Fixed Windows build, implemented wifi mapping example in Windows

2026-10-04 00:37:46 +08:00 · 2015-03-25 16:30:05 -04:00
parent 19d6da9035
commit 2cc853b507
9 changed files with 208 additions and 48 deletions
@@ -28,12 +28,50 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef WIFITHREAD_H_
 #define WIFITHREAD_H_

-#include <sys/socket.h>
-#include <linux/wireless.h>
-#include <sys/ioctl.h>
+#ifdef _WIN32
+	#ifndef UNICODE
+	#define UNICODE
+	#endif
+
+	#include <windows.h>
+	#include <wlanapi.h>
+	#include <Windot11.h>           // for DOT11_SSID struct
+	#include <objbase.h>
+	#include <wtypes.h>
+
+	#include <stdio.h>
+	#include <stdlib.h>
+
+	// Need to link with Wlanapi.lib and Ole32.lib
+	#pragma comment(lib, "wlanapi.lib")
+	#pragma comment(lib, "ole32.lib")
+#else
+	#include <sys/socket.h>
+	#include <linux/wireless.h>
+	#include <sys/ioctl.h>
+#endif
 #include <rtabmap/core/UserDataEvent.h>
 #include <rtabmap/utilite/UTimer.h>

+// A percentage value that represents the signal quality
+// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
+// This member contains a value between 0 and 100. A value
+// of 0 implies an actual RSSI signal strength of -100 dbm.
+// A value of 100 implies an actual RSSI signal strength of -50 dbm.
+// You can calculate the RSSI signal strength value for wlanSignalQuality
+// values between 1 and 99 using linear interpolation.
+inline int quality2dBm(int quality)
+{
+	// Quality to dBm:
+	if(quality <= 0)
+		return -100;
+	else if(quality >= 100)
+		return -50;
+	else
+		return (quality / 2) - 100;
+}
+
+
 class WifiThread : public UThread, public UEventsSender
 {
 public:
@@ -49,6 +87,79 @@ private:
 		uSleep(1000/rate_);
 		if(!this->isKilled())
 		{
+			int dBm = 0;
+#ifdef _WIN32
+			//From https://msdn.microsoft.com/en-us/library/windows/desktop/ms706765(v=vs.85).aspx
+			// Declare and initialize variables.
+			HANDLE hClient = NULL;
+			DWORD dwMaxClient = 2;      //
+			DWORD dwCurVersion = 0;
+			DWORD dwResult = 0;
+
+			// variables used for WlanEnumInterfaces
+			PWLAN_INTERFACE_INFO_LIST pIfList = NULL;
+			PWLAN_INTERFACE_INFO pIfInfo = NULL;
+
+			// variables used for WlanQueryInterfaces for opcode = wlan_intf_opcode_current_connection
+			PWLAN_CONNECTION_ATTRIBUTES pConnectInfo = NULL;
+			DWORD connectInfoSize = sizeof(WLAN_CONNECTION_ATTRIBUTES);
+			WLAN_OPCODE_VALUE_TYPE opCode = wlan_opcode_value_type_invalid;
+
+			dwResult = WlanOpenHandle(dwMaxClient, NULL, &dwCurVersion, &hClient);
+			if (dwResult != ERROR_SUCCESS)
+			{
+				UERROR("WlanOpenHandle failed with error: %u\n", dwResult);
+			}
+			else
+			{
+				dwResult = WlanEnumInterfaces(hClient, NULL, &pIfList);
+				if (dwResult != ERROR_SUCCESS)
+				{
+					UERROR("WlanEnumInterfaces failed with error: %u\n", dwResult);
+				}
+				else
+				{
+					// take the first interface found
+					int i = 0;
+					pIfInfo = (WLAN_INTERFACE_INFO *) & pIfList->InterfaceInfo[i];
+					if(pIfInfo->isState == wlan_interface_state_connected)
+					{
+						dwResult = WlanQueryInterface(hClient,
+													  &pIfInfo->InterfaceGuid,
+													  wlan_intf_opcode_current_connection,
+													  NULL,
+													  &connectInfoSize,
+													  (PVOID *) &pConnectInfo,
+													  &opCode);
+
+						if (dwResult != ERROR_SUCCESS)
+						{
+							UERROR("WlanQueryInterface failed with error: %u\n", dwResult);
+						}
+						else
+						{
+							int quality = pConnectInfo->wlanAssociationAttributes.wlanSignalQuality;
+							dBm = quality2dBm(quality);
+						}
+					}
+					else
+					{
+						UERROR("Interface not connected!");
+					}
+				}
+			}
+			if (pConnectInfo != NULL)
+			{
+				WlanFreeMemory(pConnectInfo);
+				pConnectInfo = NULL;
+			}
+
+			if (pIfList != NULL)
+			{
+				WlanFreeMemory(pIfList);
+				pIfList = NULL;
+			}
+#else
 			// Code inspired from http://blog.ajhodges.com/2011/10/using-ioctl-to-gather-wifi-information.html

 			//have to use a socket for ioctl
@@ -79,15 +190,7 @@ private:
 			else if(((iw_statistics *)req.u.data.pointer)->qual.updated & IW_QUAL_DBM)
 			{
 				//signal is measured in dBm and is valid for us to use
-				int level = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
-				double stamp = UTimer::now();
-
-				// Create user data [level, stamp] with the value (int = 4 bytes) and a timestamp (double = 8 bytes)
-				std::vector<unsigned char> data(sizeof(int) + sizeof(double));
-				memcpy(data.data(), &level, sizeof(int));
-				memcpy(data.data()+sizeof(int), &stamp, sizeof(double));
-				this->post(new UserDataEvent(data));
-				//UWARN("posting level %d dBm", level);
+				dBm = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
 			}
 			else
 			{
@@ -95,6 +198,18 @@ private:
 			}

 			close(sockfd);
+#endif
+			if(dBm != 0)
+			{
+				double stamp = UTimer::now();
+
+				// Create user data [level, stamp] with the value (int = 4 bytes) and a timestamp (double = 8 bytes)
+				std::vector<unsigned char> data(sizeof(int) + sizeof(double));
+				memcpy(data.data(), &dBm, sizeof(int));
+				memcpy(data.data()+sizeof(int), &stamp, sizeof(double));
+				this->post(new UserDataEvent(data));
+				//UWARN("posting level %d dBm", dBm);
+			}
 		}
 	}