Program Listing for File wireless_watcher.hpp

↰ Return to documentation for file (include/wireless_watcher/wireless_watcher.hpp)

#ifndef WIRELESS_WATCHER__WIRELESS_WATCHER_HPP_
#define WIRELESS_WATCHER__WIRELESS_WATCHER_HPP_

#include <string>
#include <vector>

#include "diagnostic_updater/diagnostic_updater.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/bool.hpp"
#include "wireless_msgs/msg/connection.hpp"
#include "wireless_msgs/msg/network.hpp"

#define SYS_NET_PATH "/sys/class/net"
#define SIGNAL_STRENGTH_WEAK -67
#define SIGNAL_STRENGTH_VERY_WEAK -75

class WirelessWatcher : public rclcpp::Node
{
public:
  WirelessWatcher();

private:
  // Parameters
  double hz;
  std::string dev;
  std::string connected_topic;
  std::string connection_topic;

  // Other Variables
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr connected_pub_;
  rclcpp::Publisher<wireless_msgs::msg::Connection>::SharedPtr connection_pub_;
  std_msgs::msg::Bool connected_msg_;
  wireless_msgs::msg::Connection connection_msg_;
  diagnostic_updater::Updater updater_;

  // Methods
  void timer_callback();
  std::string exec_cmd(const std::string& cmd);
  std::vector<std::string> split(const std::string& s, const std::string& delimiter);
  void diagnostic(diagnostic_updater::DiagnosticStatusWrapper & stat);
  void ip_address_diag(std::string dev, diagnostic_updater::DiagnosticStatusWrapper & stat);
};

#endif  // WIRELESS_WATCHER__WIRELESS_WATCHER_HPP_