def gen_accesspoint_msg(iface):
msg = AccessPoint()
msg.essid = iface.essid
msg.macaddr = iface.bssid
msg.signal = iface.wifi_signal
msg.noise = iface.wifi_noise
msg.snr = msg.signal - msg.noise
msg.quality = iface.wifi_quality
msg.rate = iface.wifi_rate
msg.tx_power = iface.wifi_txpower
msg.channel = MultiInterfaceDiagPublisher.frequency_to_channel(iface.wifi_frequency)
return msg
def _publish_status(self):
now = rospy.get_rostime()
# current_iface_id
ai = self.interface_selector.active_interfaces
if not ai or ai[0] not in self._interfaces:
index = -1
else:
index = self._interfaces.index(ai[0])
self.iface_id_pub.publish(index)
# accesspoint
best_active = self.interface_selector.radio_manager.best_active
for iface in self._wireless_interfaces:
msg = self.gen_accesspoint_msg(iface)
msg.header.stamp = now
self.all_ap_pub[iface].publish(msg)
if iface == best_active:
self.ap_pub.publish(msg)
if best_active is None:
self.ap_pub.publish(AccessPoint())
# status
msg = MultiInterfaceStatus()
for iface in self._interfaces:
msg.interfaces.append(self.gen_status_msg(iface))
self.status_pub.publish(msg)
# diagnostics
diags = []
diags.append(('Tunnel Interface', self.interface_selector.tunnel_interface))
if self.interface_selector.active_interfaces and \
self.interface_selector.active_interfaces[0].score != self.interface_selector.TERRIBLE_INTERFACE:
act_iface = self.interface_selector.active_interfaces[0]
diags.append(('Active Interface', act_iface.iface ))
diags += act_iface.diags
if act_iface.goodness > 95:
diag_summary = "Active interface %s running strong"%act_iface.iface
diag_level = 0
elif act_iface.goodness > 50:
diag_summary = "Active interface %s is lossy"%act_iface.iface
diag_level = 1
else:
if act_iface.goodness > 0:
diag_summary = "Active interface %s is very poor"%act_iface.iface
else:
diag_summary = "Active interface %s is failing to ping"%act_iface.iface
diag_level = 2
else:
diags.append(('Active Interface', "none"))
diag_summary = 'No active interface'
diag_level = 2
ds = self.fill_diags("synthetic interface", diag_summary, self.hostname, diags)
ds.level = diag_level
statuses = [ds]
for iface in self._interfaces:
status = iface.status
if status == InterfaceStatus.STATE_ADDR and iface.ping_loss < 100:
status = InterfaceStatus.STATE_PINGING
diag_summary = "Connected (goodness %f, reliability %f)"%(iface.goodness, iface.reliability)
else:
diag_summary = STATUSES[status]
ds = self.fill_diags(iface.iface, diag_summary, self.hostname, iface.diags)
statuses.append(ds)
da = DiagnosticArray()
da.header.stamp = rospy.get_rostime()
da.status = statuses
self.diag_pub.publish(da)
def gen_accesspoint_msg(iface):
msg = AccessPoint()
msg.essid = iface.essid
msg.macaddr = iface.bssid
msg.signal = iface.wifi_signal
msg.noise = iface.wifi_noise
msg.snr = msg.signal - msg.noise
msg.quality = iface.wifi_quality
msg.rate = iface.wifi_rate
msg.tx_power = iface.wifi_txpower
msg.channel = IEEE80211_Channels.get_channel(iface.wifi_frequency * 1e6)
return msg
def fetchCurrentAP(self):
url = "http://%s/Status_Wireless.live.asp" % self.hostname
response = self.newBrowser().open(url)
body = response.read()
line = None
lines = body.split("\n")
d = {}
for line in lines:
line = line[1:-1]
line = line.replace(" ", "")
parts = line.split("::", 1)
if len(parts) == 2:
d[parts[0]] = parts[1]
essid = d.get('wl_ssid', '')
wl_channel = d.get('wl_channel', '').split()[0]
channel = int(wl_channel)
rate = d.get('wl_rate', '')
signal = None
noise = None
snr = None
quality = None
tx_power = d.get('wl_xmit', '')
active_wireless = d.get('active_wireless', None)
ap = None
if active_wireless:
active_wireless = active_wireless.replace("'", "")
parts = active_wireless.split(",")
macaddr = parts[0]
interface = parts[1]
if len(parts) == 7:
signal = int(parts[4])
noise = int(parts[5])
snr = int(parts[6])
quality = signal * 1.24 + 116
else:
signal = int(parts[5])
noise = int(parts[6])
snr = int(parts[7])
quality = int(parts[8]) / 10
#self.fetchBandwidthStats(interface)
#make sure that we put a stamp on things
header = Header()
header.stamp = rospy.Time.now()
ap = AccessPoint(header=header,
essid=essid,
macaddr=macaddr,
signal=signal,
noise=noise,
snr=snr,
channel=channel,
rate=rate,
quality=quality,
tx_power=tx_power)
return ap
def __init__(self):
self.ap = AccessPoint()
self.t = time.time()
self._pick_ap()
def gen_accesspoint_msg(iface):
msg = AccessPoint()
msg.essid = iface.essid
msg.macaddr = iface.bssid
msg.signal = iface.wifi_signal
msg.noise = iface.wifi_noise
msg.snr = msg.signal - msg.noise
msg.quality = iface.wifi_quality
msg.rate = iface.wifi_rate
msg.tx_power = iface.wifi_txpower
msg.channel = MultiInterfaceDiagPublisher.frequency_to_channel(
iface.wifi_frequency)
return msg
