From 10cc704de3858022bb7d7065da250cb1c3dcc8d6 Mon Sep 17 00:00:00 2001 From: Florian Zirker Date: Thu, 22 Nov 2018 19:48:11 +0100 Subject: [PATCH] topic with new message format --- CMakeLists.txt | 192 ++++-------------------------------------- msg/WlanSignalMsg.msg | 3 + package.xml | 4 +- src/wlanSignal.cpp | 32 +++++++ 4 files changed, 52 insertions(+), 179 deletions(-) create mode 100644 msg/WlanSignalMsg.msg create mode 100644 src/wlanSignal.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index f2e6e8d..0f39322 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,198 +1,36 @@ cmake_minimum_required(VERSION 2.8.3) project(wlan_pioneer) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +add_compile_options(-std=c++11) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp + message_generation +) + +add_message_files( + FILES + WlanSignalMsg.msg +) + +generate_messages( + DEPENDENCIES std_msgs ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include # LIBRARIES wlan_pioneer -# CATKIN_DEPENDS roscpp std_msgs + CATKIN_DEPENDS message_runtime roscpp # DEPENDS system_lib ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( -# include ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/wlan_pioneer.cpp -# ) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/wlan_pioneer_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_wlan_pioneer.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +add_executable(wlanSignal src/wlanSignal.cpp) +target_link_libraries(wlanSignal ${catkin_LIBRARIES}) +add_dependencies(wlanSignal _generate_messages_cpp) \ No newline at end of file diff --git a/msg/WlanSignalMsg.msg b/msg/WlanSignalMsg.msg new file mode 100644 index 0000000..dda92f8 --- /dev/null +++ b/msg/WlanSignalMsg.msg @@ -0,0 +1,3 @@ +time timestamp +int64 level_24G +int64 level_5G \ No newline at end of file diff --git a/package.xml b/package.xml index cc866b0..be8e1fc 100644 --- a/package.xml +++ b/package.xml @@ -37,13 +37,13 @@ - + message_generation - + message_runtime diff --git a/src/wlanSignal.cpp b/src/wlanSignal.cpp new file mode 100644 index 0000000..b6841f7 --- /dev/null +++ b/src/wlanSignal.cpp @@ -0,0 +1,32 @@ +#include "ros/ros.h" +#include "wlan_pioneer/WlanSignalMsg.h" +#include + +using namespace ros; +using namespace wlan_pioneer; + +int main(int argc, char **argv) +{ + init(argc, argv, "wlanSignal"); + NodeHandle node; + + // topic: wlan_signal + Publisher publisher = node.advertise("wlan_signal", 1000); + + Rate loopRate(1); // every second + + while (ros::ok()) + { + WlanSignalMsg msg; + msg.timestamp = ros::Time::now(); + msg.level_24G = 0; // TODO: read real WLAN signal strength + msg.level_5G = 0; + + ROS_INFO("Signal strength 2.4G: %li Signal strength 5G: %li", msg.level_24G, msg.level_5G); + + publisher.publish(msg); + spinOnce(); + loopRate.sleep(); + } + return 0; +}