rpos::features::system_resource::BaseHealthInfo Struct

Health information of the robot

Header File

rpos/features/system_resource/device_health.h

Applies to

• Slamware

Constructors

/**
* Default constructor.
*/
BaseHealthInfo();

Fields

/** 
* Whether has warning.
*/
bool hasWarning;

/**
* Whether has error.
*/ 
bool hasError;

/**
* Whether has fatal errors.
*/
bool hasFatal;

std::vector<BaseError> errors;

please refer to rpos::features::system_resource::BaseError for details

/**
* Is the emergency stop is activated.
boost::optional<bool> hasSystemEmergencyStop;

Please be careful with data type boost::optional<bool>. It might be invalid in some old version of SLAMWARE system.

if(hasSystemEmergencyStop)
   dosomething;      // The field is valid, but not sure value is true or false

if(hasSystemEmergencyStop == true)
   dosomething;      // The field is valid, and with value true

if(hasSystemEmergencyStop == false)
   dosomething;      // The field is valid, and with value false

/**
* Whether the main LIDAR is disconnected.
*/
boost::optional<bool> hasLidarDisconnected;

/**
* Whether the chasis is disconnected.
*/
boost::optional<bool> hasSdpDisconnected;

/**
* Whether the depth camera is disconnected (always false if no depth camera is connected).
*/
boost::optional<bool> hasDepthCameraDisconnected;