Technical Documentation: System Alarms

Architecture

The Alarms system unifies real-time ROS bitcodes with historical data from a relational database. It relies on the RosProvider for live state and DashboardService for historical persistence.

Technical Details

• File Path: lib/screens/alarm_screen.dart
• Data Model: _AlarmRow (tracks Source, Robot, Wheel, Alarm Bit, and Time).
• Update Frequency: Live ROS data (immediate); Backend history (30s polling).

Error Mapping Logic

• Bitwise Decoding: ROS publishes motor alarms as 32-bit integers. The UI uses the motorAlarmDescriptionMap to perform bitwise & operations and extract individual fault labels.
• Classification Engine:
  • SOFTWARE: Bits 0, 1, 2, 19, etc.
  • COMMUNICATION: Bits 10, 27, 30.
  • HARDWARE: All other bits.

Data Integration

• Source Merging:
  • liveRows: Derived from ros.leftWheelAlarm and ros.rightWheelAlarm bitmasks.
  • historyRows: Fetched from the /api/dashboard/history/motor_alarms endpoint.
• Pagination: Uses local state to manage large history sets, with configurable rows-per-page (10, 25, 50).

UI Elements

• Table: Built with standard DataTable for data-rich representation.
• Filtering: State-based filtering for wheel type and rangeHours (24h, 7d, 30d).