3.3 AlarmClient Class

Overview

AlarmClient handles active alarm queries and alarm reset. After Arm is connected, access the instance through arm.alarmClient ; no separate initialization is required.

LanguageType selects the language used by GetAllActiveAlarms() . RobotAlarm describes one alarm record. When there is no active alarm, the query APIs return an empty list or an empty RobotAlarm .

3.3.1 Reset Alarm

Reset() -> STATUS_CODE

Item	Description
Description	Sends an alarm/servo reset command, typically after the fault condition has been handled
Request Parameters	None
Return Value	STATUS_CODE: function execution result
Notes	Call this only when an alarm reset is actually required. If the underlying fault still exists, the alarm may remain active or appear again
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

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3.3.2 Get All Active Alarms

GetAllActiveAlarms(LanguageType language = LanguageType::Chinese) -> std::pair<std::vector<RobotAlarm>, STATUS_CODE>

Item	Description
Description	Gets the current list of all active alarms
Request Parameters	language : LanguageType used for the alarm list. Defaults to Chinese ; English is also supported
Return Value	std::vector<RobotAlarm> : active alarm list STATUS_CODE: function execution result
Notes	The SDK preserves the order returned by the server. If the server returns no alarms, the list is empty and the status code is OK
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

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3.3.3 Get Highest-Priority Alarm

GetTopAlarm() -> std::pair<RobotAlarm, STATUS_CODE>

Item	Description
Description	Gets the current highest-priority alarm
Request Parameters	None
Return Value	RobotAlarm: highest-priority alarm information STATUS_CODE: function execution result
Notes	If there is no active alarm, the returned RobotAlarm is empty
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

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RobotAlarm Structure

Field	Type	Description
user_code	std::string	User-readable alarm code
inner_code	std::string	Internal controller-side alarm code
name	std::string	Alarm name
reason	std::string	Alarm cause
suggest	std::string	Suggested handling action
consequence	std::string	Possible impact of the alarm
ext_desc	std::string	Extended description

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Minimal Call Example

Example code:

cpp17/alarm_query/src/query_active_alarms/run.cpp

#include <iostream>
#include <vector>
#include "arm_api.h"
#include "status_code.h"

#include "query_active_alarms/run.h"

/**
 * 查询全部活动报警门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunAlarmQueryQueryActiveAlarms(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_alarm] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_alarm] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 获取全部活动报警。
    // [EN] Get all active alarms.
    std::pair<std::vector<RobotAlarm>, STATUS_CODE> alarmPair = arm.alarmClient.GetAllActiveAlarms(LanguageType::Chinese);
    std::cout << "[cpp17_alarm] GetAllActiveAlarms 状态码 / GetAllActiveAlarms status code: "
              << static_cast<int>(alarmPair.second) << "\n";
    std::cout << "[cpp17_alarm] 活动报警数量 / Active alarm count: "
              << alarmPair.first.size() << "\n";
    for (size_t index = 0; index < alarmPair.first.size() && index < 3U; ++index) {
        std::cout << "[cpp17_alarm] 活动报警 / Active alarm #" << index
                  << ": user_code=" << alarmPair.first[index].user_code
                  << ", name=" << alarmPair.first[index].name << "\n";
    }

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_alarm] 示例结束 / Example finished\n";
    return 0;
}

cpp17/alarm_query/src/reset_alarm/run.cpp

#include <iostream>
#include "arm_api.h"
#include "status_code.h"

#include "reset_alarm/run.h"

/**
 * 报警复位门面。
 * @return 0 表示成功，否则返回 1。
 */
int RunAlarmQueryResetAlarm(void)
{
    // [ZH] 连接机器人，请直接修改下面的魔鬼字符串。
    // [EN] Connect to the robot and edit the hard-coded magic strings below directly.
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("10.27.1.2", "10.27.1.102");
    if (connectRet != STATUS_CODE::OK) {
        std::cerr << "[cpp17_alarm] 连接机器人失败 / Connect to the robot failed, 状态码 / Status code: "
                  << static_cast<int>(connectRet) << "\n";
        return 1;
    }
    std::cout << "[cpp17_alarm] 机器人连接成功 / Robot connected successfully\n";
    // [ZH] 直接执行报警复位接口。
    // [EN] Execute the alarm reset API directly.
    STATUS_CODE resetRet = arm.alarmClient.Reset();
    std::cout << "[cpp17_alarm] Reset 状态码 / Reset status code: "
              << static_cast<int>(resetRet) << "\n";

    // [ZH] 断开连接，结束示例。
    // [EN] Disconnect and finish the example.
    arm.Disconnect();
    std::cout << "[cpp17_alarm] 示例结束 / Example finished\n";
    return 0;
}