDAR 40100
40200 (unique to Cruzr1s)
40300 (unique to Cruzr1s)
40400 (unique to Cruzr1s)		 Laser radar

LIDAR Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 lidar_ok Lidar works normally 40100
1 lidar_no_device No lidar detected 40101 1、Restart the device to check (turn off the bottom power supply and then turn it back on after power failure)
2、Check the radar connection after restart
2 lidar_fq_error Abnormal frequency of lidar data 40102 1、Restart the devic
2、After restart, if the abnormality still exists, replace the radar
3 lidar_initial_error Radar node start failed 40103 After restart, if the abnormality still exists,Check hardware connection and radar
4 lidar_multi_device Multiple radar equipment 40104 After restart, if the abnormality still exists,Whether there are both the radar and the adapter board connected to the x86
5 lidar_no_data No data for radar topic 40105 Restart radar
6 lidar_zero_data Radar data is 0 40106

Ultrasonic Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_ULTRASONIC1 41100 Bottom No.1 ultrasonic
DIAG_SENSOR_ULTRASONIC2 41200 Bottom No.2 ultrasonic
DIAG_SENSOR_ULTRASONIC3 41300 Bottom No.3 ultrasonic
DIAG_SENSOR_ULTRASONIC4 41400 Bottom No.4 ultrasonic
DIAG_SENSOR_ULTRASONIC5 41500 Bottom No.5 ultrasonic
DIAG_SENSOR_ULTRASONIC6 41600 Middle No.1 ultrasonic
DIAG_SENSOR_ULTRASONIC7 41700 Middle No.2 ultrasonic
DIAG_SENSOR_ULTRASONIC8 41800 Middle No.3 ultrasonic

Ultrasonic Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 sensor_ultrasonic_ok Ultrasound normal 41100
1 sensor_ultrasonic_no_data No ultrasonic data 41101 contact after sales

Infra-red Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_PSD_IR1 43100 Infra-red No.1
DIAG_SENSOR_PSD_IR2 43200 Infra-red No.2
DIAG_SENSOR_PSD_IR3 43300 Infra-red No.3
DIAG_SENSOR_PSD_IR4 43400 Infra-red No.4
DIAG_SENSOR_PSD_IR5 43500 Infra-red No.5

Infra-red Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 sensor_psd_ir_ok Infrared normal 43100
1 sensor_psd_ir_no_data No data in infrared 43101 contact after sales

RGBD Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_RGBD 44000 Depth camera

RGBDIdentification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 sensor_rgbd_ok Rgbd works normally 44000
1 sensor_rgbd_no_depthdata Rgbd has no depth data 44001 contact after sales
2 sensor_rgbd_no_rgbdata Rgbd has no color data 44002 contact after sales
3 sensor_rgbd_no_data rgbd has no data 44003 contact after sales

TOF IR Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_TOF 45000 TOF IR

TOF Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 sensor_tof_ok TOF works normally 45000
1 sensor_tof_no_data TOF has no data 45001 contact after sales
2 sensor_tof_zero_data TOF data is 0 45002 contact after sales
3 sensor_tof_triggerred Trigger TOF 45003

Geomagnetism Diagnostic items

Diagnostic items Diagnostic code Descriptions
DIAG_SENSOR_GEOMAGNETIC 46000 Geomagnetism

Geomagnetism Identification code

Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 sensor_geomagnetic_ok Geomagnetic normal 46000
1 sensor_geomagnetic_no_data Geomagnetic has no data 46001 contact after sales
Diagnostic items Diagnostic code Descriptions
DIAG_NAV_SYS_STATUS 60000 Navigation system
Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 nav_system_ok Navigation system OK (connected) 60000
1 nav_system_error Abnormal navigation system (not connected) 60001 Restart
Diagnostic items Diagnostic code Descriptions
DIAG_NAV_SYS_LOCALIZATION 60100 Navigation and location
Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 nav_localization_ok Relocation OK 60100
1 nav_localization_failed Relocation failed 60101 Relocation
2 nav_localization_timeout Relocation timeout 60102 Relocation
Diagnostic items Diagnostic code Descriptions
DIAG_NAV_SYS_NAVIGATION 60200 Navigation behavior
Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 nav_navigation_sucess Successfully navigated to the target point 60200
1 nav_navigation_unreachable Target point unreachable 60201 Check target location
2 nav_navigation_path_error Path not reachable 60202 Check the path for obstructions
3 nav_navigation_open_area The scene is empty, resulting in location loss 60203 Move the robot to the area with obvious environmental characteristics and relocate it
4 nav_navigation_crowed_passengers Multiple containment, resulting in location loss 60204 Relocation
5 nav_navigation_environment_changed Environment changes, resulting in location loss 60205 Relocate. If the exception still exists, it is recommended to update the map
6 nav_navigation_lidardata_empty No radar data, resulting in location loss 60206 Check lidar diagnostic solutions
7 nav_navigation_tof_triggerred Trigger TOF 60207 Check for TOF false alarm or cliff
8 nav_navigation_geomagnetic_triggerred Triggered geomagnetism 60208 Move the robot to a non geomagnetic area and start it up
98 nav_navigation_localization_lost Loss of location,resulting in location loss 60298 Relocation
99 nav_navigation_failed_unknown Unknown failure reason 60299 contact after sales
Diagnostic items Diagnostic code Descriptions
DIAG_NAV_SYS_LOAD_MAP 60300 Navigation map
Information code Diagnostic information Descriptions Identification code (Diagnostic code+Information code) Suggested treatment measures
0 nav_load_map_sucess Map loaded successfully 60300
1 nav_load_map_failed Failed to load map 60301 1、Check whether the map is the corresponding navigation scheme
2、Check whether the map file is valid
3、Re export the map
2 nav_load_map_timeout Map timeout 60302 Prompt map is too large, setting timeout