roam_node.py
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00001 #! /usr/bin/env python
00002 
00003 from __future__ import with_statement
00004 
00005 import roslib; roslib.load_manifest('multi_interface_roam') 
00006 import rospy
00007 import std_msgs.msg
00008 import multi_interface_roam.multi_interface_roam as mir
00009 import multi_interface_roam.rosmasterless
00010 import sys
00011 import os
00012 import os.path
00013 import time
00014 import yaml
00015 from diagnostic_msgs.msg import DiagnosticStatus, KeyValue, DiagnosticArray
00016 from pr2_msgs.msg import AccessPoint
00017 
00018 freq_to_chan_map = {
00019     2412000000L : 1, 
00020     2417000000L : 2, 
00021     2422000000L : 3, 
00022     2427000000L : 4, 
00023     2432000000L : 5, 
00024     2437000000L : 6, 
00025     2442000000L : 7, 
00026     2447000000L : 8, 
00027     2452000000L : 9, 
00028     2457000000L : 10, 
00029     2462000000L : 11, 
00030     2467000000L : 12, 
00031     2472000000L : 13, 
00032     2484000000L : 14, 
00033     3657500000L : 131, 
00034     3662500000L : 132, 
00035     3660000000L : 132, 
00036     3667500000L : 133, 
00037     3665000000L : 133, 
00038     3672500000L : 134, 
00039     3670000000L : 134, 
00040     3677500000L : 135, 
00041     3682500000L : 136, 
00042     3680000000L : 136, 
00043     3687500000L : 137, 
00044     3685000000L : 137, 
00045     3689500000L : 138, 
00046     3690000000L : 138, 
00047     4915000000L : 183, 
00048     4920000000L : 184, 
00049     4925000000L : 185, 
00050     4935000000L : 187, 
00051     4940000000L : 188, 
00052     4945000000L : 189, 
00053     4960000000L : 192, 
00054     4980000000L : 196, 
00055     5035000000L : 7, 
00056     5040000000L : 8, 
00057     5045000000L : 9, 
00058     5055000000L : 11, 
00059     5060000000L : 12, 
00060     5080000000L : 16, 
00061     5170000000L : 34, 
00062     5180000000L : 36, 
00063     5190000000L : 38, 
00064     5200000000L : 40, 
00065     5210000000L : 42, 
00066     5220000000L : 44, 
00067     5230000000L : 46, 
00068     5240000000L : 48, 
00069     5260000000L : 52, 
00070     5280000000L : 56, 
00071     5300000000L : 60, 
00072     5320000000L : 64, 
00073     5500000000L : 100, 
00074     5520000000L : 104, 
00075     5540000000L : 108, 
00076     5560000000L : 112, 
00077     5580000000L : 116, 
00078     5600000000L : 120, 
00079     5620000000L : 124, 
00080     5640000000L : 128, 
00081     5660000000L : 132, 
00082     5680000000L : 136, 
00083     5700000000L : 140, 
00084     5745000000L : 149, 
00085     5765000000L : 153, 
00086     5785000000L : 157, 
00087     5805000000L : 161, 
00088     5825000000L : 165, 
00089 }
00090 
00091 class MultiInterfaceDiagPublisher:
00092     def __init__(self, config_file):
00093         with open(config_file, 'r') as f:
00094            self.config = yaml.load(f.read())
00095         if 'wireless_namespace' in self.config:
00096             self.wireless_namespace = self.config['wireless_namespace']
00097         else:
00098             self.wireless_namespace = 'wifi'
00099 
00100         try:
00101             mir.logdir = self.config['log_directory']
00102         except KeyError:
00103             pass
00104 
00105 #        console_output_file = os.path.join(mir.logdir, "console_output.log") 
00106 #        try:
00107 #            if self.config['redirect_console']:
00108 #                print "Redirecting output to:", console_output_file
00109 #                sys.stdout = open(console_output_file, "a", 1)
00110 #                sys.stderr = sys.stdout
00111 #        except KeyError:
00112 #            pass
00113 #        except IOError:
00114 #            print "Error redirecting output to: ", console_output_file
00115 
00116         self.diag_pub = rospy.Publisher("/diagnostics", DiagnosticArray)
00117         self.wifi_pub = rospy.Publisher(self.wireless_namespace+"/accesspoint", AccessPoint)
00118         wireless_interfaces = []
00119         interfaces = self.config['interfaces'] 
00120         for i in interfaces:
00121             if interfaces[i]['type'] == 'wireless':
00122                 wireless_interfaces.append(i)
00123         self.wifi_sub_pub = dict((iface, rospy.Publisher(self.wireless_namespace+"/"+iface+"/accesspoint", AccessPoint)) for iface in wireless_interfaces)
00124 
00125         self.hostname = os.uname()[1]
00126         print
00127         print "**************************************************************"
00128         print mir.log_time_string(time.time()), "restarting."
00129         print "**************************************************************"
00130         mir.main(config_file, mir.SimpleSelectionStrategy, self.publish_diags)
00131         print "**************************************************************"
00132         print "Exiting."
00133         print "**************************************************************"
00134         print
00135         rospy.signal_shutdown("main has exited")
00136 
00137     @staticmethod
00138     def fill_diags(name, summary, hid, diags):
00139         ds = DiagnosticStatus()
00140         ds.values = [KeyValue(k, str(v)) for (k, v) in diags]
00141         ds.hardware_id = hid
00142         ds.name = rospy.get_caller_id().lstrip('/') + ": " + name
00143         ds.message = summary
00144         return ds
00145     
00146     @staticmethod
00147     def frequency_to_channel(freq):
00148         # A bit horrible, but will do until the message changes.
00149         try:
00150             return freq_to_chan_map[freq]
00151         except:
00152             return -1
00153 
00154     @staticmethod
00155     def gen_accesspoint_msg(iface):
00156         msg = AccessPoint()
00157         msg.essid = iface.essid
00158         msg.macaddr = iface.bssid
00159         msg.signal = iface.wifi_signal 
00160         msg.noise = iface.wifi_noise
00161         msg.snr = msg.signal - msg.noise
00162         msg.quality = iface.wifi_quality
00163         msg.rate = iface.wifi_rate
00164         msg.tx_power = iface.wifi_txpower
00165         msg.channel = MultiInterfaceDiagPublisher.frequency_to_channel(iface.wifi_frequency)
00166         return msg
00167     
00168     def publish_diags(self, strategy):
00169         now = rospy.get_rostime()
00170         ns = strategy.ns
00171         ds = self.fill_diags("synthetic interface", ns.diag_summary, self.hostname, strategy.ns.diags)
00172         ds.level = ns.diag_level
00173         statuses = [ds]
00174 
00175         for i in range(0, len(ns.interfaces)):
00176             iface = ns.interfaces[i]
00177             ds = self.fill_diags(iface.iface, iface.diag_summary, self.hostname, iface.diags)
00178             statuses.append(ds)
00179             if iface.__class__ == mir.WirelessInterface:
00180                 msg = self.gen_accesspoint_msg(iface)
00181                 msg.header.stamp = now
00182                 self.wifi_sub_pub[iface.iface].publish(msg)
00183                 if i == ns.active_iface:
00184                     self.wifi_pub.publish(msg)
00185 
00186         da = DiagnosticArray()
00187         da.header.stamp = rospy.get_rostime()
00188         da.status = statuses
00189         self.diag_pub.publish(da)
00190         
00191 if __name__ == "__main__":
00192     if len(sys.argv) != 2:
00193       print >> sys.stderr
00194       print >> sys.stderr, "usage: roam_node.py config_file.yaml"
00195       print >> sys.stderr
00196       print >> sys.stderr, "This node cannot presently be used with roslaunch as it will be confused by the __name and __log parameters."
00197       sys.exit(1)
00198     
00199     rospy.init_node("multi_interface_roam", disable_rosout=True, disable_rostime=True, disable_signals=True)
00200 
00201     MultiInterfaceDiagPublisher(sys.argv[1])


multi_interface_roam
Author(s): Blaise Gassend
autogenerated on Thu Apr 24 2014 15:34:18