documentation and clean up
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parent
692d1e83f9
commit
2ec1d70e97
4 changed files with 106 additions and 125 deletions
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@ -8,20 +8,19 @@ AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: None
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakTemplateDeclarations: true
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AlwaysBreakBeforeMultilineStrings: false
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BreakBeforeBinaryOperators: false
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: true
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BinPackParameters: true
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ColumnLimit: 120
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BinPackParameters: false
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ColumnLimit: 100
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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DerivePointerBinding: false
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PointerBindsToType: true
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ExperimentalAutoDetectBinPacking: false
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IndentCaseLabels: true
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MaxEmptyLinesToKeep: 1
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MaxEmptyLinesToKeep: 2
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NamespaceIndentation: None
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakBeforeFirstCallParameter: 19
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@ -46,6 +45,7 @@ SpaceBeforeAssignmentOperators: true
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ContinuationIndentWidth: 4
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SortIncludes: false
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SpaceAfterCStyleCast: false
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AlignConsecutiveAssignments: true
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# Configure each individual brace in BraceWrapping
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BreakBeforeBraces: Custom
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@ -1,42 +1,32 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(wlan_pioneer)
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add_compile_options(-std=c++11)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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message_generation
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)
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add_message_files(
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FILES
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WlanSignalMsg.msg
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)
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add_message_files(FILES WlanSignalMsg.msg)
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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generate_messages(DEPENDENCIES std_msgs)
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catkin_package( )
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catkin_package()
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include_directories(
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${catkin_INCLUDE_DIRS}
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/usr/local/include/
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)
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link_directories(
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${catkin_INCLUDE_DIRS}
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/usr/local/lib/
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)
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include_directories(${catkin_INCLUDE_DIRS} /usr/local/include/)
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link_directories(${catkin_INCLUDE_DIRS} /usr/local/lib/)
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add_executable(wlanSignal src/wlanSignal.cpp)
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target_link_libraries(wlanSignal ${catkin_LIBRARIES} wifi-scan)
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add_dependencies(wlanSignal wlan_pioneer_generate_messages_cpp)
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SET(CMAKE_INSTALL_RPATH ${catkin_LIBRARIES})
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SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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# This setting disable new dtags for ld linker. So RUNPATH is
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# replaced with RPATH in wlanSignal executable. We need RPATH
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# for finding linked libraries at runtime when executed with
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# sudo. WLAN scanning needs enhanced privileges. With RUNPATH
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# linker disables LD_LIBRARY_PATH for security reasons if
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# setuid/setgid is set. So this is a workaround.
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# https://gitlab.kitware.com/cmake/community/wikis/doc/cmake/RPATH-handling
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# https://answers.ros.org/question/165246/launch-node-with-root-permissions/
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SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--disable-new-dtags")
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@ -1,7 +1,7 @@
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<launch>
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<!-- <param name="wlan_interface" type="string" value="wlx74da38ef8aca" /> -->
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<!-- <param name="wlan_ssid" type="string" value="HSMA-VPN" /> -->
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<param name="wlan_interface" type="string" value="wlx74da38ef8aca" />
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<param name="wlan_ssid" type="string" value="HSMA-VPN" />
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<node pkg="wlan_pioneer" type="wlanSignal" name="wlanSignal" launch-prefix="sudo -S -E"/>
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@ -1,60 +1,60 @@
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#include "ros/ros.h"
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#include "wlan_pioneer/WlanSignalMsg.h"
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#include <iostream>
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#include <stdio.h>
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#include <stdlib.h>
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#include <cstring>
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#include <limits>
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#include <string>
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#include "ros/ros.h"
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#include "wlan_pioneer/WlanSignalMsg.h"
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#include "wifi_scan.h"
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using namespace std;
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using namespace ros;
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using namespace wlan_pioneer;
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// Global variables for wifi scanning
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const int MAX_APS = 64; // the maximum amounts of APs (Access Points) we want to store
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const int MAX_APS = 64; // the maximum amounts of APs (Access Points) we want to store
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struct wifi_scan* wifi = nullptr; // this stores all the library information
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struct bss_info bss[MAX_APS]; // this is where we are going to keep informatoin about APs (Access Points)
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struct bss_info bss[MAX_APS]; // this is where we are going to keep informatoin about APs
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WlanSignalMsg msg; // global message, will be set and published in every loop
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WlanSignalMsg msg;
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void scanInterface( const string& interface, const string& monitoringSsid ) {
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msg.level_2G4 = numeric_limits<int8_t>::min();
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msg.level_5G = numeric_limits<int8_t>::min();
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msg.ssid = monitoringSsid;
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msg.timestamp = Time::now();
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msg.level_2G4 = numeric_limits<int8_t>::min();
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msg.level_5G = numeric_limits<int8_t>::min();
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msg.cellCount_2G4 = 0;
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msg.cellCount_5G = 0;
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msg.cellCount_5G = 0;
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if ( wifi == nullptr ) {
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// initialise wlan for scanning
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wifi = wifi_scan_init( interface.c_str() );
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}
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int status = wifi_scan_all( wifi, bss, MAX_APS );
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if ( status < 0 ) {
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ROS_ERROR( "Unable to get WLAN scan data: %s", std::strerror( errno ) );
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wifi_scan_close( wifi );
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wifi_scan_close( wifi ); // close wlan to re-init in next loop
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wifi = nullptr;
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return;
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}
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else {
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// run trought list of cells
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for ( int i = 0; i < status && i < MAX_APS; ++i ) {
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if ( bss[i].seen_ms_ago > 100 ) {
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continue; // we do not want old results
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}
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if ( std::strcmp( bss[i].ssid, monitoringSsid.c_str() ) != 0 ) {
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continue;
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continue; // only cells on monitoring SSID should be scanned
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}
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int8_t level = bss[i].signal_mbm / 100;
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int8_t level = bss[i].signal_mbm / 100; // mBm to dBm
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if ( bss[i].frequency >= 2400 && bss[i].frequency <= 2499 ) {
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// this AP is sending on 2.4 GHz band
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// maximum of scanned levels of 2.4 GHz band
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msg.level_2G4 = std::max( msg.level_2G4, level );
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msg.cellCount_2G4++;
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}
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else if ( bss[i].frequency >= 5000 && bss[i].frequency <= 5999 ) {
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// this AP is sending on 5 GHz band
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// maximum of scanned levels of 5 GHz band
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msg.level_5G = std::max( msg.level_5G, level );
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msg.cellCount_5G++;
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}
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@ -62,12 +62,15 @@ void scanInterface( const string& interface, const string& monitoringSsid ) {
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}
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}
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int main( int argc, char** argv ) {
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init( argc, argv, "wlanSignal" );
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NodeHandle node;
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string wlanInterface;
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string monitoringSsid;
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Publisher publisher = node.advertise<WlanSignalMsg>( "wlan_signal", 1000 );
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Rate loopRate = Rate( 1 ); // every second
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if ( node.param<string>( "wlan_ssid", monitoringSsid, "" ) ) {
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ROS_INFO( "Param wlan_ssid: %s", monitoringSsid.c_str() );
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@ -83,23 +86,11 @@ int main( int argc, char** argv ) {
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ROS_INFO( "Param 'wlan_interface' not set. Using 'wlan0'" );
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}
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// topic: wlan_signal
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Publisher publisher = node.advertise<WlanSignalMsg>( "wlan_signal", 1000 );
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Rate loopRate( 1 ); // every second
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msg.ssid = monitoringSsid;
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while ( ok() ) {
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scanInterface( wlanInterface, monitoringSsid );
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msg.timestamp = Time::now();
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ROS_INFO( "Signal strength 2.4G: %i (%d Cells) Signal strength 5G: %i (%d Cells)",
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msg.level_2G4,
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msg.cellCount_2G4,
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msg.level_5G,
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msg.cellCount_5G);
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ROS_INFO( "Signal strength 2.4G: %i (%d Cells) Signal strength 5G: %i "
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"(%d Cells)",
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msg.level_2G4, msg.cellCount_2G4, msg.level_5G, msg.cellCount_5G );
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publisher.publish( msg );
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spinOnce();
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loopRate.sleep();
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