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Status Node

The Status Node is responsible for monitoring the robot status and delivering telemetry for the robot:

statusnode.py
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During startup this node starts a background thread for monitoring the robot's status.

Battery Status​

The node also subscribes to the ups-battery-percent event during startup. This is used to inform the status node of the battery level of the UPS device.

Battery status is handled by the update_battery method:

Update Battery
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This method simply keeps a track of the batter level percentage.

LLM Status​

Startup also subscribes to the llm-status event which informs the status node of the current running status of the LLMNode

LLM status is handled by the update_llm_status method:

Update LLM Status
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Monitoring Status​

Status is monitored in the background task monitor_status:

Monitor Status
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Every 10 seconds, this node builds up SystemStatus which includes:

  • Disk Usage
  • Memory Usage
  • Under Voltage Indicator
  • Network Details
  • Battery Usage
  • CPU Usage
  • LLM Status

If under voltage is detected, this node raises an alarm event under-voltage-detected. This allows the robot to execute a graceful shutdown.