scripts/wifistrength.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import sys
   5 import os
   6 import re
   7 import rospy
   8 import tf
   9 import tf2_ros
  10 from time import sleep
  11
  12 rospy.init_node('wifi_strength')
  13
  14 tfBuffer = tf2_ros.Buffer()
  15 listener = tf2_ros.TransformListener(tfBuffer)
  16 regex_lq = re.compile("Link Quality=(\d*)/(\d*)")
  17 while not rospy.is_shutdown():
  18         f = os.popen("export LANG=C; /sbin/iwconfig wlan0")
  19         for line in f:
  20                 line = line.strip()
  21                 match_lq = regex_lq.match(line)
  22                 if match_lq is not None:
  23                         lq = float(match_lq.group(1)) / float(match_lq.group(2))
  24                         pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))
  25                         print '{"x":%.2f, "y":%.2f, "link":%.2f},' % (pos.transform.translation.x, pos.transform.translation.y, lq)
  26                         sys.stdout.flush()
  27                         sleep(0.5)