fzirker/wlan_pioneer
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

using int8_t, dont crash on error and better output

Browse source
This commit is contained in:
Florian Zirker 2018-11-27 14:27:21 +01:00
parent faf44d4b26
commit 2797a8e6f7
2 changed files with 12 additions and 10 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
msg/WlanSignalMsg.msg
View file

@ -1,3 +1,3 @@
time timestamp
int64 level_24G
int64 level_5G
int8 level_24G
int8 level_5G

18
src/wlanSignal.cpp
View file

@ -8,14 +8,14 @@
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <cstring>
#include <limits>
using namespace std;
using namespace ros;
using namespace wlan_pioneer;
int64_t getWlanSignalStrength(const string &interface) {
int sockfd;
int8_t getWlanSignalStrength(const string &interface) {
struct iw_statistics stats;
struct iwreq req;
memset(&stats, 0, sizeof(stats));
@ -27,17 +27,19 @@ int64_t getWlanSignalStrength(const string &interface) {
req.u.data.flags = 1;
#endif
if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if(sockfd == -1) {
ROS_ERROR("Could not create simple datagram socket");
exit(EXIT_FAILURE);
return numeric_limits<int8_t>::min() ;
}
if(ioctl(sockfd, SIOCGIWSTATS, &req) == -1) {
ROS_ERROR("Error performing SIOCGIWSTATS");
ROS_ERROR("Error retrieving WLAN signal strength ");
close(sockfd);
exit(EXIT_FAILURE);
return numeric_limits<int8_t>::min() ;
}
close(sockfd);
return (int8_t)stats.qual.level;
return stats.qual.level;
}
@ -71,7 +73,7 @@ int main(int argc, char **argv) {
msg.level_24G = getWlanSignalStrength(wlanInterface24G);
msg.level_5G = getWlanSignalStrength(wlanInterface5G);
ROS_INFO("Signal strength 2.4G: %li Signal strength 5G: %li", msg.level_24G, msg.level_5G);
ROS_INFO("Signal strength 2.4G: %i Signal strength 5G: %i", msg.level_24G, msg.level_5G);
publisher.publish(msg);
spinOnce();