This document introduces the demo project of "robot_health", including how to get and clear the error status information of robot.

Content

• IDE Preperation
  • Software
  • Hardware
• Download
• Compiling
• Code

IDE Preperation

• Software

  • Visual Studio 2010  SP1
  • Slamware Windows SDK:Slamware Windows SDK
  • RoboStudio(for map display):Robostudio installer 

  • Sample Code: 

    Higher version of Visual Studio will cause errors. Sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework.

• Hardware

          （Either one of following）

• • Slamware SDP mini 
  • Slamware SDP
  • Slamware Kit 
  • Zeus/Apollo robot base

Download

Win32-Demo

Compiling

1. Right click on "robot_health" project, set as StartUp project.
   

2. Right click on "robot_health", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

   It's not necessary to copy files to the project directory, user will only need to configure the path of SDK.

   
   

3. Right click on "robot_status", then "properties"，set "Command Arguments" as follows:
   Syntax： robot_health <IP address> 
   
   
   
4. Press the robot emergency stop button (take emergency stop as an example)，Click " F5" to execute.
5. The error status information could be seen in Robostudio
   
   
6. The output from console will be as follows:
   

Code

• Print the error status information and clear it

  Get robot health

          SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(ip_address, 1445);
  		std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
  		std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;
  
  		while(true){
  			BaseHealthInfo robot_health = sdp.getRobotHealth();
  			if(robot_health.hasError)
  				std::cout << "Error" << std::endl;
  			if(robot_health.hasFatal)
  				std::cout << "Fatal" << std::endl;
  			if(robot_health.hasWarning)
  				std::cout << "Warning" << std::endl;
  			if(*robot_health.hasLidarDisconnected)
  				std::cout << "LidarDisconnected" << std::endl;
  			if(*robot_health.hasSdpDisconnected)
  				std::cout << "SdpDisconnected" << std::endl;
  			if(*robot_health.hasSystemEmergencyStop)
  				std::cout << "SystemEmergencyStop" << std::endl;
  			for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) {
  				std::cout << "Message: " << it->message << std::endl;
  				std::cout << "Level: " << it->level << std::endl;
  				std::cout << "ErrorType: "<< it->componentErrorType <<std::endl;
  				std::cout << "ErrorCode: " << it->errorCode << std::endl;
  			}
  
  			int errors_size = robot_health.errors.size();
  			if(errors_size > 0){
  				std::cout << "Press 'y' to clear errors, press any other key to continue..." << std::endl;
  				char is_error_clear;
  				std::cin >> is_error_clear;
  				if(is_error_clear == 'y' || is_error_clear == 'Y') {
  					for (auto it = robot_health.errors.begin();it != robot_health.errors.end(); ++ it) {
  						sdp.clearRobotHealth(it->errorCode);
  						std::cout << "Error: " << it->message << " cleared!" << std::endl;
  					}			
  				}				
  			}
  		}