Basic Service Interfaces

Function	C++	ROS	C#	Python
Get battery information	✔	✔	✔	✔
Get charging information	✔	✔	✔	✔
Get motion control software version	✔		✔	✔
Get the name of the currently controlled robot	✔		✔	✔
Enter/Exit charging mode	✔		✔	✔
Get gas sensor data			✔	✔

Enter or Exit Charging Mode (Charging Dock)

C++ Interface

bool enterOrExitCharge(bool enter)

Function Description
Control the robot to enter charging mode (docking) or exit charging mode (undocking).

Parameter Description

Parameter Name	Type	Required/Default	Description
enter	bool	Required	true to enter charging mode, false to exit charging mode.

Return Value

Type	Description
bool	Whether the operation was successful.

Call Example

Lenovo::Daystar::SDK sdk;
auto &sport = sdk.getSport();
sport.enterOrExitCharge(enter);

C# Interface

void SetChargingState(bool charge)

Function Description
Control the robot to enter charging mode (docking) or exit charging mode (undocking).

Parameter Description

Parameter Name	Type	Required/Default	Description
charge	bool	Required	true to enter charging mode, false to exit charging mode.

Return Value

Type	Description
void	No return value.

Python Interface

bool enter_charge(source=2)

Function Description
Control the robot to enter charging mode (docking).

Parameter Description

Parameter Name	Type	Required/Default	Description
source	int	2	Control mode (1: Navigation Control Mode, 2: Joystick Control Mode).

Return Value

Type	Description
bool	Whether the command was sent successfully (indicates only if the instruction call returned successfully).

Call Example

from daystar_sdk import RobotClient

with RobotClient() as client:
#    # Start entering charging mode
    success = client.enter_charge()
    if success:
        print("Command to enter charge sent successfully")

bool exit_charge(source=2)

Function Description
Control the robot to exit charging mode (undocking).

Parameter Description

Parameter Name	Type	Required/Default	Description
source	int	2	Control mode (1: Navigation Control Mode, 2: Joystick Control Mode).

Return Value

Type	Description
bool	Whether the command was sent successfully (indicates only if the instruction call returned successfully).

Call Example

from daystar_sdk import RobotClient

with RobotClient() as client:
#    # Exit charging
    success = client.exit_charge()
    if success:
        print("Command to exit charge sent successfully")

Get Battery and Charging Information

C++ Interface

Subscription Retrieval

void setStatusCallback(RPSStatusCallback callback)

Function Description
Set RPS status callback (merged callback interface).

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	RPSStatusCallback	Required	RPS status callback function, receiving the complete status structure containing charging status, battery level, and emergency stop status.

Return Value

Type	Description
void	No return value.

Call Example

// RPS status callback function
void onRPSStatusChanged(const RPSStatusInfo &status)
{
    std::cout << "\n===== RPS Status Update =====" << std::endl;
    std::cout << "Charging Status: " << (status.isCharging ? "Charging" : "Not Charging") << std::endl;
    std::cout << "Battery Level: " << status.batteryLevel << "%" << std::endl;
    std::cout << "E-Stop Status: " << (status.isEstopActive ? "Active" : "Inactive") << std::endl;
    std::cout << "========================" << std::endl;
}

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &rps = sdk.getRPS();
rps.setStatusCallback(onRPSStatusChanged);

Manual Retrieval

std::pair<bool, int> getRPSStatus()

Function Description
Get RPS status (charging status and battery level).

Parameter Description
None.

Return Value

Type	Description
std::pair<bool, int>	Returns a pair containing charging status and battery level. Bool indicates if charging, int indicates battery level percentage.

Call Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &rps = sdk.getRPS();
auto status = rps.getRPSStatus();
std::cout << "Manually retrieve RPS Status: "
        << "Charging=" << (status.first ? "YES" : "NO")
        << ", Battery Level=" << status.second << "%"
        << std::endl;

Notes

• com_state must point to a valid common::ROBOT_COMMON_STATUS structure.

ROS2 Interface

Battery Information

This interface is used to publish the robot's battery level information.

Topic Name	Topic Type	Role
/battery_state	sensor_msgs::msg::BatteryState	Publisher

Message Structure

sensor_msgs::msg::BatteryState message type contains the following fields:

Field Name	Type	Description
header	Header	Standard message header
percentage	float32	Current battery level percentage

Example Message

sensor_msgs::msg::BatteryState battery_state_msg;
battery_state_msg.header.stamp = rclcpp::Time();
battery_state_msg.percentage = 75.0; // 75% battery level

Testing Method

Use the following command to view messages on the /battery_state topic:

ros2 topic echo /battery_state

Charging Status

This interface is used to publish whether the robot is charging.

Topic Name	Topic Type	Role
/charge_state	std_msgs::msg::Bool	Publisher

Message Structure

std_msgs::msg::Bool message type contains the following fields:

Field Name	Type	Description
data	bool	Indicates the robot's current mode. true: Charging false: Not charging

Example Message

std_msgs::msg::Int32 msg;
msg.data = true;

Testing Method

ros2 topic echo /dock_mode

C# Interface

Manual Retrieval

Task<bool> GetChargingStatus()

Function Description
Asynchronously get robot charging status.

Parameter Description

Parameter Name	Type	Required/Default	Description
None	-	-	No parameters

Return Value

Type	Description
Task<bool>	true indicates charging, false indicates not charging.

Call Example

bool isCharging = await robot.GetChargingStatus();
Console.WriteLine($"Is Charging: {isCharging}");

Subscription Retrieval

void SubscribeBasicSystemState(IBasicSystemStateListener basicSystemStateListener)

Function Description
Subscribe to battery and charging information.

Parameter Description

Parameter Name	Type	Required/Default	Description
basicSystemStateListener	IBasicSystemStateListener	Required	Basic system state listener.

Return Value

Type	Description
void	No return value.

Call Example

private RobotSDKManager _robotSDKManager;
private RobotStateListener _robotSystemState;

public class RobotSDKSample : MonoBehaviour, IConnectionStateListener, IBasicSystemStateListener
{
    void Start(){
        _robotSDKManager = RobotSDKManager.Instance;
        _robotSDKManager?.InitialRobot(RobotType.IS, "", "", this);
        _robotSystemState = _robotSDKManager.CreateRobotBasicSystemState();
        _robotSystemState?.SubscribeBasicSystemState(this);
    }

    public void onConnected()
    {
        Debug.Log("robot connect success!");
    }

    public void onFailed()
    {
        Debug.Log("robot connect failed!");
    }

    public void onDisConnect()
    {
        Debug.Log("robot disconnect!");
    }

    public void OnBatteryInfoCallback(bool isCharging, int batteryLevel)
    {
        
    }
    
    void onDestroy(){
        _robotSystemState?.UnSubscribeMotionState();
    }
}

Python Interface

tuple rps_get_battery_level()

Function Description
Get battery level.

Parameter Description

Parameter Name	Type	Required/Default	Description
None	-	-	No parameters

Return Value

Type	Description
tuple	Returns (success, battery_level, message). success is boolean, battery_level is integer (0-100), message is string information.

Call Example

success, level, msg = client.rps_get_battery_level()
if success:
    print(f"Battery Level: {level}%")

tuple rps_get_charging_status()

Function Description
Get charging status.

Parameter Description

Parameter Name	Type	Required/Default	Description
None	-	-	No parameters

Return Value

Type	Description
tuple	Returns (success, is_charging, message). success is boolean, is_charging is boolean, message is string information.

Call Example

success, is_charging, msg = client.rps_get_charging_status()
if success:
    print(f"Is Charging: {is_charging}")

Get Motion Control Software Version

C++ Interface

std::string getMcVersion(int mcIndex = 0)

Function Description
Get MC version.

Parameter Description

Parameter Name	Type	Required/Default	Description
mcIndex	int	0	MC Index.

Return Value

Type	Description
std::string	MC version string, returns empty string if acquisition fails.

Call Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
int mc_index = 0;
std::string mc_version = sport.getMcVersion(mc_index);
std::cout << "Motion Controller Version: " << mc_version << std::endl;

C# Interface

Task<string> GetRobotSystemVersion(ServiceType serviceType)

Function Description
Get robot system version.

Parameter Description

Parameter Name	Type	Required/Default	Description
serviceType	ServiceType	Required	Robot host type. ServiceType.Motion: Motion control host, ServiceType.Perception: Perception host.

Return Value

Type	Description
Task<string>	Robot system version.

Call Example

private async Task getSystemVerion()
{
    _robotSDKManager = RobotSDKManager.Instance;
    _robotSDKManager?.InitialRobot(RobotType.IS, "", "", this);
    _robotSportClient = _robotSDKManager.CreateRobotSportClient();
    string systemAVersionInfo = await _robotSportClient?.GetRobotSystemVersion(ServiceType.Motion);
    string systemBVersionInfo = await _robotSportClient?.GetRobotSystemVersion(ServiceType.Perception);
}

getSystemVerion();

Python Interface

tuple get_mc_version(mc_index=0)

Function Description
Get MC version information.

Parameter Description

Parameter Name	Type	Required/Default	Description
mc_index	int	0	MC Index.

Return Value

Type	Description
tuple	Returns (success, version). success is boolean, version is the version number string.

Call Example

success, version = client.get_mc_version()
if success:
    print(f"MC Version: {version}")

Get Robot Name

C++ Interface

RobotNameReply GetRobotName(const McIndexRequest &request)

Function Description
Get robot name.

Parameter Description

Parameter Name	Type	Required/Default	Description
request	McIndexRequest	Required	Request object containing MC index.

Return Value

Type	Description
RobotNameReply	Response object containing the robot name.

Call Example

McsClient mcs_client(channel);
McIndexRequest request;
request.set_index(0);
RobotNameReply reply = mcs_client.GetRobotName(request);
std::cout << "Robot Name: " << reply.name() << std::endl;

C# Interface

Task<string> GetRobotName()

Function Description
Asynchronously get robot name.

Parameter Description

Parameter Name	Type	Required/Default	Description
None	-	-	No parameters

Return Value

Type	Description
Task<string>	Robot name string.

Call Example

string name = await robot.GetRobotName();
Console.WriteLine($"Robot Name: {name}");

Python Interface

tuple get_robot_name(mc_index=0)

Function Description
Get robot name.

Parameter Description

Parameter Name	Type	Required/Default	Description
mc_index	int	0	MC Index.

Return Value

Type	Description
tuple	Returns (success, name). success is boolean, name is the robot name string.

Call Example

success, name = client.get_robot_name()
if success:
    print(f"Robot Name: {name}")

from daystar_sdk import RobotClient

with RobotClient() as client:
#    # Exit charging dock
    success = client.exit_charge()
    if success:
        print("Command to exit charge sent successfully")

Get Gas Sensor Data

C# Interface

void RegisterEnvironmentSensorListener(IEnvironmentSensorListener listener)

Function Description
Register environment sensor data listener.

Parameter Description

Parameter Name	Type	Required/Default	Description
listener	IEnvironmentSensorListener	Required	Environment sensor data listener interface.

Return Value

Type	Description
void	No return value.

Callback Data Structure (EnvironmentSensorData)

Field Name	Type	Description
type	uint	Sensor type (see Sensor Type Description Table)
value	string	Sensor value
unit	string	Value unit
timestamp	ServiceTimestamp	Timestamp (contains sec and nanosec)

void UnregisterEnvironmentSensorListener(IEnvironmentSensorListener listener)

Function Description
Unregister environment sensor data listener.

Parameter Description

Parameter Name	Type	Required/Default	Description
listener	IEnvironmentSensorListener	Required	Environment sensor data listener interface.

Return Value

Type	Description
void	No return value.

Call Example

public class PerceptionSDKSample : MonoBehaviour, IEnvironmentSensorListener
{
    private RobotSensorClient _robotSensorClient;

    void Start()
    {
        _robotSensorClient = RobotSDKManager.Instance.CreateRobotSensorClient();
        if (_robotSensorClient != null)
        {
            _robotSensorClient.RegisterEnvironmentSensorListener(this);
        }
    }

    public void OnEnvironmentSensorData(EnvironmentSensorData data)
    {
        string sensorTypeName = ((EnvironmentSensorType)data.type).ToString();
        Debug.Log($"[EnvSensor] Type={sensorTypeName}, Value={data.value} {data.unit}");
    }

    void OnDestroy()
    {
        if (_robotSensorClient != null)
        {
            _robotSensorClient.UnregisterEnvironmentSensorListener(this);
        }
    }
}

Python Interface

async register_module_data(topic, topic_type, callback)

Function Description
Register module data listener, used to get environmental sensor data.

Parameter Description

Parameter Name	Type	Required/Default	Description
topic	str	Required	Subscription topic, fixed as "/sensor/environment_sensor_data"
topic_type	str	Required	Topic type, fixed as "rms_msgs/msg/EnvironmentSensorData"
callback	function	Required	Data callback function, receives msg_data (dict) parameter

Return Value

Type	Description
bool	Whether registration was successful

Callback Data Description
The msg_data dictionary received by the callback function includes the following fields:

Field Name	Type	Description
type	int	Sensor type (see table below)
value	str	Sensor value
unit	str	Value unit
timestamp	dict	Timestamp information

async unregister_module_data(topic)

Function Description
Unregister module data listener.

Parameter Description

Parameter Name	Type	Required/Default	Description
topic	str	Required	Subscription topic, fixed as "/sensor/environment_sensor_data"

Return Value

Type	Description
bool	Whether deregistration was successful

Call Example

## Gas sensor data callback function
def on_environment_sensor_data(msg_data):
    if isinstance(msg_data, dict):
        sensor_type = msg_data.get('type', 0)
        value = msg_data.get('value', '')
        unit = msg_data.get('unit', '')
        print(f"Type: {sensor_type}, Value: {value}{unit}")

## Subscribe to gas sensor data
await client.register_module_data(
    topic="/sensor/environment_sensor_data",
    topic_type="rms_msgs/msg/EnvironmentSensorData",
    callback=on_environment_sensor_data
)

## ... Unsubscribe when not needed
await client.unregister_module_data(topic="/sensor/environment_sensor_data")

Sensor Type Description (SENSOR_TYPES)

Value	Description	Value	Description
1	Ambient Temperature	9	Sound Detection
2	Ambient Humidity	10	Smoke Detection
3	Wind Speed	11	Hydrogen
4	Rainfall	12	Hydrogen Sulfide
5	Wind Direction	13	Carbon Monoxide
6	Air Pressure	14	Methane
7	Oxygen	15	Propane
8	SF6	16	VOC