From 9960ab418b5d6ab493c49b5ec5820a0aaad60c46 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Tue, 7 Oct 2025 11:13:38 -0400 Subject: [PATCH 1/2] Put the router & base station diagnostics into Networking, update the wireless watcher to use the correct flag --- .../param/platform.py | 28 +++++++++++++++++-- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index bd975469..44ddf9ec 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -39,6 +39,7 @@ from clearpath_config.manipulators.types.arms import Franka from clearpath_config.manipulators.types.grippers import FrankaGripper from clearpath_config.platform.battery import BatteryConfig +from clearpath_config.platform.wireless import PeplinkRouter from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense from clearpath_config.sensors.types.gps import BaseGPS, NMEA from clearpath_config.sensors.types.imu import BaseIMU, PhidgetsSpatial @@ -369,7 +370,28 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: } }) - if self.clearpath_config.platform.enable_wireless_watcher: + # We have a few optional nodes that go into the Networking section + # collect them all and then create the aggregator node + networking_contains = [] + networking_expected = [] + + if self.clearpath_config.platform.wireless.enable_wireless_watcher: + networking_contains.append('Wi-Fi') + networking_expected.append('wireless_watcher: Wi-Fi Monitor') + + if self.clearpath_config.platform.wireless.router: + if self.clearpath_config.platform.wireless.router == PeplinkRouter.MODEL: + networking_contains.append('Peplink Router') + networking_expected.append('router_node: Peplink Router') + # Put additional supported router hardware here... + + if self.clearpath_config.platform.wireless.base_station: + if self.clearpath_config.platform.wireless.base_station == PeplinkRouter.MODEL: + networking_contains.append('Peplink Base Station') + networking_expected.append('base_station_node: Peplink Base Station') + # Put additional supported base station hardware here... + + if len(networking_contains) > 0: self.param_file.update({ self.DIAGNOSTIC_AGGREGATOR_NODE: { 'platform': { @@ -377,8 +399,8 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: 'networking': { 'type': 'diagnostic_aggregator/GenericAnalyzer', 'path': 'Networking', - 'contains': ['Wi-Fi'], - 'expected': ['wireless_watcher: Wi-Fi Monitor'] + 'contains': networking_contains, + 'expected': networking_expected, } } } From 6afc0aa207bfea61587ca4499f0f790f4213265b Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Tue, 7 Oct 2025 11:57:31 -0400 Subject: [PATCH 2/2] Update the new diagnostic names --- .../clearpath_generator_common/param/platform.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index 44ddf9ec..bd3b1120 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -381,14 +381,14 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: if self.clearpath_config.platform.wireless.router: if self.clearpath_config.platform.wireless.router == PeplinkRouter.MODEL: - networking_contains.append('Peplink Router') - networking_expected.append('router_node: Peplink Router') + networking_contains.append('Router') + networking_expected.append('router_node: Router') # Put additional supported router hardware here... if self.clearpath_config.platform.wireless.base_station: if self.clearpath_config.platform.wireless.base_station == PeplinkRouter.MODEL: - networking_contains.append('Peplink Base Station') - networking_expected.append('base_station_node: Peplink Base Station') + networking_contains.append('Base Station') + networking_expected.append('base_station_node: Base Station') # Put additional supported base station hardware here... if len(networking_contains) > 0: