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Put the router & base station diagnostics into Networking #272

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Merged
merged 2 commits into from
Oct 16, 2025
Merged

Put the router & base station diagnostics into Networking #272

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9960ab4
Put the router & base station diagnostics into Networking, update the…
civerachb-cpr Oct 7, 2025
6afc0aa
Update the new diagnostic names
civerachb-cpr Oct 7, 2025
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28 changes: 25 additions & 3 deletions clearpath_generator_common/clearpath_generator_common/param/platform.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -369,16 +370,37 @@ 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('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('Base Station')
networking_expected.append('base_station_node: Base Station')
# Put additional supported base station hardware here...

if len(networking_contains) > 0:
self.param_file.update({
self.DIAGNOSTIC_AGGREGATOR_NODE: {
'platform': {
'analyzers': {
'networking': {
'type': 'diagnostic_aggregator/GenericAnalyzer',
'path': 'Networking',
'contains': ['Wi-Fi'],
'expected': ['wireless_watcher: Wi-Fi Monitor']
'contains': networking_contains,
'expected': networking_expected,
}
}
}
Expand Down
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