Implemented wifi_mapping example on Mac OS X

CMakeLists.txt

@@ -138,7 +138,7 @@ ENDIF()
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
-  IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
+  IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
        
     # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
     SET(CMAKE_INSTALL_PREFIX "/")
@@ -341,4 +341,12 @@ ELSE()
 MESSAGE(STATUS "  With g2o  = NO (g2o not found)")
 ENDIF()
 
+IF(QT4_FOUND)
+MESSAGE(STATUS "  With Qt  = YES (version 4)")
+ELSEIF(Qt5_FOUND)
+MESSAGE(STATUS "  With Qt  = YES (version 5)")
+ELSE()
+MESSAGE(STATUS "  With Qt  = NO (Qt not found, to use Qt5 you should set -DRTABMAP_QT_VERSION=5)")
+ENDIF()
+
 MESSAGE(STATUS "--------------------------------------------")

examples/CMakeLists.txt

@@ -3,12 +3,7 @@ ADD_SUBDIRECTORY( BOWMapping )
 
 IF(TARGET rtabmap_gui)
    ADD_SUBDIRECTORY( RGBDMapping )
-	
+   ADD_SUBDIRECTORY( WifiMapping )
-   # Only on Linux and Windows
-   IF(NOT APPLE)
-      ADD_SUBDIRECTORY( WifiMapping )
-   ENDIF(NOT APPLE)
-
 ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the RGBDMapping and WifiMapping examples will not be built...")
 ENDIF()

examples/WifiMapping/CMakeLists.txt

@@ -1,4 +1,7 @@
 
+SET(srcs
+    main.cpp)
+
 SET(INCLUDE_DIRS
 	${PROJECT_SOURCE_DIR}/utilite/include
 	${PROJECT_SOURCE_DIR}/corelib/include
@@ -25,8 +28,20 @@ ELSE()
     QT5_WRAP_CPP(moc_srcs ../RGBDMapping/MapBuilder.h MapBuilderWifi.h)
 ENDIF()
 
-ADD_EXECUTABLE(wifi_mapping main.cpp ${moc_srcs})
+IF(APPLE)
-  
+    FIND_LIBRARY(CoreWLAN_LIBRARY CoreWLAN)
+    MARK_AS_ADVANCED(CoreWLAN_LIBRARY)
+    SET(LIBRARIES
+	    ${LIBRARIES}
+	    ${CoreWLAN_LIBRARY}
+	)
+	SET(srcs
+	    ${srcs}
+	    WifiOSX.mm
+	)
+ENDIF(APPLE)
+
+ADD_EXECUTABLE(wifi_mapping ${srcs} ${moc_srcs})
 TARGET_LINK_LIBRARIES(wifi_mapping rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
 
 SET_TARGET_PROPERTIES( wifi_mapping 

examples/WifiMapping/WifiOSX.h

@@ -0,0 +1,25 @@
+/*
+ * WifiOSX.h
+ *
+ *  Created on: Mar 26, 2015
+ *      Author: mathieu
+ */
+
+#ifndef WIFIOSX_H_
+#define WIFIOSX_H_
+
+#include <string>
+#include <vector>
+
+struct AccessPoint
+{
+    std::string ssid;
+    std::string bssid;
+    int rssi;
+};
+
+int getRssi(const std::string& interfaceName);
+std::vector<AccessPoint> scanAir(const std::string& interfaceName);
+
+
+#endif /* WIFIOSX_H_ */

examples/WifiMapping/WifiOSX.mm

@@ -0,0 +1,34 @@
+#import <CoreWLAN/CoreWLAN.h>
+#include "WifiOSX.h"
+
+int getRssi(const std::string& interfaceName)
+{
+    NSString* ifName = [NSString stringWithUTF8String:interfaceName.c_str()];
+    CWInterface* interface = [CWInterface interfaceWithName:ifName];
+    return interface.rssiValue;
+}
+
+std::vector<AccessPoint> scanAir(const std::string& interfaceName)
+{
+    NSString* ifName = [NSString stringWithUTF8String:interfaceName.c_str()];
+    CWInterface* interface = [CWInterface interfaceWithName:ifName];
+    
+    NSError* error = nil;
+    NSArray* scanResult = [[interface scanForNetworksWithSSID:nil error:&error] allObjects];
+    if (error)
+    {
+        NSLog(@"%@ (%ld)", [error localizedDescription], [error code]);
+    }
+    
+    std::vector<AccessPoint> result;
+    for (CWNetwork* network in scanResult)
+    {
+        AccessPoint ap;
+        ap.ssid  = std::string([[network ssid] UTF8String]);
+        ap.bssid = std::string([[network bssid] UTF8String]);
+        ap.rssi = [network rssiValue];
+        result.push_back(ap);
+    }
+    
+    return result;
+}

examples/WifiMapping/WifiThread.h

@@ -45,6 +45,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 	// Need to link with Wlanapi.lib and Ole32.lib
 	#pragma comment(lib, "wlanapi.lib")
 	#pragma comment(lib, "ole32.lib")
+#elif __APPLE__
+#include "WifiOSX.h"
 #else
 	#include <sys/socket.h>
 	#include <linux/wireless.h>
@@ -159,6 +161,8 @@ private:
 				WlanFreeMemory(pIfList);
 				pIfList = NULL;
 			}
+#elif __APPLE__
+			dBm = getRssi(interfaceName_);
 #else
 			// Code inspired from http://blog.ajhodges.com/2011/10/using-ioctl-to-gather-wifi-information.html