Motion Status Service Interface

Interface Name	Function Overview	C++	Python	ROS	C#
Get Motion Status Info	Error Information	✔	✔		✔
	Communication Status	✔	✔	✔	✔
	Current Scene	✔	✔	✔	✔
	Scene Switching Status	✔	✔		✔
	Driver State	✔	✔		✔
	Control Mode	✔	✔	✔	✔
	Avoidance Status	✔	✔		✔
	Current Speed	✔	✔		✔
	Current Height	✔	✔		✔
	Current Posture	✔	✔	✔	✔
	UWB Status	✔	✔		✔
	E-Stop Status	✔	✔		✔

C++ Interface

Get Motion Status Information

void setStatusCallback(MCSStatusCallback callback)

Function Description
Set MCS status callback (merged callback interface). This callback function is called when the MCS system status changes, containing complete robot status information.

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	MCSStatusCallback	Required	MCS status callback function. Receives a complete status structure containing all MCS system statuses.

Callback Type Description

/**
* @brief MCS system status structure, containing all MCS-related status
*/
struct MCSStatusInfo
{
    std::string errorMessage;                              ///< Error message
    int64_t heartBeat;                                     ///< Heartbeat value
    SceneType scene;                                       ///< Current scene
    SceneSwitchStateType switchState;                      ///< Scene switching status
    DriverEnableState driverState;                         ///< Enable status
    ControllerMode controllerMode;                         ///< Control mode
    bool guardianSwitchActive;                             ///< Stop-guard switch status
    GuardianVelocityDecayRatio guardianVelocityDecayRatio; ///< Obstacle detection in all directions
    MCSMotionInfo motion;                                  ///< Motion parameters

    /**
    * @brief Default constructor
    */
    MCSStatusInfo()
        : errorMessage(""),
        heartBeat(0),
        scene(SceneType::NULL_SCENE),
        switchState(SceneSwitchStateType::NULL_SCENE),
        driverState(DriverEnableState::DISABLED),
        controllerMode(ControllerMode::NALL_CONTROL),
        guardianSwitchActive(false),
        guardianVelocityDecayRatio({0.0f, 0.0f, 0.0f, 0.0f}),
        motion() {}
};

MCSStatusInfo Structure Description

Field Name	Type	Description
errorMessage	std::string	System error description.
heartBeat	int64_t	Heartbeat count, used to detect communication status.
scene	SceneType	Current motion scene mode.
switchState	SceneSwitchStateType	Scene switching progress.
driverState	DriverEnableState	Driver enable status.
controllerMode	ControllerMode	Current control mode (navigation/joystick).
guardianSwitchActive	bool	Safety stop-guard function status (True: Activated, False: Off).
guardianVelocityDecayRatio	GuardianVelocityDecayRatio	Velocity decay coefficients in all directions (Obstacle detection).
motion	MCSMotionInfo	Current speed and height information.

SceneSwitchStateType Enum

Value	Description
NULL_SCENE	Unknown state (0).
SWITCHING	Switching state (1).
SUCCEEDED	Switch succeeded (2).
FAILED	Error state (3).

DriverEnableState Enum

Value	Description
UNKNOWN	Unknown state (0).
ENABLED	Enabled (1).
ENABLING	Enabling (2).
ENABLE_FILED	Enable failed (3).
DISABLED	Disabled (4).

GuardianVelocityDecayRatio Structure

Field Name	Type	Description
left_ratio	float	Left direction obstacle detection status (< 0: Obstacle, ≥ 0: No obstacle).
front_ratio	float	Front direction obstacle detection status (< 0: Obstacle, ≥ 0: No obstacle).
right_ratio	float	Right direction obstacle detection status (< 0: Obstacle, ≥ 0: No obstacle).
rear_ratio	float	Rear direction obstacle detection status (< 0: Obstacle, ≥ 0: No obstacle).

Return Value

Type	Description
void	None.

Usage Example

// MCS system status callback function
void onMCSStatusChanged(const MCSStatusInfo &status)
{
    std::cout << "\n===== MCS SYSTEM STATUS UPDATE =====" << std::endl;
    std::cout << "Error message: " << (status.errorMessage.empty() ? "None" : status.errorMessage) << std::endl;
    std::cout << "Heartbeat: " << status.heartBeat << std::endl;
    std::cout << "Current scene: " << sceneTypeToString(status.scene) << std::endl;
    std::cout << "Enable status: " << driverEnableStateToString(status.driverState) << std::endl;
    std::cout << "Stop-guard switch: " << (status.guardianSwitchActive ? "Activated" : "Off") << std::endl;
    std::cout << "Motion speed: " << (status.motion.speed * 100) << "%" << std::endl;
    std::cout << "Body height: " << (status.motion.height * 100) << "%" << 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 &sport = sdk.getSport();
sport.setStatusCallback(onMCSStatusChanged);

Notes

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

void setMotionCallback(MCSMotionCallback callback)

Function Description
Set MCS motion parameter callback (merged callback interface).

Parameter Description

Parameter Name	Type	Required/Default	Description
callback	MCSMotionCallback	Required	MCS motion parameter callback function. Receives a motion parameter structure containing speed and height.

Callback Type Description

/**
* @brief MCS motion status information structure, containing motion-related parameters
*/
struct MCSMotionInfo
{
    float speed;  ///< Current speed percentage (0.0-1.0)
    float height; ///< Current height percentage (0.0-1.0)

    /**
    * @brief Default constructor
    */
    MCSMotionInfo() : speed(0.0f), height(0.0f) {}

    /**
    * @brief Constructor with parameters
    */
    MCSMotionInfo(float spd, float hgt) : speed(spd), height(hgt) {}
};

MCSMotionInfo Structure Description

Field Name	Type	Description
speed	float	Current speed percentage (0.0-1.0).
height	float	Current height percentage (0.0-1.0).

Return Value

Type	Description
void	None.

Usage Example

// MCS motion parameter callback function
void onMCSMotionChanged(const MCSMotionInfo &motion)
{
    std::cout << "\n--- Motion Parameter Update ---" << std::endl;
    std::cout << "Speed: " << (motion.speed * 100) << "%" << std::endl;
    std::cout << "Height: " << (motion.height * 100) << "%" << std::endl;
    std::cout << "------------------" << std::endl;
}

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();
sport.setMotionCallback(onMCSMotionChanged);

Python Interface

Get Motion Status Information

tuple get_common_status()

Function Description
Get robot general status information.

Parameter Description

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

Return Value

Type	Description
tuple	Returns (success, common_status). success is boolean, common_status is an object containing status fields.

common_status Object Description

Field Name	Type	Description
network	int	Robot current network status (0-100).
belie_or_stand	int	Current posture (0:Unknown, 1:Lie down, 2:Switching, 3:Stand up).
emergency	bool	Whether in emergency stop state.
avoidance	bool	Automatic obstacle avoidance status.
heartbeat	int64	Heartbeat count.
cur_speed	float	Current speed.
cur_height	float	Current height.
max_speed	float	Maximum speed.
max_height	float	Maximum height.
cur_scene_switch_state	int	Scene switching status (0:None, 1:Switching, 2:Success, 3:Failed).
cur_scene	int	Current scene (0:None, 2:Walking Gait, 3:Stair Gait, 9:RL Gait, 10:Slope Gait, ...).
driver_enable_state	int	Driver enable status (0:Unknown, 1:Enabled, 2:Enabling, 3:Failed, 4:Disabled).
error_code	int	Error code.
charge_status	object	Charging status object.
joy_mode	int	Control mode (0:None, 1:Navigation, 2:Joystick, 3:UWB).
guardian_switch	bool	Stop-guard switch status.
guardian_velocity_decay_ratio	object	Obstacle detection velocity decay ratio.
uwb_state	bool	UWB status.

Usage Example

from daystar_sdk.client import RobotClient
# Initialize client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Get robot general status
    success, common_status = client.get_common_status()
    if success:
        print(f"Network Status: {common_status.network}%")
        print(f"Robot Posture: {common_status.belie_or_stand}")
        print(f"E-Stop Status: {common_status.emergency}")
        print(f"Avoidance Status: {common_status.avoidance}")
        print(f"Current Speed: {common_status.cur_speed}")
        print(f"Current Height: {common_status.cur_height}")
        print(f"Driver Status: {common_status.driver_enable_state}")
        print(f"Current Scene: {common_status.cur_scene}")
        print(f"Control Mode: {common_status.joy_mode}")

ROS2 Interface

Get Motion Status Information

Basic Status Information

This interface is used to publish the robot's basic status information.

Topic Name	Topic Type	Role
/robot_state	std_msgs::msg::UInt32	Publisher

Message Structure

std_msgs::msg::UInt32 message type contains the following fields:

Field Name	Type	Description
data	uint32	Robot state code.

State Codes

Value	Description
0	Lie down
1	Standing up
2	Stand up
7	Null

Example Message

std_msgs::msg::UInt32 state_msg;
state_msg.data = 2; // standup

Test Method

ros2 topic echo /robot_state

Current Control Mode

This interface is used to publish the robot's current control mode.

Topic Name	Topic Type	Role
/control_mode	std_msgs::msg::UInt8	Publisher

Message Structure

std_msgs::msg::UInt8 message type contains the following fields:

Field Name	Type	Description
data	uint8	Robot control mode code.

Control Mode Codes

Value	Description
0	Remote Control (Manual)
1	Auto (Navigation)

Example Message

std_msgs::msg::UInt8 control_mode_msg;
control_mode_msg.data = 1; // Auto (Navigation)

Test Method

ros2 topic echo /control_mode

Current Gait

This interface is used to publish the robot's current gait.

Topic Name	Topic Type	Role
/gait	std_msgs::msg::UInt8	Publisher

Message Structure

std_msgs::msg::UInt8 message type contains the following fields:

Field Name	Type	Description
data	uint8	Robot current gait code.

Gait Codes

Value	Description
0	Normal Gait
1	Stairs Gait
2	Slope Gait

Example Message

std_msgs::msg::UInt8 gait_msg;
gait_msg.data = 2; // Slope Gait

Test Method

ros2 topic echo /gait

C# Interface

Get Motion Status Information

void SubscribeMotionState(IMotionStateListener motionStateListener)

Function Description
Subscribe to motion status information.

Parameter Description

Parameter Name	Type	Required/Default	Description
motionStateListener	IMotionStateListener	Required	The listener interface for motion status updates.

Callback Interface Description

interface IMotionStateListener
{
    /**
    * @brief Callback for normal motion information
    *
    * @see MotionState Status information class
    */
    void onMotionStateCallback(MotionState motionState);

    /**
    * @brief Callback for abnormal error information
    */
    void onMotionErrorCallback(string errorCode, string subErrorCode, int jointIndex);
}

onMotionStateCallback Parameters

Parameter Name	Type	Required/Default	Description
motionState	MotionState	Required	Object containing motion status information.

MotionState Fields Description

Field	Description
RobotEnableState	Driver status.
CurSpeed	Current speed.
CurHeight	Current height.
CurScene	Current scene.
MaxSpeed	Maximum speed.
MaxHeight	Maximum height.
IsEmergency	Emergency stop status.
ControlType	Control type.
AvoidObstacle	Obstacle avoidance status.
UWBState	UWB status.
BionicActionState	Demo action status.
SceneSwitchState	Scene switching status.
ObstacleDirection	Obstacle direction (float[4]: left, front, right, back; value < 0 means obstacle present).
EStopState	E-Stop status.

onMotionErrorCallback Parameters

Parameter Name	Type	Required/Default	Description
errorCode	string	Required	Main error code. Refer to "SDK Overview" Faults section.
subErrorCode	string	Required	Sub-error code. Can be ignored if 0xFFFFFFFF.
jointIndex	int	Required	Joint index number. Can be ignored if -1.

Return Value

Type	Description
void	None.

void UnSubscribeMotionState()

Function Description
Unsubscribe from motion status information.

Parameter Description

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

Return Value

Type	Description
void	None.

Usage Example

private RobotSDKManager _robotSDKManager;
private RobotStateListener _robotSystemState;

public class RobotSDKSample : MonoBehaviour, IConnectionStateListener, IMotionStateListener
{
    void Start(){
        _robotSDKManager = RobotSDKManager.Instance;
        _robotSDKManager?.InitialRobot(RobotType.IS, "", "", this);
        _robotSystemState = _robotSDKManager.CreateRobotBasicSystemState();
        _robotSystemState?.SubscribeMotionState(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 onMotionStateCallback(MotionState motionState)
    {
        
    }
    
    public void onMotionErrorCallback(int errorCode, string errorMessage)
    {
        
    }
    
    void onDestroy(){
        _robotSystemState?.UnSubscribeMotionState();
    }
}