# SoftBank Robotics documentation What's new in NAOqi 2.8?

# ALDiagnosis API

Overview | API

Namespace : AL

    #include <alproxies/aldiagnosisproxy.h>

## Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class `ALDiagnosisProxy`

- `ALDiagnosisProxy::getActiveDiagnosis`
- `ALDiagnosisProxy::getPassiveDiagnosis`

## Event list

- `ActiveDiagnosisErrorChanged()`
- `PassiveDiagnosisErrorChanged()`
- `ALDiagnosis/RobotIsReady()`

## Methods

AL::ALValue `ALDiagnosisProxy::``getActiveDiagnosis`()

  Return the actual state of the active diagnosis. Only the highest level of failure is returned.

  Returns: | An ALValue with the actual active diagnosis result with the following form: [ int Level of failure severity, [AL::ALValue The list of device in failure] ] Where: Level of failure severity is 0 (NEGLIGIBLE), 1 (SERIOUS) or 2 (CRITICAL). The list of device in failure is a motor name or a sensor name. See: Chains, Actuator & Sensor list, Chains, Actuator & Sensor list. Example: [1, [“LElbowRoll”, “Sonar”]]

AL::ALValue `ALDiagnosisProxy::``getPassiveDiagnosis`()

  Return the actual state of the passive diagnosis. Only the highest level of failure is returned.

  Returns: | An ALValue containing the actual passive diagnosis result with the following form: [ int Level of failure severity, [AL::ALValue The list of device in failure] ] Where: Level of failure severity is 0 (NEGLIGIBLE), 1 (SERIOUS) or 2 (CRITICAL). The list of device in failure is a motor name or a sensor name. See: Chains, Actuator & Sensor list, Chains, Actuator & Sensor list. Example: [1, [“LElbowRoll”, “Sonar”]]

## Events

Event: `"ActiveDiagnosisErrorChanged"`
callback(std::string eventName, AL::ALValue activeDiagnosis, std::string subscriberIdentifier)

  Raised when the active diagnosis status has changed.

  Parameters: | eventName (std::string) – “ActiveDiagnosisErrorChanged” activeDiagnosis – The same return ALValue as the API `ALDiagnosisProxy::getActiveDiagnosis` subscriberIdentifier (std::string) –

Event: `"PassiveDiagnosisErrorChanged"`
callback(std::string eventName, AL::ALValue passiveDiagnosis, std::string subscriberIdentifier)

  Raised when the passive diagnosis status has changed.

  Parameters: | eventName (std::string) – “PassiveDiagnosisErrorChanged” passiveDiagnosis – The same return ALValue as the API `ALDiagnosisProxy::getPassiveDiagnosis` subscriberIdentifier (std::string) –

Event: `"ALDiagnosis/RobotIsReady"`
callback(std::string eventName, AL::ALValue robotIsReady, std::string subscriberIdentifier)

  Raised when the active diagnosis, automatically launched after the NAOqi startup, is finished.

  Parameters: | eventName (std::string) – “ALDiagnosis/RobotIsReady” robotIsReady – True if no critical error is detected at start-up diagnosis. subscriberIdentifier (std::string) –

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