Pepper やNaoで使用されているNaoqi OSのメモです。

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概要|API

Namespace : AL
#include <alproxies/aldiagnosisproxy.h>

Method list


As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class ALDiagnosisProxy
  • ALDiagnosisProxy::getActiveDiagnosis
  • ALDiagnosisProxy::getDiagnosisStatus
  • ALDiagnosisProxy::getPassiveDiagnosis
  • ALDiagnosisProxy::isNotificationEnabled
  • ALDiagnosisProxy::setEnableNotification

Event list

  • ActiveDiagnosisErrorChanged()
  • PassiveDiagnosisErrorChanged()
  • ALDiagnosis/RobotIsReady()
  • ALDiagnosis/ActiveDiagnosisFinished()
  • ALDiagnosis/DiagnosisErrorChanged()

Methods


AL::ALValue ALDiagnosisProxy::getActiveDiagnosis()
Return the actual state of the active diagnosis. Only the highest level of failure is returned.
Returns: An ALValue with the actual active diagnosis result with the following form:
       [ int Level of failure severity, [AL::ALValue The list of device in failure] ]
       Where:
       Level of failure severity is 0 (NEGLIGIBLE), 1 (SERIOUS) or 2 (CRITICAL).
       See: nao Diagnosis key list, juju Diagnosis key list.
       The list of device in failure is a chain name or a sensor name.
       See: nao Chains, Actuator & Sensor list, juju Chains, Actuator & Sensor list.
       Example: [1, [“LArm”, “Sonar”]]


AL::ALValue ALDiagnosisProxy::getDiagnosisStatus()
Return the actual state of the active and passive diagnosis. Only the highest level of failure is returned.
       Returns: An ALValue with the summary of active and passive diagnosis result with the following form:
       [ int Level of failure severity, [AL::ALValue The list of device in failure] ]
       Where:
       Level of failure severity is 0 (NEGLIGIBLE), 1 (SERIOUS) or 2 (CRITICAL).
       See: nao Diagnosis key list, juju Diagnosis key list.
       The list of device in failure is a chain name or a sensor name.
       See: nao Chains, Actuator & Sensor list, juju Chains, Actuator & Sensor list.
       Example: [1, [“LArm”, “Sonar”]]


AL::ALValue ALDiagnosisProxy::getPassiveDiagnosis()
Return the actual state of the passive diagnosis. Only the highest level of failure is returned.
Returns: An ALValue containing the actual passive diagnosis result with the following form:
       [ int Level of failure severity, [AL::ALValue The list of device in failure] ]
       Where:
       Level of failure severity is 0 (NEGLIGIBLE), 1 (SERIOUS) or 2 (CRITICAL).
       See: nao Diagnosis key list, juju Diagnosis key list.
       The list of device in failure is a chain name or a sensor name.
       See: nao Chains, Actuator & Sensor list, juju Chains, Actuator & Sensor list.
       Example: [1, [“LArm”, “Sonar”]]


bool ALDiagnosisProxy::isNotificationEnabled()
Get notification status. Returns true if notification is active.
Returns: Return true if notification is active.


void ALDiagnosisProxy::setEnableNotification(bool enable)
Enable / Disable passive diagnosis notification.
Parameters: enable – If true enables passive diagnosis notification.

Events


Event: "ActiveDiagnosisErrorChanged"
callback(std::string eventName, AL::ALValue activeDiagnosis, std::string subscriberIdentifier)
Raised when the active diagnosis status has changed.
Parameters: eventName (std::string) – “ActiveDiagnosisErrorChanged”
       activeDiagnosis – The same return ALValue as the API ALDiagnosisProxy::getActiveDiagnosis
       subscriberIdentifier (std::string) –


Event: "ALDiagnosis/DiagnosisErrorChanged"
callback(std::string eventName, AL::ALValue diagnosis, std::string subscriberIdentifier)
Raised when the active or passive diagnosis status has changed.
Parameters: eventName (std::string) – “ALDiagnosis/DiagnosisErrorChanged”
       diagnosis – The same return ALValue as the API ALDiagnosisProxy::getDiagnosisStatus
       subscriberIdentifier (std::string) –


Event: "PassiveDiagnosisErrorChanged"
callback(std::string eventName, AL::ALValue passiveDiagnosis, std::string subscriberIdentifier)
Raised when the passive diagnosis status has changed.
Parameters: eventName (std::string) – “PassiveDiagnosisErrorChanged”
       passiveDiagnosis – The same return ALValue as the API ALDiagnosisProxy::getPassiveDiagnosis
       subscriberIdentifier (std::string) –


Event: "ALDiagnosis/RobotIsReady"
callback(std::string eventName, AL::ALValue robotIsReady, std::string subscriberIdentifier)
Raised when the active diagnosis, automatically launched after the NAOqi startup, is finished.
Parameters: eventName (std::string) – “ALDiagnosis/RobotIsReady”
       robotIsReady – True if no critical error is detected at start-up diagnosis.
       subscriberIdentifier (std::string) –


Event: "ALDiagnosis/ActiveDiagnosisFinished"
callback(std::string eventName, AL::ALValue type, std::string subscriberIdentifier)
Raised when an active diagnosis is finished.
Parameters: eventName (std::string) – “ALDiagnosis/ActiveDiagnosisFinished”
       type – “wakeUp” when active diagnosis at wakeUp finished. “rest” when active diagnosis at rest finished.
       subscriberIdentifier (std::string) –

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