def callback_activate_hotspot(self, req):
rospy.loginfo("Switch to hotspot mode")
if niryo_one_wifi.get_current_ssid() == self.hotspot_ssid:
return self.service_response(200, "Hotspot mode already activated")
success = niryo_one_wifi.hard_enable_hotspot_with_ssid(self.hotspot_ssid, self.hotspot_password)
if success:
return self.service_response(200, "Hotspot mode activated")
return self.service_response(400, "Failed to activate hotspot mode")
def __init__(self):
rospy.loginfo("Starting wifi manager...")
self.hotspot_ssid = rospy.get_param("~hotspot_ssid")
# add robot unique identifier to ssid to make it unique and recognizable
self.hotspot_ssid += " "
self.hotspot_ssid += str(self.get_robot_unique_identifier())
self.hotspot_password = rospy.get_param("~hotspot_password")
self.filename_robot_name = rospy.get_param("~filename_robot_name")
# Set filename for robot name
set_filename_robot_name(self.filename_robot_name)
# Get robot name
self.robot_name = read_robot_name()
if self.robot_name != '':
self.hotspot_ssid = self.robot_name
# Start set robot name service server
self.set_robot_name_server = rospy.Service(
'/niryo_one/wifi/set_robot_name', SetString,
self.callback_set_robot_name)
# Set Niryo One hotspot ssid and password
set_hotspot_ssid(self.hotspot_ssid)
set_hotspot_password(self.hotspot_password)
# Start broadcast
broadcast_thread = Thread(target=self.start_broadcast)
broadcast_thread.setDaemon(True)
broadcast_thread.start()
# Check if connected to Wi-Fi. If not, start hotspot mode
current_ssid = niryo_one_wifi.get_current_ssid()
rospy.loginfo("Current ssid : " + str(current_ssid))
if not niryo_one_wifi.is_connected_to_wifi():
niryo_one_wifi.hard_enable_hotspot_with_ssid(
self.hotspot_ssid, self.hotspot_password)
else:
rospy.loginfo("Already connected to a Wifi or in Hotspot mode")
# Start Flask app
flask_thread = Thread(target=self.run_flask_server)
flask_thread.setDaemon(True)
flask_thread.start()
# Start wifi status publisher
self.hotspot_state_publisher = rospy.Publisher(
'/niryo_one/wifi/hotspot', Bool, queue_size=2)
rospy.Timer(rospy.Duration(1), self.send_hotspot_state)
# Start hotspot subscriber (from button)
self.activate_hotspot_server = rospy.Service(
'/niryo_one/wifi/set_hotspot', SetInt,
self.callback_activate_hotspot)
rospy.loginfo("Wifi manager started")
