ddwrt.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 #
00034 # Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $
00035 
00036 ## chat is a simple IM-like test node. It demonstrates publishing and
00037 ## subscribing to the same topic.
00038 
00039 PKG = 'wifi_ddwrt'
00040 import roslib; roslib.load_manifest(PKG) 
00041 
00042 import os, sys, string, time, getopt, re
00043 import StringIO
00044 
00045 import rospy
00046 from wifi_ddwrt.msg import *
00047 from pr2_msgs.msg import AccessPoint
00048 
00049 from mechanize import Browser
00050 from std_msgs.msg import Header
00051 import csv
00052 
00053 import gc
00054 
00055 def breakUpTrash():
00056     for item in gc.garbage:
00057         if type(item) == dict:
00058             for s in item.keys_iter():
00059                 del item[s]
00060         del gc.garbage[:]
00061 
00062 class WifiAP:
00063   def __init__(self, hostname, username, password):
00064     self.hostname = hostname
00065     self.username = username
00066     self.password = password
00067 
00068   def newBrowser(self):
00069     # Create new browsers all the time because its data structures grow
00070     # unboundedly (texas#135)
00071     br = Browser()
00072     br.add_password(self.hostname, self.username, self.password)
00073     br.set_handle_robots(None)
00074     return br
00075 
00076   def fetchSiteSurvey(self):
00077     url = "http://%s/Site_Survey.asp" % self.hostname
00078 
00079     response = self.newBrowser().open(url)
00080 
00081     body = response.read()
00082     
00083     #make sure that we put a stamp on things
00084     header = Header()
00085     header.stamp = rospy.Time.now()
00086     networks = []
00087     survey = SiteSurvey(header, networks)
00088 
00089     lines = body.split("\n")
00090     for i in range(len(lines)):
00091       if lines[i].startswith("var table = "):
00092         break
00093 
00094     aplines = []
00095     for j in range(i+1, len(lines)):
00096       if lines[j].startswith(");"): break
00097       line = lines[j].strip()
00098       if not line: continue
00099       if line[0] == ",": line = line[1:]
00100 
00101       aplines.append(line)
00102 
00103     fp = StringIO.StringIO(string.join(aplines, '\n'))
00104     reader = csv.reader(fp)
00105     for row in reader:
00106       essid = row[0]
00107       macattr = row[2]
00108       channel = int(row[3])
00109       rssi = int(row[4])
00110       noise = int(row[5])
00111       beacon = int(row[6])
00112 
00113       network = Network(macattr, essid, channel, rssi, noise, beacon)
00114       survey.networks.append(network)
00115     return survey
00116 
00117   def fetchBandwidthStats(self, interface):
00118     url = "http://%s/fetchif.cgi?%s" % (self.hostname, interface)
00119     response = self.newBrowser().open(url)
00120     body = response.read()
00121 
00122     lines = body.split("\n")
00123 
00124     if len(lines) > 1:
00125       line = lines[1].strip()
00126       iparts = line.split(":", 1)
00127       parts = iparts[1].split()
00128       print interface, parts
00129       
00130 
00131   def fetchCurrentAP(self):
00132     url = "http://%s/Status_Wireless.live.asp" % self.hostname
00133     response = self.newBrowser().open(url)
00134     body = response.read()
00135 
00136     line = None
00137     lines = body.split("\n")
00138 
00139     d = {}
00140     for line in lines:
00141       line = line[1:-1]
00142       line = line.replace(" ", "")
00143       parts = line.split("::", 1)
00144       if len(parts) == 2:
00145         d[parts[0]] = parts[1]
00146       
00147     essid = d.get('wl_ssid', '')
00148     wl_channel = d.get('wl_channel', '').split()[0]
00149     channel = int(wl_channel)
00150     rate = d.get('wl_rate', '')
00151     
00152     signal = None
00153     noise = None
00154     snr = None
00155     quality = None
00156 
00157     tx_power = d.get('wl_xmit', '')
00158 
00159     active_wireless = d.get('active_wireless', None)
00160     ap = None
00161     if active_wireless:
00162       active_wireless = active_wireless.replace("'", "")
00163       parts = active_wireless.split(",")
00164       macaddr = parts[0]
00165       interface = parts[1]
00166       if len(parts) == 7:
00167         signal = int(parts[4])
00168         noise = int(parts[5])
00169         snr = int(parts[6])
00170         quality = signal * 1.24 + 116
00171       else:
00172         signal = int(parts[5])
00173         noise = int(parts[6])
00174         snr = int(parts[7])
00175         quality = int(parts[8])/10
00176       
00177       #self.fetchBandwidthStats(interface)
00178 
00179       #make sure that we put a stamp on things
00180       header = Header()
00181       header.stamp = rospy.Time.now()
00182 
00183       ap = AccessPoint(header=header,
00184                        essid=essid,
00185                        macaddr=macaddr,
00186                        signal=signal,
00187                        noise=noise,
00188                        snr=snr,
00189                        channel=channel,
00190                        rate=rate,
00191                        quality=quality,
00192                        tx_power=tx_power)
00193 
00194     return ap
00195 
00196 
00197 def loop():
00198   rospy.init_node("wifi_ddwrt")
00199 
00200   router_ip = rospy.get_param('~router', 'wifi-router')
00201   username = rospy.get_param('~username', 'root')
00202   password = rospy.get_param('~password', '')
00203 
00204   ap = WifiAP(router_ip, username, password)
00205 
00206   pub1 = rospy.Publisher("ddwrt/sitesurvey", SiteSurvey)
00207   pub2 = rospy.Publisher("ddwrt/accesspoint", AccessPoint)
00208 
00209   r = rospy.Rate(.5)
00210   lastTime = 0
00211   last_ex = ''
00212   while not rospy.is_shutdown():
00213     breakUpTrash() # Needed because mechanize leaves data structures that the GC sees as uncollectable (texas#135)
00214     try:
00215       if time.time() - lastTime > 60:
00216         survey = ap.fetchSiteSurvey()
00217         pub1.publish(survey)
00218         lastTime = time.time()
00219       node = ap.fetchCurrentAP()
00220       if node: pub2.publish(node)
00221       last_ex = ''
00222     except Exception as e:
00223       if e != last_ex:
00224           rospy.logwarn("Caught exception %s" % e)
00225       last_ex = e
00226     r.sleep()
00227         
00228 def test():
00229   router_ip = rospy.get_param('~router_ip', 'wifi-router')
00230   username = rospy.get_param('~username', 'root')
00231   password = rospy.get_param('~password', '')
00232 
00233   ap = WifiAP(router_ip, username, password)
00234   while 1:
00235     if 0:
00236       survey = ap.fetchSiteSurvey()
00237       print survey
00238     if 1:
00239       node = ap.fetchCurrentAP()
00240       print node
00241 
00242 def usage(progname):
00243   print __doc__ % vars()
00244 
00245 def main(argv, stdout, environ):
00246   progname = argv[0]
00247   optlist, args = getopt.getopt(argv[1:], "", ["help", "test", "debug"])
00248 
00249   testflag = 0
00250 
00251   for (field, val) in optlist:
00252     if field == "--help":
00253       usage(progname)
00254       return
00255     elif field == "--debug":
00256       debugfull()
00257     elif field == "--test":
00258       testflag = 1
00259 
00260   if testflag:
00261     test()
00262     return
00263 
00264   loop()
00265 
00266 if __name__ == "__main__":
00267   main(sys.argv, sys.stdout, os.environ)
00268         
00269 


wifi_ddwrt
Author(s): Scott Hassan/hassan@willowgarage.com, Eitan Marder-Eppstein/eitan@willowgarage.com
autogenerated on Wed Apr 23 2014 10:36:08