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New SNMP OIDs for Rocket M2 #171

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Merged
codeflight1 merged 1 commit into from
Jul 16, 2026
Merged

New SNMP OIDs for Rocket M2 #171

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17 changes: 9 additions & 8 deletions src/Teleop-Control/system-telemetry-cpp/include/system-telemetry-cpp/snmp_network_stats.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,14 +34,15 @@ class SnmpNetworkStatsNode : public rclcpp::Node {
long timeout_us_;
int retries_;

const std::string oid_signal_strength_base_ = "1.3.6.1.4.1.41112.1.4.7.1.3";
const std::string oid_noise_floor_base_ = "1.3.6.1.4.1.41112.1.4.7.1.4";
const std::string oid_ccq_tx_base_ = "1.3.6.1.4.1.41112.1.4.7.1.6";
const std::string oid_bandwidth_tx_base_ = "1.3.6.1.4.1.41112.1.4.7.1.11";
const std::string oid_bandwidth_rx_base_ = "1.3.6.1.4.1.41112.1.4.7.1.12";

const std::string oid_rx_counter_ = "1.3.6.1.2.1.2.2.1.10.5";
const std::string oid_tx_counter_ = "1.3.6.1.2.1.2.2.1.16.5";
const std::string oid_signal_strength_base_ =
"iso.3.6.1.4.1.41112.1.4.5.1.5.1";
const std::string oid_noise_floor_base_ = "iso.3.6.1.4.1.41112.1.4.5.1.8.1";
const std::string oid_ccq_tx_base_ = "iso.3.6.1.4.1.41112.1.4.5.1.7.1";
const std::string oid_bandwidth_tx_base_ = "iso.3.6.1.4.1.41112.1.4.5.1.9.1";
const std::string oid_bandwidth_rx_base_ = "iso.3.6.1.4.1.41112.1.4.5.1.10.1";

const std::string oid_rx_counter_ = "iso.3.6.1.2.1.2.2.1.10.6";
const std::string oid_tx_counter_ = "iso.3.6.1.2.1.2.2.1.16.6";

rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_bandwidth_tx_;
rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_bandwidth_rx_;
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12 changes: 7 additions & 5 deletions src/Teleop-Control/system-telemetry-cpp/src/snmp_network_stats.cpp
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Expand Up @@ -175,6 +175,7 @@ SnmpNetworkStatsNode::snmp_walk_first_int(const std::string &base_oid_str) {

netsnmp_variable_list *vars = response->variables;
if (!vars) {
RCLCPP_WARN(this->get_logger(), "No vars: %s", base_oid_str.c_str());
snmp_free_pdu(response);
break;
}
Expand All @@ -183,6 +184,7 @@ SnmpNetworkStatsNode::snmp_walk_first_int(const std::string &base_oid_str) {
vars->name_length) != 0 &&
(vars->name_length < root_oid_len ||
std::memcmp(root_oid, vars->name, root_oid_len * sizeof(oid)) != 0)) {
RCLCPP_WARN(this->get_logger(), "Bad compare: %s", base_oid_str.c_str());
snmp_free_pdu(response);
break;
}
Expand Down Expand Up @@ -247,11 +249,11 @@ void SnmpNetworkStatsNode::poll_and_publish() {
RCLCPP_DEBUG(this->get_logger(), "Polling SNMP data at time: %.2f seconds",
std::chrono::duration<double>(now.time_since_epoch()).count());

const auto signal_strength = snmp_walk_first_int(oid_signal_strength_base_);
const auto noise_floor = snmp_walk_first_int(oid_noise_floor_base_);
const auto ccq_tx = snmp_walk_first_int(oid_ccq_tx_base_);
const auto bandwidth_tx = snmp_walk_first_int(oid_bandwidth_tx_base_);
const auto bandwidth_rx = snmp_walk_first_int(oid_bandwidth_rx_base_);
const auto signal_strength = snmp_get_int(oid_signal_strength_base_);
const auto noise_floor = snmp_get_int(oid_noise_floor_base_);
const auto ccq_tx = snmp_get_int(oid_ccq_tx_base_);
const auto bandwidth_tx = snmp_get_int(oid_bandwidth_tx_base_);
const auto bandwidth_rx = snmp_get_int(oid_bandwidth_rx_base_);

const auto rx_counter_raw = snmp_get_int(oid_rx_counter_);
const auto tx_counter_raw = snmp_get_int(oid_tx_counter_);
Expand Down
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