commit

trigger/pji/diagnostics/errorcode#2#21030001/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+电池数据通讯超时丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030001"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030401/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+imu通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030401"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030501/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+odom通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030501"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030601/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+motor通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030601"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030701/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+防跌落传感器通讯轻微丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030701"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030702/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+防跌落传感器数值异常
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030702"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030801/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+超声波传感器通讯轻微丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030801"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21030802/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+超声波传感器数值异常
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21030802"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21031001/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+激光雷达通讯轻微丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031001"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21031101/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+电驱通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031101"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21031201/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+红外数据返回超时
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031201"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21031401/main/main.go

@@ -1,68 +0,0 @@
-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/pji/diagnostics/errorcode#2#21031403/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+深度相机1数据轻微丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031403"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21031404/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+深度相机2数据轻微丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031404"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21040803/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+超声波数据返回超时
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21040803"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21041001/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+激光雷达通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21041001"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21041102/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+电驱数据返回超时
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21041102"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21050701/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+防跌落传感器通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21050701"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21050703/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+防跌落数据返回超时
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21050703"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21050801/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+超声波传感器通讯严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21050801"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21051401/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+深度相机1数据严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21051401"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#2#21051402/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+深度相机2数据严重丢失
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21051402"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#4#21050101/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+与云端通讯丢失
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "4"
+	errorCode       = "21050101"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#4#21050201/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+与计算平台网关通讯异常
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "4"
+	errorCode       = "21050201"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#4#21050202/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+4G卡号读不到
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "4"
+	errorCode       = "21050202"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#4#21050301/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+与计算平台MCU通讯丢失
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "4"
+	errorCode       = "21050301"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21030907/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+定位警告
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21030907"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21030908/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+定位状态未初始化
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21030908"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031511/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+机器人进入不可行区域
 */
 
 var (
 	errorType       = "2"
-	errorCode       = "21021101"
+	errorCode       = "21031511"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031512/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+未得到局部规划路径
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031512"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031513/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+无法旋转至起点姿态
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031513"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031514/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+无法旋转至目标点姿态
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031514"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031603/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+cpu占用过高（高于90%）或内存占用过高（高于80%）
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031603"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031604/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+系统信息轻微超时
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031604"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21031605/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+系统信息严重超时
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21031605"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041501/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+全局规划器构造失败
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041501"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041502/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+局部规划器构造失败
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041502"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041503/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+目标点四元数格式不合法
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041503"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041504/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+未得到全局规划路径
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041504"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041505/main/main.go

@@ -11,8 +11,8 @@ import (
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041505"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041506/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+未得到全局规划路径 - 目标点位被占据
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041506"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041507/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+未得到全局规划路径 - 地图上无可通行的通道
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041507"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041508/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+costmap的观察缓冲区不是最新的
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041508"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041510/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+全局规划路径碰撞
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041510"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041601/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+cartographer节点通讯中断（可去除）
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041601"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041602/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+	move_base节点中断
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041602"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21041606/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+自动充电节点通讯中断
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21041606"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21050901/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+定位丢失
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21050901"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21050902/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+定位失败
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21050902"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21050904/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+地图内丢定位
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21050904"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21050905/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+地图外丢定位
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21050905"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21050906/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+匹配点不够丢定位
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21050906"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051509/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+全局路径转换失败
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051509"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051704/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+识别阶段未识别充电桩
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051704"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051705/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+靠近时未识别到充电桩,超时
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051705"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051706/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+旋转阶段超时
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051706"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051707/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+后退超时，未到充电桩
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051707"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",

trigger/pji/diagnostics/errorcode#5#21051708/main/main.go

@@ -7,12 +7,12 @@ import (
 )
 
 /*
-电驱通讯轻微丢失
+后退时未识别到红外,超时
 */
 
 var (
-	errorType       = "2"
-	errorCode       = "21021101"
+	errorType       = "5"
+	errorCode       = "21051708"
 	code12          = "21"
 	hardwareIdIndex = map[string]string{
 		"batter":        "00",