WiFiTrilatSrv.py 文件源码

def __init__(self, listenInt, interface, freq, essid, psswd, ip, nm, discoverOnce=True):
    self.robotName = os.getenv('HOSTNAME')
    self.tolerance = 20
    self.x = 0
    self.y = 0
    self.client = WiFiTrilatClient()

    self.discoverOnce = discoverOnce

    rospy.init_node(self.robotName + "_wifitrilat_server")

    #self.rssiPub = rospy.Publisher('/' + self.robotName + '/WiFiRSSI', WiFiRSSIMsg, queue_size=10)
    self.service = rospy.Service("/" + self.robotName + "/WiFiTrilat", WiFiTrilat, self.handle_Trilat)

    self.listenInt = listenInt
    self.interface = interface
    #self.mac = mac.lower()
    self.freq = int(freq)

    self.msgs = []

    cli.execute_shell("ifconfig %s down" % self.listenInt)
    #self.wifi = Wireless(self.interface).setFrequency("%.3f" % (float(self.freq) / 1000))
    self.connectToNet(essid, psswd,ip, nm)
    cli.execute_shell("ifconfig %s up" % self.listenInt)

    self.purge = rospy.Timer(rospy.Duration(2), self.msgPurge)
    self.heartbeat = rospy.Timer(rospy.Duration(1), self.heartbeat_call)
    self.discoverTimer = rospy.Timer(rospy.Duration(20), self.findSelfPos)


    sniff(iface=self.listenInt, prn=self.handler, store=0)
    rospy.spin()