From 55f32e3e4f36599dcd866adb64b75c9d905f8358 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 5 Apr 2019 22:07:13 +0200 Subject: [PATCH] Added rtl_sdr_strength.py --- scripts/rtl_sdr_strength.py | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100755 scripts/rtl_sdr_strength.py diff --git a/scripts/rtl_sdr_strength.py b/scripts/rtl_sdr_strength.py new file mode 100755 index 0000000..5e09c52 --- /dev/null +++ b/scripts/rtl_sdr_strength.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python +# -*- coding: iso-8859-15 -*- + +import sys +import subprocess +import re +import rospy +import tf +import tf2_ros +from time import sleep + +rospy.init_node('wifi_strength') + +tfBuffer = tf2_ros.Buffer() +listener = tf2_ros.TransformListener(tfBuffer) +regex_lq = re.compile("Link Quality=(\d*)/(\d*)") +while not rospy.is_shutdown(): + popen = subprocess.Popen("rtl_power -f 868.3M:868.4M:10k -g 42 -i 1".split(), stdout=subprocess.PIPE) + while True: + line = popen.stdout.readline() + if line == "": + break + power = line.replace("\n", "").split(",")[6:] + power = [float(s) for s in power] + pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0)) + print '{"x":%.2f, "y":%.2f, "power": %s},' % (pos.transform.translation.x, pos.transform.translation.y, power) + sys.stdout.flush() -- 2.39.2