fingerprint.cpp

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/*
 fingerprint publishes the RSSI of all visible WiFi AP's to wifi_fp.
 Copyright (C) 2013  Rafael Berkvens rafael.berkvens@ua.ac.be

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <string>

#include <ros/ros.h>
#include <ros/time.h>
#include <ros/console.h>

#include <iwlib.h>

#include <wifi_scan/Fingerprint.h>

#include "wifiscan.h"

int main(int argc, char **argv)
{
  /* Set up ROS, get handle, set desired rate. */
  ros::init(argc, argv, "fingerprint");
  ros::NodeHandle node;
  ros::Rate rate(1);

  /* Get parameters from command line. */
  ros::NodeHandle private_node_handle_("~");
  std::string topic_name;
  private_node_handle_.param<std::string>("topic", topic_name, "wifi_fp");
  std::string interface;
  private_node_handle_.param<std::string>("interface", interface, "wlan0");

  /* Channels are hard-coded for now. */
  std::vector<int> channels;
  channels.push_back(1);
  channels.push_back(6);
  channels.push_back(11);

  /* Create topic, scanning object, and start fingerprinting. */
  ros::Publisher pub_fingerprint = node.advertise<wifi_scan::Fingerprint>(
      topic_name, 10);
  WifiScan wifiscan(channels, interface);
  while (node.ok())
  {
    try
    {
      wifiscan.createFingerprint(&pub_fingerprint);
    }
    catch (int exception)
    {
      switch (exception)
      {
        case WIFISCAN_ERROR_OPENING_IOCTL_SOCKET:
          ROS_ERROR_STREAM("Error in WifiScan::createFingerprint:\n"
                           << "  Error opening ioctl socket.");
          break;
        case WIFISCAN_ERROR_IN_IW_SCAN:
          ROS_ERROR_STREAM(
              "Error in WifiScan::createFingerprint:\n"
              << "  Error in iw_scan(). Might be wrong interface.");
          break;
        default:
          ROS_ERROR_STREAM("Error in WifiScan::createFingerprint:\n"
                           << "  Unknown error.");
      }
    }
    ros::spinOnce();
    rate.sleep();
  }
}

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