configurable interfaces over ros params

src/wlanSignal.cpp

@@ -31,13 +31,39 @@ string GetStdoutFromCommand(const string &cmd)
    return data;
 }
 
+int64_t getWlanSignalStrength(const string &interface)
+{
+   stringstream command;
+   command << "iwconfig " << interface << " | grep Signal "
+           << "| cut -d \"=\" -f3 "
+           << "| cut -d \" \" -f1";
+   return stol(GetStdoutFromCommand(command.str()));
+}
+
 int main(int argc, char **argv)
 {
-  // TODO: make interface configurable
-  string singalLevelCmd("iwconfig wlp3s0 | grep Signal | cut -d \"=\" -f3 | cut -d \" \" -f1");
-
    init(argc, argv, "wlanSignal");
    NodeHandle node;
+   string wlanInterface24G;
+   string wlanInterface5G;
+
+   if (node.param<string>("wlan_interface_24G", wlanInterface24G, "wlan0"))
+   {
+      ROS_INFO("Param wlan_interface_24: %s", wlanInterface24G.c_str());
+   }
+   else
+   {
+      ROS_INFO("Param 'wlan_interface_24' not set. Using 'wlan0'");
+   }
+
+   if (node.param<string>("wlan_interface_5G", wlanInterface5G, "wlan0"))
+   {
+      ROS_INFO("Param wlan_interface_5G: %s", wlanInterface5G.c_str());
+   }
+   else
+   {
+      ROS_INFO("Param 'wlan_interface_5G' not set. Using 'wlan0'");
+   }
 
    // topic: wlan_signal
    Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000);
@@ -48,8 +74,8 @@ int main(int argc, char **argv)
    {
       WlanSignalMsg msg;
       msg.timestamp = ros::Time::now();
-    msg.level_24G = stol(GetStdoutFromCommand(singalLevelCmd));
+      msg.level_24G = getWlanSignalStrength(wlanInterface24G);
-    msg.level_5G = 0;
+      msg.level_5G = getWlanSignalStrength(wlanInterface5G);
 
       ROS_INFO("Signal strength 2.4G: %li   Signal strength 5G: %li", msg.level_24G, msg.level_5G);