commit

trigger/pjibot_guide/README.md

@@ -0,0 +1 @@
+diagnostics中包名不能用#，但是Label用#号隔开了

trigger/pjibot_guide/diagnostics/errorcode_1_21031701/main/main.go

@@ -0,0 +1,69 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+输入电源欠压
+*/
+
+var (
+	errorType       = "1"
+	errorCode       = "21031701"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+// Label 此处用 # 号隔开，包名只支持下划线 _
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_1_21031702/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+输入电源过压
+*/
+
+var (
+	errorType       = "1"
+	errorCode       = "21031702"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21020001/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+电池数据通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21020001"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21020401/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+imu通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21020401"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21020501/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+odom通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21020501"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21020601/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+motor通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21020601"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21021101/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+电驱通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21021101"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030001/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+电池数据通讯超时丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030001"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030401/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+imu通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030401"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030501/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+odom通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030501"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030601/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+motor通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030601"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030701/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+防跌落传感器通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030701"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030702/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+防跌落传感器数值异常
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030702"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030801/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+超声波传感器通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030801"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21030802/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+超声波传感器数值异常
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21030802"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21031001/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+激光雷达通讯轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21031001"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21031101/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+电驱通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21031101"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21031201/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+红外数据返回超时
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21031201"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21031403/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+深度相机1数据轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21031403"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21031404/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+深度相机2数据轻微丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21031404"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21040803/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+超声波数据返回超时
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21040803"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21041001/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+激光雷达通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21041001"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21041102/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+电驱数据返回超时
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21041102"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21050701/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+防跌落传感器通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21050701"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21050703/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+防跌落数据返回超时
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21050703"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21050801/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+超声波传感器通讯严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21050801"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21051401/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+深度相机1数据严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21051401"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}

trigger/pjibot_guide/diagnostics/errorcode_2_21051402/main/main.go

@@ -0,0 +1,68 @@
+package main
+
+import (
+	"fmt"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"strconv"
+)
+
+/*
+深度相机2数据严重丢失
+*/
+
+var (
+	errorType       = "2"
+	errorCode       = "21051402"
+	code12          = "21"
+	hardwareIdIndex = map[string]string{
+		"batter":        "00",
+		"cloud":         "01",
+		"gateway":       "02",
+		"mcu":           "03",
+		"imu":           "04",
+		"odom":          "05",
+		"motor":         "06",
+		"preventFall":   "07",
+		"sonar":         "08",
+		"locate":        "09",
+		"laserLadar":    "10",
+		"electricDrive": "11",
+		"infrared":      "12",
+		"livoxLidar":    "13",
+		"camera":        "14",
+		"navigation":    "15",
+		"system":        "16",
+	}
+)
+
+func Topic() string {
+	return "/diagnostics"
+}
+
+func Label() string {
+	return "errorcode#" + errorType + "#" + errorCode
+}
+
+func Rule(data *diagnostic_msgs.DiagnosticArray) string {
+	if len(data.Status) == 0 {
+		return ""
+	}
+	for _, status := range data.Status {
+		if status.Level != 5 || len(status.Values) == 0 {
+			continue
+		}
+
+		code34 := fmt.Sprintf("%02d", status.Level)
+		code56 := hardwareIdIndex[status.HardwareId]
+		intVal, err := strconv.Atoi(status.Values[1].Value)
+		if err != nil {
+			fmt.Println("字段 【status.Values[1].Value】转整数报错：", err)
+			return ""
+		}
+		code78 := fmt.Sprintf("%02d", intVal)
+		if errorCode == code12+code34+code56+code78 {
+			return Label()
+		}
+	}
+	return ""
+}