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get value direct with linux/wireless.h

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This commit is contained in:
Florian Zirker 2018-11-26 23:39:18 +01:00
parent 2f28e926c3
commit faf44d4b26
1 changed files with 37 additions and 43 deletions
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80
src/wlanSignal.cpp
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@ -3,77 +3,71 @@
#include <iostream> #include <iostream>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <linux/wireless.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <cstring>
using namespace std; using namespace std;
using namespace ros; using namespace ros;
using namespace wlan_pioneer; using namespace wlan_pioneer;
string GetStdoutFromCommand(const string &cmd)
{
string data;
FILE *stream;
const int max_buffer = 256;
char buffer[max_buffer];
//cmd.append(" 2>&1");
stream = popen(cmd.c_str(), "r"); int64_t getWlanSignalStrength(const string &interface) {
if (stream) int sockfd;
{ struct iw_statistics stats;
while (!feof(stream)) struct iwreq req;
{ memset(&stats, 0, sizeof(stats));
if (fgets(buffer, max_buffer, stream) != NULL) memset(&req, 0, sizeof(iwreq));
{ strncpy(req.ifr_name, interface.c_str(), 16);
data.append(buffer); req.u.data.pointer = &stats;
} req.u.data.length = sizeof(iw_statistics);
} #ifdef CLEAR_UPDATED
pclose(stream); req.u.data.flags = 1;
#endif
if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
ROS_ERROR("Could not create simple datagram socket");
exit(EXIT_FAILURE);
} }
return data; if(ioctl(sockfd, SIOCGIWSTATS, &req) == -1) {
ROS_ERROR("Error performing SIOCGIWSTATS");
close(sockfd);
exit(EXIT_FAILURE);
}
close(sockfd);
return (int8_t)stats.qual.level;
} }
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) int main(int argc, char **argv) {
{
init(argc, argv, "wlanSignal"); init(argc, argv, "wlanSignal");
NodeHandle node; NodeHandle node;
string wlanInterface24G; string wlanInterface24G;
string wlanInterface5G; string wlanInterface5G;
if (node.param<string>("wlan_interface_24G", wlanInterface24G, "wlan0")) if (node.param<string>("wlan_interface_24G", wlanInterface24G, "wlan0")) {
{ ROS_INFO("Param wlan_interface_24G: %s", wlanInterface24G.c_str());
ROS_INFO("Param wlan_interface_24: %s", wlanInterface24G.c_str());
} }
else else {
{ ROS_INFO("Param 'wlan_interface_24G' not set. Using 'wlan0'");
ROS_INFO("Param 'wlan_interface_24' not set. Using 'wlan0'");
} }
if (node.param<string>("wlan_interface_5G", wlanInterface5G, "wlan0")) if (node.param<string>("wlan_interface_5G", wlanInterface5G, "wlan0")) {
{
ROS_INFO("Param wlan_interface_5G: %s", wlanInterface5G.c_str()); ROS_INFO("Param wlan_interface_5G: %s", wlanInterface5G.c_str());
} }
else else {
{
ROS_INFO("Param 'wlan_interface_5G' not set. Using 'wlan0'"); ROS_INFO("Param 'wlan_interface_5G' not set. Using 'wlan0'");
} }
// topic: wlan_signal // topic: wlan_signal
Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000); Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000);
Rate loopRate(1); // every second Rate loopRate(1); // every second
while (ros::ok()) while (ok()) {
{
WlanSignalMsg msg; WlanSignalMsg msg;
msg.timestamp = ros::Time::now(); msg.timestamp = Time::now();
msg.level_24G = getWlanSignalStrength(wlanInterface24G); msg.level_24G = getWlanSignalStrength(wlanInterface24G);
msg.level_5G = getWlanSignalStrength(wlanInterface5G); msg.level_5G = getWlanSignalStrength(wlanInterface5G);