fzirker/wlan_pioneer
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documentation and clean up

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This commit is contained in:
Florian Zirker 2018-12-16 17:35:47 +01:00
parent 692d1e83f9
commit 2ec1d70e97
4 changed files with 106 additions and 125 deletions
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59
src/wlanSignal.cpp
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@ -1,60 +1,60 @@
#include "ros/ros.h"
#include "wlan_pioneer/WlanSignalMsg.h"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <cstring>
#include <limits>
#include <string>
#include "ros/ros.h"
#include "wlan_pioneer/WlanSignalMsg.h"
#include "wifi_scan.h"
using namespace std;
using namespace ros;
using namespace wlan_pioneer;
// Global variables for wifi scanning
const int MAX_APS = 64; // the maximum amounts of APs (Access Points) we want to store
const int MAX_APS = 64; // the maximum amounts of APs (Access Points) we want to store
struct wifi_scan* wifi = nullptr; // this stores all the library information
struct bss_info bss[MAX_APS]; // this is where we are going to keep informatoin about APs (Access Points)
struct bss_info bss[MAX_APS]; // this is where we are going to keep informatoin about APs
WlanSignalMsg msg; // global message, will be set and published in every loop
WlanSignalMsg msg;
void scanInterface( const string& interface, const string& monitoringSsid ) {
msg.level_2G4 = numeric_limits<int8_t>::min();
msg.level_5G = numeric_limits<int8_t>::min();
msg.ssid = monitoringSsid;
msg.timestamp = Time::now();
msg.level_2G4 = numeric_limits<int8_t>::min();
msg.level_5G = numeric_limits<int8_t>::min();
msg.cellCount_2G4 = 0;
msg.cellCount_5G = 0;
msg.cellCount_5G = 0;
if ( wifi == nullptr ) {
// initialise wlan for scanning
wifi = wifi_scan_init( interface.c_str() );
}
int status = wifi_scan_all( wifi, bss, MAX_APS );
if ( status < 0 ) {
ROS_ERROR( "Unable to get WLAN scan data: %s", std::strerror( errno ) );
wifi_scan_close( wifi );
wifi_scan_close( wifi ); // close wlan to re-init in next loop
wifi = nullptr;
return;
}
else {
// run trought list of cells
for ( int i = 0; i < status && i < MAX_APS; ++i ) {
if ( bss[i].seen_ms_ago > 100 ) {
continue; // we do not want old results
}
if ( std::strcmp( bss[i].ssid, monitoringSsid.c_str() ) != 0 ) {
continue;
continue; // only cells on monitoring SSID should be scanned
}
int8_t level = bss[i].signal_mbm / 100;
int8_t level = bss[i].signal_mbm / 100; // mBm to dBm
if ( bss[i].frequency >= 2400 && bss[i].frequency <= 2499 ) {
// this AP is sending on 2.4 GHz band
// maximum of scanned levels of 2.4 GHz band
msg.level_2G4 = std::max( msg.level_2G4, level );
msg.cellCount_2G4++;
}
else if ( bss[i].frequency >= 5000 && bss[i].frequency <= 5999 ) {
// this AP is sending on 5 GHz band
// maximum of scanned levels of 5 GHz band
msg.level_5G = std::max( msg.level_5G, level );
msg.cellCount_5G++;
}
@ -62,12 +62,15 @@ void scanInterface( const string& interface, const string& monitoringSsid ) {
}
}
int main( int argc, char** argv ) {
init( argc, argv, "wlanSignal" );
NodeHandle node;
string wlanInterface;
string monitoringSsid;
Publisher publisher = node.advertise<WlanSignalMsg>( "wlan_signal", 1000 );
Rate loopRate = Rate( 1 ); // every second
if ( node.param<string>( "wlan_ssid", monitoringSsid, "" ) ) {
ROS_INFO( "Param wlan_ssid: %s", monitoringSsid.c_str() );
@ -83,23 +86,11 @@ int main( int argc, char** argv ) {
ROS_INFO( "Param 'wlan_interface' not set. Using 'wlan0'" );
}
// topic: wlan_signal
Publisher publisher = node.advertise<WlanSignalMsg>( "wlan_signal", 1000 );
Rate loopRate( 1 ); // every second
msg.ssid = monitoringSsid;
while ( ok() ) {
scanInterface( wlanInterface, monitoringSsid );
msg.timestamp = Time::now();
ROS_INFO( "Signal strength 2.4G: %i (%d Cells) Signal strength 5G: %i (%d Cells)",
msg.level_2G4,
msg.cellCount_2G4,
msg.level_5G,
msg.cellCount_5G);
ROS_INFO( "Signal strength 2.4G: %i (%d Cells) Signal strength 5G: %i "
"(%d Cells)",
msg.level_2G4, msg.cellCount_2G4, msg.level_5G, msg.cellCount_5G );
publisher.publish( msg );
spinOnce();
loopRate.sleep();