documentation and clean up

.clang-format

@@ -8,20 +8,19 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
-BinPackParameters: true
+BinPackParameters: false
-ColumnLimit:    120
+ColumnLimit:    100
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
 ExperimentalAutoDetectBinPacking: false
 IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
+MaxEmptyLinesToKeep: 2
 NamespaceIndentation: None
 ObjCSpaceBeforeProtocolList: true
 PenaltyBreakBeforeFirstCallParameter: 19
@@ -46,6 +45,7 @@ SpaceBeforeAssignmentOperators: true
 ContinuationIndentWidth: 4
 SortIncludes: false
 SpaceAfterCStyleCast: false
+AlignConsecutiveAssignments: true
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom

CMakeLists.txt

@@ -1,42 +1,32 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(wlan_pioneer)
 
-add_compile_options(-std=c++11)
-
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
   message_generation
 )
 
-add_message_files(
+add_message_files(FILES WlanSignalMsg.msg)
-  FILES
-  WlanSignalMsg.msg
-)
 
-generate_messages(
+generate_messages(DEPENDENCIES std_msgs)
-  DEPENDENCIES
-  std_msgs
-)
 
 catkin_package()
 
-include_directories(
+include_directories(${catkin_INCLUDE_DIRS} /usr/local/include/)
-  ${catkin_INCLUDE_DIRS}
+link_directories(${catkin_INCLUDE_DIRS} /usr/local/lib/)
-  /usr/local/include/
-)
-
-link_directories(
-  ${catkin_INCLUDE_DIRS}
-  /usr/local/lib/
-)
 
 add_executable(wlanSignal src/wlanSignal.cpp)
 target_link_libraries(wlanSignal ${catkin_LIBRARIES} wifi-scan)
 add_dependencies(wlanSignal wlan_pioneer_generate_messages_cpp)
 
 
-SET(CMAKE_INSTALL_RPATH ${catkin_LIBRARIES})
+# This setting disable new dtags for ld linker. So RUNPATH is
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+# replaced with RPATH in wlanSignal executable. We need RPATH
-
+# for finding linked libraries at runtime when executed with
+# sudo. WLAN scanning needs enhanced privileges. With RUNPATH
+# linker disables LD_LIBRARY_PATH for security reasons if
+# setuid/setgid is set. So this is a workaround.
+# https://gitlab.kitware.com/cmake/community/wikis/doc/cmake/RPATH-handling
+# https://answers.ros.org/question/165246/launch-node-with-root-permissions/
 SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--disable-new-dtags")

launch/wlanSignal.launch

@@ -1,7 +1,7 @@
 <launch>
 
-   <!-- <param name="wlan_interface" type="string" value="wlx74da38ef8aca" /> -->
+   <param name="wlan_interface" type="string" value="wlx74da38ef8aca" />
-   <!-- <param name="wlan_ssid" type="string" value="HSMA-VPN" /> -->
+   <param name="wlan_ssid" type="string" value="HSMA-VPN" />
 
    <node pkg="wlan_pioneer" type="wlanSignal" name="wlanSignal" launch-prefix="sudo -S -E"/>
 

src/wlanSignal.cpp

@@ -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
 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.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;
 
    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)",
-      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 );
-         msg.level_2G4,
-         msg.cellCount_2G4,
-         msg.level_5G,
-         msg.cellCount_5G);
-
       publisher.publish( msg );
       spinOnce();
       loopRate.sleep();