configurable interfaces over ros params

src/wlanSignal.cpp

@@ -10,52 +10,78 @@ 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");
+   string data;
+   FILE *stream;
+   const int max_buffer = 256;
+   char buffer[max_buffer];
+   //cmd.append(" 2>&1");
 
-  stream = popen(cmd.c_str(), "r");
-  if (stream)
-  {
-    while (!feof(stream))
-    {
-      if (fgets(buffer, max_buffer, stream) != NULL)
+   stream = popen(cmd.c_str(), "r");
+   if (stream)
+   {
+      while (!feof(stream))
       {
-        data.append(buffer);
+         if (fgets(buffer, max_buffer, stream) != NULL)
+         {
+            data.append(buffer);
+         }
       }
-    }
-    pclose(stream);
-  }
-  return data;
+      pclose(stream);
+   }
+   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;
 
-  init(argc, argv, "wlanSignal");
-  NodeHandle node;
+   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'");
+   }
 
-  // topic: wlan_signal
-  Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000);
+   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'");
+   }
 
-  Rate loopRate(1); // every second
+   // topic: wlan_signal
+   Publisher publisher = node.advertise<WlanSignalMsg>("wlan_signal", 1000);
 
-  while (ros::ok())
-  {
-    WlanSignalMsg msg;
-    msg.timestamp = ros::Time::now();
-    msg.level_24G = stol(GetStdoutFromCommand(singalLevelCmd));
-    msg.level_5G = 0;
+   Rate loopRate(1); // every second
 
-    ROS_INFO("Signal strength 2.4G: %li      Signal strength 5G: %li", msg.level_24G, msg.level_5G);
+   while (ros::ok())
+   {
+      WlanSignalMsg msg;
+      msg.timestamp = ros::Time::now();
+      msg.level_24G = getWlanSignalStrength(wlanInterface24G);
+      msg.level_5G = getWlanSignalStrength(wlanInterface5G);
 
-    publisher.publish(msg);
-    spinOnce();
-    loopRate.sleep();
-  }
-  return 0;
+      ROS_INFO("Signal strength 2.4G: %li   Signal strength 5G: %li", msg.level_24G, msg.level_5G);
+
+      publisher.publish(msg);
+      spinOnce();
+      loopRate.sleep();
+   }
+   return 0;
 }