Repository navigation
Conversation
GripperDiagnosticsTel reports the health of each device of a gripper every few seconds: supply voltage, the temperature, humidity and pressure in its housing, motor current and the hardware status flags a Reach Robotics device raises, over-pressure and over-humidity of a leaking housing among them. A value a device does not report is NaN. GripperInfoTel reports what a gripper is, as the GuestPortDeviceID of its connector, and its serial number, model number and firmware version, every minute. Both carry the guest port of the gripper, so that two grippers can be told apart. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
follesoe
added
enhancement
Contributor
There was a problem hiding this comment.
🟢 Approval recommended
The schemas are coherent, documented, backward-compatible additions that match the stated telemetry requirements.
0 open findings
What changed in this PR
Adds gripper identity and diagnostic telemetry to the shared protocol definitions.
Changes:
- Adds per-device health metrics and hardware-status flags.
- Adds gripper identity, model, firmware, and guest-port information.
- Introduces telemetry wrappers for periodic publication.
| File | Description |
|---|---|
protobuf_definitions/message_formats.proto |
Defines gripper identity and diagnostic payloads. |
protobuf_definitions/telemetry.proto |
Adds identity and diagnostic telemetry messages. |
🧠 Review effort: Balanced
💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Telemetry for the health and the identity of a gripper, for the logs first of all.
GripperDiagnosticsTel, every few seconds: for each device of the gripper, supply voltage, the temperature, humidity and pressure in its housing, motor current, andGripperHardwareStatus, the flags a Reach Robotics device raises (over-pressure and over-humidity of a leaking housing among them). A value a device does not report is NaN.GripperInfoTel, every minute: what the gripper is (GuestPortDeviceID), and its serial number, model number and firmware version.Published by the guest-port nodes of p2_drone for a Reach Alpha 2 and a Reach Alpha 5.
Related: BluEye-Robotics/p2_msgs#71, BluEye-Robotics/libblunux#480, BluEye-Robotics/p2_drone#1165.
🤖 Generated with Claude Code