| 1 |
warn |
("Vmap delta time is invalid. Value is %+3.3f",delta_time); |
算出来和地形图的时间差小于0，狗会姿态异常 |
| 2 |
warn |
("vision heat lose"); |
导航心跳包更新超时，只做提示，不做任何处理 |
| 3 |
warn |
("unknown mistake: %s ",e.what()); |
485未知错误，影响电池与自主充电 |
| 4 |
warn |
("UDP timeout."); |
UDP指令接收超时/出错 |
| 5 |
warn |
("Transmission jitter over 20ms = %+2.2fms ", fabsf(dt_time_receiver - send_dt_time)); |
地形图接收超时20ms，不做处理 |
| 6 |
warn |
("The robot will be sit down"); |
接收到reboot重启信号后，机器人即将趴下 |
| 7 |
warn |
("The recv data len is %d, the CRC failed!", int(ptr - buf)); |
电池数据校验出错，影响当前一包电池信息，信息会滞后，不做处理 |
| 8 |
warn |
("The pointer is out of bounds!"); |
电池数据接收超长，且无法解析，不做处理 |
| 9 |
warn |
("The interval for the plan is too short, with a time of %+3.3fms.", (now_plan_time - last_plan_time)*1e3); |
运动规划plan周期过短，只做提示，不做任何处理 |
| 10 |
|
The emergency stop button has been released. GPIO Edge detected rising value 0 |
背部软急停被松开 |
| 11 |
warn |
("The emergency stop button has been pressed. Source is %s %x ",controller_->command_source_array_[code >> 28].c_str(),code ); |
背部软急停被按下 |
| 12 |
warn |
("The emergency stop button has been pressed. GPIO Edge detected %s value %c", edgeType.c_str(), buffer[0]); |
背部软急停被按下 |
| 13 |
warn |
("The drive is in a disabled state, blocking commands, attempting to enable. Source is %s %x ",controller_->command_source_array_[code >> 28].c_str(),code >> 28); |
驱动器故障，屏蔽所有指令 |
| 14 |
warn |
("Soft emergency!!!. Code is 0x%x. ", _request.get_command_code().to_ulong()); |
接收到软急停指令 |
| 15 |
warn |
("Slam data update timeout. "); |
Slam数据接收超时，不做处理 |
| 16 |
warn |
("Received Soft emergency. Source is %s code is 0x%x ",controller_->command_source_array_[code >> 28].c_str(),code); |
接收到软急停指令 |
| 17 |
warn |
("Receivce reboot signal, robot will sit down"); |
接收到reboot重启信号，机器人即将趴下 |
| 18 |
warn |
("Parse statistics.toml failed"); |
解析statistics.toml失败，statistics.toml文件会被重置 |
| 19 |
warn |
("Parse history_statistics.toml failed"); |
解析history_statistics.toml 失败，history_statistics.toml 文件会被重置 |
| 20 |
warn |
("No network configuration file found, default values will be used for configuration."); |
没有network.toml文件，UDP上传使用默认IP与端口192.168.1.105：43897 |
| 21 |
warn |
("Motor ID: %d temperature is %+3.2d.", max_temperature_index, user_command_set_.motor_temperature); |
某一个电机过温，温度是*** |
| 22 |
warn |
("Max_cycle = %+2.4f, count = %d",max_cycle, record_count_); |
运行周期超时时间为***S，超时过久会摔 |
| 23 |
warn |
("Init The emergency stop button has been pressed."); |
初始状态软急停按钮被按下，不会接收指令 |
| 24 |
warn |
("IMU data update timeout. "); |
IMU超时时间大于15ms |
| 25 |
warn |
("Have no statistics.toml "); |
解析statistics.toml失败，statistics.toml文件会被重置 |
| 26 |
warn |
("Have no history_statistics.toml "); |
解析history_statistics.toml 失败，history_statistics.toml 文件会被重置 |
| 27 |
warn |
("GridMap status error"); |
VMAP超时之后，禁止切换地形图相关步态，影响：切换不了 |
| 28 |
warn |
("Cpu temperature: %dC cpu freq %dMHz",cpu_temp/1000, cpu_freq/1000); |
CPU温度大于50度或者主频低于1500MHz，只做提醒，可能会导致算不过来，摔倒 |
| 29 |
warn |
("CPU %d High CPU usage %3d%%",icore-1,cpus_stat[icore].occupy.integer); |
XXX号CPU占用率过高，只做提醒，可能会导致算不过来，摔倒 |
| 30 |
warn |
("check sum %02x, %02x, %02x, %02x, %d\n", high,frame.checksum_high, low, frame.checksum_low, frame.count); |
IMU帧校验出错 |
| 31 |
warn |
("BUS:%s-Address:%d not matched.", tD.first.GetDEV().c_str(), int(tD.second.mAd)); |
485指令头无法解析，不做处理 |
| 32 |
warn |
("Battery sensor %d overheat %+3.1f",j ,BatteryBaseInfo_.battery_temperature[j]); |
电池第N组过温，软急停保护 |
| 33 |
warn |
("Battery level is low!"); |
电池电量过低，目前默认是低于4%/X30 |
| 34 |
warn |
("Battery level is low %d",t_battery_level); |
电池电量过低，目前默认是低于4%/X30 |
| 35 |
warn |
("[%s] Record %d - Timestamp: %d.%d , Time elapsed since last record: %+3.6f seconds", name_.c_str(), i+1, time_records[i].tv_sec, time_records[i].tv_nsec, elapsed_time); |
提示程序某段运行超时，可能会摔倒，用于排查问题 |
| 36 |
warn |
("%s is in SAFE_OP %d", joints_name_[i].c_str(), state_list[i]); |
驱动器初始化失败，无法进入OP |
| 37 |
info |
(ShowVersion().c_str()); |
RAS程序版本 |
| 38 |
info |
(kDeeprosVersionString); |
ROS版本 |
| 39 |
info |
("上装状态:%d, 风扇状态:%d, 加热膜状态:%d", (int)mBusSt.Status.PiggyBack, (int)mBusSt.Status.Fan, (int)mBusSt.Status.Heating); |
CA7各部分外设状态 |
| 40 |
info |
("vStairs Mode Feedback,current status: %d. Source is %s. Code is 0x%x. ", controller_->vstairs_mode_status, "--",_request.get_command_code().to_ulong()); |
VMAP切换步态，只做提示 |
| 41 |
info |
("Using network interfaces %s and %s ",argv[1],argv[2]); |
ecat回环使用的网口名称 |
| 42 |
info |
("Using network interfaces %s ", argv[1]); |
ecat单网口使用的网口名称 |
| 43 |
info |
("turnning-angle: %lf ", controller_->user_command_set_.vision_turning_angle); |
导航发送的旋转角度指令 |
| 44 |
info |
("Try to open vStairs Mode,current status: %d. Source is %s. Code is 0x%x. ", controller_->vstairs_mode_status, "--",code); |
切换vStair步态 |
| 45 |
info |
("Try to close vStairs Mode,current status: %d. Source is %s. Code is 0x%x. ", controller_->vstairs_mode_status, "--",code); |
退出vStair步态 |
| 46 |
info |
("Triggered QuietTrot. Code is 0x%x. ",_request.get_command_code().to_ulong()); |
切换静音步态 |
| 47 |
info |
("touch stand flag: %d", controller_->user_command_set_.is_stand); |
起立/趴下 |
| 48 |
info |
("time: %+3.3lf, is_need_adjust_stop : %d, pos(xyz) :(%+3.3lf,%+3.3lf,%+3.3lf) ", |
58MZ接口 |
| 49 |
info |
("The robot state is sit down"); |
机器人当前状态是趴下的 |
| 50 |
info |
("The current product model name is %s", model_name.c_str()); |
当前机器人型号是xxx |
| 51 |
info |
("Target robot is %s ", robot_name.c_str()); |
机器人名称是xxx |
| 52 |
info |
("Target Gait: %d",controller_->user_command_set_.gait); |
切换步态 ，目标步态是xxx |
| 53 |
info |
("switch_to_aim_mode..."); |
接收到切换MZ指令 |
| 54 |
info |
("switch_to_adjusting_mode..."); |
接收到扭身体指令 |
| 55 |
info |
("Switch to Vision Mode!!!. Code is 0x%x. ",_request.get_command_code().to_ulong() ); |
切换到导航模式 |
| 56 |
info |
("Switch to Twist Body Mode!!!. Code is 0x%x. ",_request.get_command_code().to_ulong() ); |
切换到扭身体模式 |
| 57 |
info |
("Switch to Move Mode!!!. Code is 0x%x. ",_request.get_command_code().to_ulong() ); |
切换到移动模式 |
| 58 |
info |
("Switch to Joystick Mode!!!. Code is 0x%x. ",_request.get_command_code().to_ulong()); |
切换到手动控制 |
| 59 |
info |
("Snake Walk Start"); |
蛇形机动 |
| 60 |
info |
("Slam data update again. "); |
导航速度再次下发 |
| 61 |
info |
("set done!"); |
串口配置完成 |
| 62 |
info |
("SDK control release"); |
SDK失去控制权，由RAS控制 |
| 63 |
info |
("SDK control get"); |
SDK获得控制权，由SDK控制 |
| 64 |
info |
("run trot.... Code is 0x%x. ",_request.get_command_code().to_ulong()); |
跑步步态 |
| 65 |
info |
("RS485 init success fd = %d", fd_); |
485初始化失败 |
| 66 |
info |
("rl sit... Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
RL趴下指令 |
| 67 |
info |
("reset_aim_flag: %d, %d", controller_->user_command_set_.reset_aim_flag, _request.get_command_value()); |
重置MZ状态 |
| 68 |
info |
("recv vstairs state %d",controller_->user_command_set_.vstairs_state ); |
接收到vStair状态 |
| 69 |
info |
("Received 无感知RL行走(关闭雷达) . Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到无感知RL步态，关雷达 |
| 70 |
info |
("Received Wide stand cmd :%d . Source is 0x%x",_request.get_command_value() ,code&kSourceMask); |
宽步态战立 |
| 71 |
info |
("Received walk. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
WALK步态 |
| 72 |
info |
("Received vision stair gait. Source is %s",controller_->command_source_array_[code >> 28].c_str()); |
vStair步态 |
| 73 |
info |
("Received vision stair gait, velocity is slow. Source is %s",controller_->command_source_array_[code >> 28].c_str()); |
慢vStair步态 |
| 74 |
info |
("Received vision stair gait, velocity is fast. Source is %s",controller_->command_source_array_[code >> 28].c_str()); |
快vStair步态 |
| 75 |
info |
("Received trot gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
切换到trot步态 |
| 76 |
info |
("Received Switch to Vision Mode old command."); |
老指令码vStair步态 |
| 77 |
info |
("Received Switch to Joystick Mode! old command."); |
老指令码手动模式 |
| 78 |
info |
("Received switch force control command. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(), code ); |
切换到力控模式 |
| 79 |
info |
("Received stepover gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
RL WALK步态 |
| 80 |
info |
("Received start/stop action command. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
开始、停止踏步指令 |
| 81 |
info |
("Received stand up or sit down old command "); |
接收到起立或趴下老指令 |
| 82 |
info |
("Received stand up or sit down command. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到起立或趴下指令，及来源是xxx |
| 83 |
info |
("Received stair gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换越障步态指令，及来源是xxx |
| 84 |
info |
("Received slopetrot gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换斜坡步态指令，及来源是xxx |
| 85 |
info |
("Received Servo control. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到位姿控制指令，及来源是xxx |
| 86 |
info |
("Received save data old command."); |
接收到保存数据的老指令码 |
| 87 |
info |
("Received RLWalk. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RL WALK步态指令，及来源是xxx |
| 88 |
info |
("Received RLStandRecover. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLStandRecover步态指令，及来源是xxx |
| 89 |
info |
("Received RLSlope. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLSlope步态指令，及来源是xxx |
| 90 |
info |
("Received RLSilent. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLSilent步态指令，及来源是xxx |
| 91 |
info |
("Received RLRun. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLRun步态指令，及来源是xxx |
| 92 |
info |
("Received RLRecover. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLRecover步态指令，及来源是xxx |
| 93 |
info |
("Received RLPosCmd. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLPosCmd步态指令，及来源是xxx |
| 94 |
info |
("Received RLPerception. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLPerception步态指令，及来源是xxx |
| 95 |
info |
("Received RLIndustrialStair. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLIndustrialStair步态指令，及来源是xxx |
| 96 |
info |
("Received RLGap. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLGap步态指令，及来源是xxx |
| 97 |
info |
("Received RLFollow. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLFollow步态指令，及来源是xxx |
| 98 |
info |
("Received RLEnergy. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLEnergy步态指令，及来源是xxx |
| 99 |
info |
("Received RLBackup. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换RLBackup步态指令，及来源是xxx |
| 100 |
info |
("Received pronk. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换pronk步态指令，及来源是xxx |
| 101 |
info |
("Received pace gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换pace步态指令，及来源是xxx |
| 102 |
info |
("Received manual control. Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到切换手动控制指令，及来源是xxx |
| 103 |
info |
("Received leg open :%d . Source is 0x%x. Code is 0x%x. ",_request.get_command_value() ,code&kSourceMask,code); |
接收到宽步态指令，及来源是xxx |
| 104 |
info |
("Received kRLxxx2Gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到切换kRLxxx2Gait步态指令，及来源是xxx |
| 105 |
info |
("Received Exit-RL Mode. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到退出RL模式指令，及来源是xxx |
| 106 |
info |
("Received dance. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到跳舞指令，及来源是xxx |
| 107 |
info |
("Received dance old command."); |
接收到跳舞老指令 |
| 108 |
info |
("Received Creep %d,. Code is 0x%x. ", controller_->user_command_set_.lower_robot_body_height_flag,_request.get_command_code().to_ulong()); |
接收到匍匐状态切换指令，来源是xxx |
| 109 |
info |
("Received bound gait. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到Bound步态指令，及来源是xxx |
| 110 |
info |
("Received auto control. Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到切换导航控制指令，及来源是xxx |
| 111 |
info |
("Receive HeightMap RLPerceptionGait Data Pack. Number is %d. Code is 0x%x. ",controller_->pre_RLPerceptionGait_cnts,code); |
强化学习收到高度图 |
| 112 |
info |
("ready to sit down ..."); |
趴下时踏一步准备趴下的时刻 |
| 113 |
info |
("RCS-VERSION: %s",ROBOT_VERSION); |
RCS版本号 |
| 114 |
info |
("RCS-Robot-PID : %d",get_thread_id()); |
RCS PID号 |
| 115 |
info |
("RCS-Robot : %s",ROBOT_SERIES); |
机器人名称是xxx |
| 116 |
info |
("RCS-Branch : %s",CURRENT_GIT_BRANCH); |
程序的git提交信息 |
| 117 |
info |
("Open imu device %s", dev_name_.c_str()); |
IMU使用的串口号是xxx |
| 118 |
info |
("open HeightMap RLPerceptionGait Success . Code is 0x%x. ",code); |
打开HeightMap RLPerceptionGait步态成功，来源是xxx |
| 119 |
info |
("No wifi for %+3.3f seconds . Stop!", wifi_keep_still_time_); |
wifi心跳包超时xxxS，停止运动 |
| 120 |
info |
("No wifi for %+3.3f seconds . Sit Down !", wifi_sit_down_time_); |
wifi心跳包超时xxxS，趴下 |
| 121 |
info |
("motion stop"); |
已经处于趴下状态 |
| 122 |
info |
("motion start"); |
切完力控会输出 |
| 123 |
info |
("miss distance equal zero"); |
MZ 接口中收到的x y的值都为0 |
| 124 |
info |
("lower forward velocity... flag: %d", controller_->user_command_set_.lower_robot_velocity_flag); |
低速行驶模式指令 |
| 125 |
info |
("lower body height... flag: %d", controller_->user_command_set_.lower_robot_body_height_flag); |
降低身体高度指令 |
| 126 |
info |
("listen on: %d,listenfd=%d\n",PORT,listenfd); |
监听xxxxx端口，文件描述符为xx |
| 127 |
info |
("jump long2.... Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到jump long2指令，指令码为xxx |
| 128 |
info |
("jump long.... Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到jump long指令，指令码为xxx |
| 129 |
info |
("jump high.... Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到jump high指令，指令码为xxx |
| 130 |
info |
("Interface name: %s", iface_name.c_str()); |
列举出当前主板的网卡名称 |
| 131 |
info |
("Init success, this robot has worked %ld s", total_motion_time_); |
初始化成功，机器人总共运行了xxxS |
| 132 |
info |
("init comp roll : %d , pitch: %d , yaw: %d , x : %d, y : %d, height : %d ", |
接收到的位姿控制的各个值为xxx[] |
| 133 |
info |
("fly(run) trot.... Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到切换fly trot步态指令，指令码是xxx |
| 134 |
info |
("FD:%d DEV:%s register success! He mounted %d slave stations .",fd, aDev.c_str(), sBus.mSlave.size()); |
串口号注册成功 |
| 135 |
info |
("Exit and save!!!. Code is 0x%x. ",_request.get_command_code().to_ulong()); |
接收到保存数据指令 |
| 136 |
info |
("EtherCAT initialization successful"); |
ECAT初始化成功 |
| 137 |
info |
("ecat_server_init init success!"); break; |
ECAT主站初始化成功 |
| 138 |
info |
("dt_time :%lf", dt_time); |
GripMapPosture接收到指令时间和发送时间超过7ms |
| 139 |
info |
("Charge Gpio Control: %d . Source is 0x%x. Code is 0x%x. ", _request.get_command_value() ,code&kSourceMask,code); |
接收到打开电池信号电压指令，来源是xxxxx |
| 140 |
info |
("ButtonY is pressed... "); |
接收到开始运动指令，老指令 |
| 141 |
info |
("Battery level is recovery!"); |
电池电量恢复 |
| 142 |
info |
("AimReset..."); |
MZ接口数据重置 |
| 143 |
info |
("accept a new client: %s:%d,fd=%d\n",inet_ntoa(cliaddr.sin_addr),cliaddr.sin_port,clifd); |
TCP监听到新的VMAP客户端，ip和端口及文件描述符为xxx |
| 144 |
info |
(">Received Entry-RL Mode. Source is %s. Code is 0x%x. ", controller_->command_source_array_[code >> 28].c_str(),code); |
接收到进入RL模式指令，来源是xxx |
| 145 |
info |
("%s status 0x%x", joints_name_[i].c_str(), value[i]); |
xxx关节状态字为xxx |
| 146 |
info |
("%s state is %d", joints_name_[i].c_str(), state_list[i]); |
xxx驱动器OP状态为xxx |
| 147 |
info |
(" motion enable "); |
开始接收指令，一般为软急停按钮被松开 |
| 148 |
info |
(" motion disable "); |
停止接收指令，一般为软急停按钮被按下 |
| 149 |
fatal |
("Motor ID: %d over heat %+3.2d. Robot will be sit down.", max_temperature_index, user_command_set_.motor_temperature); |
xxx电机温度超过180，会趴下 |
| 150 |
fatal |
("EtherCAT initialization is too many times, stop trying") |
ECAT初始化失败，重启次数过多，停止重启，等死 |
| 151 |
fatal |
("EtherCAT initialization error. Try to restart %d times", number); |
ECAT初始化失败，尝试第N次重启 |
| 152 |
fatal |
("%s", err_msg); // 打印错误信息字符串 |
接收到ECAT紧急报文，软急停 |
| 153 |
error |
("This program can't run for error target robot defined in /home/deeprcs.json"); |
机器人无法匹配，程序不运行 |
| 154 |
error |
("This code is not retrieved in the current instruction set. The Code is 0x%x , code = 0x%x", new_code,_code); |
接收到指令未注册，不做处理 |
| 155 |
error |
("Some slave enable failed"); |
某些驱动器使能失败 |
| 156 |
error |
("RobotStart Failed!"); |
机器人启动失败 |
| 157 |
error |
("read_size = %d", recv_size); |
UDP指令长度出错，不做处理 |
| 158 |
error |
("Read size = %d",recv_size - sizeof(cm.command)); |
UDP指令长度出错，不做处理 |
| 159 |
error |
("Motor ID: %d temperature is %+3.2d.", max_temperature_index, user_command_set_.motor_temperature); |
xxx电机温度超过160 |
| 160 |
error |
("MODULE:[%s]took %lf(s) and exceeded the expected period. ", mModule.c_str(), tT); |
xxx运行超时，可能会摔 |
| 161 |
error |
("MODULE:[%s]took %lf(s) . Iterated %d cnts. ", mModule.c_str(), tT, cnt); |
xxx运行超时，可能会摔 |
| 162 |
error |
("Invalid target IP address: %s",ip.c_str()); |
IP地址格式不对，影响给这个不对的IP发数据ips ports |
| 163 |
error |
("invalid command code."); |
UDP指令码错误，不影响 |
| 164 |
error |
("IMU Get Head Byte Timeout! \n"); |
IMU解析数据头超时，影响当前一包IMU数据 |
| 165 |
error |
("IMU data update timeout. "); |
imu超时大于60ms |
| 166 |
error |
("GridMap data update time out. Clear data"); |
地形图数据更新超时 |
| 167 |
error |
("FD:%d BUS:%s-Address:%d POP but Not Write Success. ret = %d ,size = %d", tD.first.GetFD(),tD.first.GetDEV().c_str(), int(tD.second.mAd),ret,tD.second.mPotocol.size()); |
联系研发 |
| 168 |
error |
("Failed to open value file."); |
联系研发 |
| 169 |
error |
("Failed to create socket for target."); |
联系研发 |
| 170 |
error |
("Error in write(): %s, size = %d",strerror(errno),len) ; |
联系研发 |
| 171 |
error |
("epoll event calloc fail"); |
联系研发 |
| 172 |
error |
("ecat_server_init init failed!"); break; |
ecat主站初始化失败，程序无法运行 |
| 173 |
error |
("Driver over heat"); |
驱动器过温 |
| 174 |
error |
("create socket error."); |
UDP接收创建端口失败，无法接收UDP指令 |
| 175 |
error |
("create epoll fd fail "); |
定时器epoll创建失败，程序无法运行 |
| 176 |
error |
("create epoll fail "); |
数据记录，创建定时器失败，影响判断程序是否超时 |
| 177 |
error |
("com set error"); |
串口设置失败，电池数据无法读取 |
| 178 |
error |
("code = 0x%02x message is %s", BatteryBaseInfo_.protected_state, error_array_[i].c_str()); |
电池错误信息解读，不做处理 |
| 179 |
error |
("client close. Clear data"); |
地形图断开连接，清空数据 |
| 180 |
error |
("client close,fd=%d\n",fd); |
地形图断开连接 |
| 181 |
error |
("Bind socket error."); |
UDP接收绑定端口失败，无法接收UDP指令 |
| 182 |
error |
("bind error:"); |
TCP绑定端口失败，VMAP无法正常使用 |
| 183 |
error |
("accpet error:"); |
TCP接收失败，VMAP无法正常使用 |
| 184 |
error |
("accept socket error."); |
TCP监听失败，VMAP无法正常使用 |
| 185 |
error |
("%s status 0x%x", joints_name_[i].c_str(), values[i]); |
xxx关节状态异常，状态为xxx，软急停保护 |
| 186 |
error |
("%s error code 0x%x ", joints_name_[i].c_str(), error_code[i]); |
xxx关节错误码为xxx，软急停保护 |
| 187 |
error |
(" grod-socket < 0 "); |
设置系统运行打开的socket数量，无法正常使用 |
| 188 |
error |
(" Can not open ser1. %s", dev_name_.c_str()); |
打开IMU串口失败，程序无法正常使用 |
| 189 |
warn |
("fabs((xx + yy + zz - l0l0 - l1l1 - l2l2) / (2 * l1l2))>=1 = %3.3f",(xx + yy + zz - l0l0 - l1l1 - l2l2) / (2 * l1l2)); |
位姿调整时如果腿伸的太直到达极限位置，就会打印这个警告，膝关节无法再继续执行角度 |
| 190 |
warn |
("Robot is lose control, Switch to position control mode, wait a moment to press [STAND UP BUTTON] to let robot lose power-1!!!"); |
机器狗失控，一般是狗摔倒了 |
| 191 |
warn |
("Robot is lose control, Switch to position control mode, wait a moment to press [STAND UP BUTTON] to let robot lose power-2 roll_estimation = %3.3f gyro_data_.roll= %3.3f, pitch_estimation = %3.3f gyro_data_.pitch = %3.3f !!!",roll_estimation/kDegree2Radian,gyro_data_.roll/kDegree2Radian,pitch_estimation/kDegree2Radian,gyro_data_.pitch/kDegree2Radian); |
机器狗失控，一般是狗摔倒了，这个报文会打印失控前的imu角度 |
| 192 |
warn |
("Robot is lose control, Switch to position control mode, wait a moment to press [STAND UP BUTTON] to let robot lose power-3!!!"); |
机器狗失控，一般是狗摔倒了 |
| 193 |
warn |
("Robot is lose control, Switch to position control mode, wait a moment to press [STAND UP BUTTON] to let robot lose power-4!!!"); |
机器狗失控，一般是狗摔倒了 |
| 194 |
warn |
("Robot recovering posture failed!!!"); |
翻身起立失败 |
| 195 |
warn |
("The robot has several feet hanging in the air. robot_state_upload.foot_contact_feedback_info = %d fl = %3.3f fr = %3.3f hl = %3.3f hr = %3.3f", |
位姿控制过程中足底悬空，输出这个报文之后一般会恢复位姿变成水平站立 |
| 196 |
warn |
("stand lose control..."); |
站立时足底悬空，会输出此报警信息，不执行任何操作 |
| 197 |
warn |
("Roll est or pitch est reach the limit. Pose Control is not allowed. roll est= %3.3f pitch est = %3.3f",conditoin_1,conditoin_2); |
位姿控制时地形估计机器狗站立时身体偏移角度过大，不执行位姿控制指令 |
| 198 |
warn |
("The robot has several feet hanging in the air. Pose control is not allowed. Pose recovery = %d",robot_state_upload.pose_recovery_finished); |
足底悬空，禁止位姿控制 |
| 199 |
warn |
("grid_map_points_long.len < 0 grid_map_points_long.len >=1024 = %d",grid_map_points_long.len ); |
地形图发送的数据长度异常，会丢掉这一帧数据，使用默认值 |
| 200 |
warn |
("block_points.size() : %d ", block_points.size()); |
地形图发过来的地形尺寸大小异常，使用默认值 |
| 201 |
warn |
("1 block_points.size() = %d , platform_num= %d , grid_map_points_long.len= %d",block_points.size(),platform_num,grid_map_points_long.len); |
地形图发过来的地形尺寸大小异常，使用默认值 |
| 202 |
warn |
("2 block_points.size() = %d , platform_num= %d , grid_map_points_long.len= %d",block_points.size(),platform_num,grid_map_points_long.len); |
地形图发过来的地形尺寸大小异常，使用默认值 |
| 203 |
warn |
("3 block_points.size() = %d , platform_num= %d , grid_map_points_long.len= %d",block_points.size(),platform_num,grid_map_points_long.len); |
地形图发过来的地形尺寸大小异常，使用默认值 |
| 204 |
warn |
("%d leg out of range!", i); |
可踩区域在足底活动范围之外，发出警告 |
| 205 |
warn |
("block num : %d, l = %f", block_center.size(), sqrt(l)); |
可踩区域在足底活动范围之外，并打印相关数据 |
| 206 |
warn |
("height error!"); |
感知楼梯内部高度计算错误，使用默认值 |
| 207 |
warn |
("points.len < 0 points.len >=1024 = %d",points.len ); |
地形图数据异常，并打印异常数据。数据全部重置 |
| 208 |
warn |
("1 %d points.points[i][0]= %3.3f , points.points[i][1]=%3.3f , points.points[i][2]=%3.3f",i, |
地形图数据异常，并打印异常数据。数据全部重置 |
| 209 |
warn |
("points memset1"); |
地形图数据异常，并打印异常数据。数据全部重置 |
| 210 |
warn |
("2 %d points.points[i][0]= %3.3f , points.points[i][1]=%3.3f , points.points[i][2]=%3.3f",i, |
地形图数据异常，并打印异常数据。数据全部重置 |
| 211 |
warn |
("points memset2"); |
地形图数据异常，并打印异常数据。数据全部重置 |
| 212 |
warn |
("value is abnormal. points_raw(i, j) = %3.3f ", points_raw(i, j)); |
地形图数据异常，使用默认值 |
| 213 |
warn |
("n_vel_x.norm : %+.3f , l01.norm : %+.3f , l12.norm(): %+.3f ", |
地形图数据异常，使用默认值 |
| 214 |
info |
("Standing up, please wait..."); |
正在起立中 |
| 215 |
info |
("Stand up action has finished, waitting to switch to force control mode!"); |
起立完成，等待切换到力控模式指令 |
| 216 |
info |
("Switching to force control mode, please wait...[kStandUpMotion]"); |
切换力控中 |
| 217 |
info |
("Standing down, please wait..."); |
趴下中 |
| 218 |
info |
("switch to locomotion ..."); |
开始运动 |
| 219 |
info |
("position control start ..."); |
位移控制开始 |
| 220 |
info |
("Switch to force control has finished, waitting to start or stand down!"); |
切换力控完成，等待开始运动或趴下指令 |
| 221 |
info |
("Stand down action has finished, waitting to stand up again!!!"); |
趴下完成，等待起立指令 |
| 222 |
info |
("Robot is lose power, wait a moment to press [STAND UP BUTTON] to recover the posture!!!"); |
失控之后，点击卸力按钮会报 |
| 223 |
info |
("Robot is waitting to stand up!!!"); |
机器人等待站立中 |
| 224 |
info |
("Robot can't stand up, please turn it over!!!"); |
机器人无法站立，请把机器人摆正 |
| 225 |
info |
("Robot is recovering posture..."); |
机器人正在翻身 |
| 226 |
info |
("Robot recovering posture succeed, waitting to stand up!!!"); |
翻身成功，等待站立 |
| 227 |
info |
("Auto Charge Location Start..."); |
自主充电开始运动 |
| 228 |
info |
("pitch_input: %.2f, yaw_input: %.2f", pitch_input / kDegree2Radian, yaw_input / kDegree2Radian); |
正在执行位姿控制，打印角度输入值 |
| 229 |
info |
("adjust_cnt: %d", start_count); |
位姿控制过程循环计数 |
| 230 |
info |
("CMD p=%3.3f y=%3.3f imu: p=%3.3f y=%3.3f calc: p=%3.3f y=%3.3f",pitch_input_111/kDegree2Radian,yaw_input_111/kDegree2Radian,current_pitch_angle/kDegree2Radian,current_yaw_angle/kDegree2Radian,pitch_input/kDegree2Radian,yaw_input/kDegree2Radian); |
位姿控制角度输入与实际imu差值大于0.5°，打印相关信息 |
| 231 |
info |
("IMU r=%3.3f,p=%3.3f,y=%3.3f",gyro_data_.roll/kDegree2Radian,gyro_data_.pitch/kDegree2Radian,gyro_data_.yaw/kDegree2Radian); |
位姿控制角度输入与实际imu差值大于0.5°，打印相关信息 |
| 232 |
info |
("Auto Charge Pose Control"); |
自主充电位姿控制中 |
| 233 |
info |
("Vision gait %d is executing",control_commands_.gait_motion); |
接收到感知楼梯6楼梯步态（实心地面/镂空地面/无踢面楼梯模式）后，执行时会打印 |
| 234 |
info |
("Vision gait %d (%s) is executing",control_commands_.gait_motion,"fast"); |
接收到感知楼梯7楼梯步态（累积帧模式）后，执行时会打印 |
| 235 |
info |
("Vision gait %d (%s) is executing",control_commands_.gait_motion,"slow"); |
接收到感知楼梯8楼梯步态（累积帧模式）后，执行时会打印 |
| 236 |
info |
("JY is Moving... (VTROT)"); |
感知楼梯步态下开始运动 |
| 237 |
info |
("roll_bias: %+.3f, pitch_bias: %+.3f, hipy_bias: %+3.f, %+3.f, %+3.f, %+3.f", |
行走过程中如果摔倒，会打印imu相关信息 |
| 238 |
info |
("%s gait is executing","Trot"); |
接受到行走步态指令 |
| 239 |
info |
("%s gait is executing","Stair(blind)"); |
越障步态 |
| 240 |
info |
("%s gait is executing","Slope"); |
斜坡步态 |
| 241 |
info |
("%s gait is executing","Trotrun"); |
跑步步态 |
| 242 |
info |
("ready to switch state..."); |
准备切换状态中，一般停止运动时会报 |
| 243 |
info |
("ready to stand..."); |
准备站立 |
| 244 |
info |
("convert to stand ..."); |
切换到站立 |
| 245 |
info |
("init low body height ~~~"); |
降低身体高度，一般是运动过程中，收到匍匐指令会打印 |
| 246 |
info |
("JY is Moving... (TVMPC)"); |
开始运动 |
| 247 |
info |
("%s gait is executing","Unknown"); |
收到未知步态，执行默认步态（行走） |
| 248 |
info |
("max_vel: %.2f, goal_vel: %.2f, command_vel: %.2f", max_vel_x, global_.goal_vel_x, control_commands_.user_forward_vel); |
当前速度打印 |
| 249 |
info |
("new target pos: %.2f %.2f %.2f", target_pos_x_record_, target_pos_y_record_, target_theta_record_); |
位移控制收到的目标点打印 |
| 250 |
info |
("Position Follow Start ..."); |
开始位移控制 |
| 251 |
info |
("yaw follow finish ..."); |
位移控制yaw调整完成 |
| 252 |
info |
("side follow finish ..."); |
位移控制y方向调整完成 |
| 253 |
info |
("forward follow finish ..."); |
位移控制x方向调整完成 |
| 254 |
info |
("quit pos control ..."); |
放弃位移控制 |
| 255 |
fatal |
("[Working State Judge] driver enable: %d, wifi connect: %d,gyro connect: %d, gyro nonzero: %d, heat data connect: %d, motor heat normal: %d, driver heat normal: %d, is battery level normal:%d", |
"传感器状态异常，0：异常 1：正常 |
| driver enable: 驱动器使能异常, |
|
|
|
| wifi connect:与手柄WiFi断开, |
|
|
|
| gyro connect: 陀螺仪链接断开, |
|
|
|
| gyro nonzero: 陀螺仪不更新, |
|
|
|
| heat data connect: , |
|
|
|
| motor heat normal: 电机过热, |
|
|
|
| driver heat normal: 驱动器过热, |
|
|
|
| is battery level normal:电池电量过低," |
|
|
|
| 256 |
fatal |
("Const parameters initial failed! Please shut down the program!"); |
运动数据初始化失败 |
| 257 |
fatal |
("value is abnormal,print value. block_points[i](i, j) = %3.3f ,i=%d, tt= %d , j= %d block_points.size()=%d, platform_num= %d, grid_map_points_long.len =%d ", block_points[i](tt, j),i,tt,j,block_points.size(),platform_num,grid_map_points_long.len); |
地形图数据异常，打印异常数据 |
| 258 |
fatal |
("i>=loop_num i=%d, loop_num= %d",i,loop_num); |
地形图数据异常，打印异常数据 |
| 259 |
fatal |
("1 i<0, i=%d, block_points.size() = %d, platform_num =%d",i,block_points.size(),platform_num); |
地形图数据异常，打印异常数据 |
| 260 |
fatal |
("1 i>=block_points.size(), i=%d, block_points.size() = %d, platform_num =%d",i,block_points.size(),platform_num); |
地形图数据异常，打印异常数据 |
| 261 |
fatal |
("loop_num>=block_points_size_num, loop_num=%d, block_points_size_num= %d ",loop_num,block_points_size_num); |
地形图数据异常，打印异常数据 |
| 262 |
fatal |
("2 i<0, i=%d, block_points.size() = %d, platform_num =%d",i,block_points.size(),platform_num); |
地形图数据异常，打印异常数据 |
| 263 |
fatal |
("2 i>=block_points.size(), i=%d, block_points.size() = %d, platform_num =%d",i,block_points.size(),platform_num); |
地形图数据异常，打印异常数据 |
| 264 |
error |
("bias >0.5deg: p_err =%3.3f, y_err=%3.3f, p_cmd =%3.3f, imup=%3.3f, y_cmd =%3.3f, imuy=%3.3f, p=%3.3f, y=%3.3f", |
地形图数据异常，打印异常数据 |
| 265 |
error |
("global_.mpcTable is NULL1"); |
运动算法异常，找研发 |
| 266 |
error |
("global_.mpcTable is NULL2"); |
运动算法异常，找研发 |
| 267 |
error |
("actual_robot_state_->is_robot_lose_control delta_r=%3.3f,delta_p=%3.3f fl_->angle_[1]=%3.3f fr_->angle_[1]=%3.3f hl_->angle_[1]=%3.3f hr_->angle_[1]=%3.3f ", |
机器狗失控，一般是狗摔倒了 |
| 268 |
error |
("global_.mpcTable is NULL3"); |
运动算法异常，找研发 |
| 269 |
notice |
("The robot sit down failed . Soft emergency"); |
机器狗趴下失败，触发软急停指令 |
| 270 |
notice |
("The emergency stop button has been released. Source is %s code is 0x%x ",controller_->command_source_array_[code >> 28].c_str(),code ); |
背部软急停按钮被松开 |
| 271 |
notice |
("The emergency stop button has been released. GPIO Edge detected %s value %c", edgeType.c_str(), buffer[0]); |
背部软急停按钮被松开 |
| 272 |
notice |
("The drive has been successfully enabled, commands are being received again, everything is OK. Source is %s %x ",controller_->command_source_array_[code >> 28].c_str(),code >> 28); |
驱动器重新使能成功，重新开始接受指令 |
| 273 |
notice |
("IMU data update again! "); |
imu数据再次更新（超市之后，下一次更新会打印） |
| 274 |
notice |
("Battery level is recovery %d",t_battery_level); |
电量百分比恢复3%以上（一般是电量过低后，重新充电使电池电量超过3%会报） |
|
|
|
|