- Roaming module client/server

- Unit tests
- Roaming functionality independent of navigation

Missing:
- Deployment

CMakeLists.txt

@@ -6,6 +6,7 @@ set(BTState OFF CACHE BOOL OFF)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+set(ENABLE_TESTS OFF CACHE BOOL OFF)
 
 option(BASE_INCOHERENT_TO_FAULT "if enabled, the bt_motorsNotInFault module will consider a fault every pair of different controle modes for the robot base wheels motors" OFF)
 if(BASE_INCOHERENT_TO_FAULT)

aux_modules/CMakeLists.txt

@@ -9,6 +9,7 @@ add_subdirectory(headSynchronizer)
 add_subdirectory(googleLogger)
 add_subdirectory(tourManager)
 add_subdirectory(eyeContactManager)
+add_subdirectory(roaming)
 if(0)
     add_subdirectory(speechProcessing)
 endif()

aux_modules/roaming/CMakeLists.txt

@@ -0,0 +1,43 @@
+project(roaming)
+set(ROAMING_SERVER roaming_server)
+set(ROAMING_CLIENT roaming_client)
+
+## Roaming server configuration
+add_executable(${ROAMING_SERVER})
+target_include_directories(${ROAMING_SERVER} PUBLIC include)
+target_sources(${ROAMING_SERVER} PRIVATE 
+    src/mainServer.cpp
+    src/RoamingServer.cpp 
+    src/LinuxNetworkInteraction.cpp
+    include/LinuxNetworkInteraction.h
+    include/RoamingServer.h)
+target_link_libraries(${ROAMING_SERVER} PRIVATE ${YARP_LIBRARIES})
+if(${ENABLE_TESTS})
+    add_subdirectory(test)
+endif()
+
+
+## Roaming client configuration
+find_library(wpa libwpa_client.so HINTS /opt/wpa_supplicant-2.10/wpa_supplicant)
+if(${wpa} MATCHES wpa-NOTFOUND)
+    message("-- Cannot build roaming client")
+else()
+    add_executable(${ROAMING_CLIENT})
+    cmake_path(GET wpa PARENT_PATH WPA_PATH)
+    cmake_path(GET WPA_PATH PARENT_PATH WPA_PARENT_PATH)
+    target_include_directories(${ROAMING_CLIENT} PUBLIC
+        include
+        ${WPA_PARENT_PATH}/src/common
+        ${WPA_PARENT_PATH}/src/utils
+    )
+    target_sources(${ROAMING_CLIENT} PRIVATE
+        src/mainClient.cpp
+        src/RoamingClient.cpp
+        src/WpaSupplicantRoaming.cpp
+        include/RoamingClient.h
+    )
+    target_link_libraries(${ROAMING_CLIENT} PUBLIC
+        ${YARP_LIBRARIES}
+        ${wpa}
+    )
+endif()

aux_modules/roaming/include/INetworkInteraction.h

@@ -0,0 +1,15 @@
+#ifndef INETWORKINTERACTION_H_
+#define INETWORKINTERACTION_H_
+
+#include <string>
+#include <vector>
+
+class INetworkInteraction
+{
+    public:
+        virtual ~INetworkInteraction() {};
+        virtual std::vector<std::string> getCurrentApName() = 0;
+        virtual bool roam(const std::string& ap_name) = 0;
+};
+
+#endif

aux_modules/roaming/include/LinuxNetworkInteraction.h

@@ -0,0 +1,15 @@
+#ifndef LINUXNETWORKINTERACTION_H_
+#define LINUXNETWORKINTERACTION_H_
+
+#include <INetworkInteraction.h>
+
+class LinuxNetworkInteraction : public INetworkInteraction 
+{
+
+    public:
+        LinuxNetworkInteraction() {};
+        std::vector<std::string> getCurrentApName() override;
+        bool roam(const std::string& ap_name) override;
+};
+
+#endif

aux_modules/roaming/include/RoamingClient.h

@@ -0,0 +1,24 @@
+#include <yarp/os/RFModule.h>
+#include <yarp/os/Port.h>
+#include <WpaSupplicantRoaming.h>
+
+class RoamingClient: public yarp::os::RFModule
+{
+    public:
+        RoamingClient();
+        bool configure(yarp::os::ResourceFinder& rf) override;
+        bool updateModule() override;
+        bool interruptModule() override;
+        double getPeriod() override;
+        bool close() override;
+
+    private:
+        std::string m_name;
+        std::string m_port_ap_name;
+        std::string m_interface_name;
+        std::string m_ssid;
+
+        yarp::os::Port m_port_ap;
+
+        WpaSupplicantRoaming roaming;
+};

aux_modules/roaming/include/RoamingServer.h

@@ -0,0 +1,53 @@
+#include <yarp/os/RFModule.h>
+#include <yarp/dev/INavigation2D.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/os/Port.h>
+
+#include <optional>
+
+#include <INetworkInteraction.h>
+
+class RoamingServer : public yarp::os::RFModule
+{
+public:
+    RoamingServer(std::string name);
+    RoamingServer(std::string name, INetworkInteraction& inet);
+    virtual bool configure(yarp::os::ResourceFinder &rf);
+    virtual double getPeriod();
+    virtual bool updateModule();
+    virtual bool close();
+    virtual bool interruptModule();
+
+    bool roam(const std::string &ap_name);
+
+    // APs
+    const std::vector<std::string> getAPList() const;
+    const std::optional<yarp::dev::Nav2D::Map2DLocation> getApPosition(const std::string &ap_name) const;
+    const std::optional<std::string> getCurrentApName() const;
+    const bool isAP(const std::string &location_name) const;
+    const double distanceToAP(const std::string& ap_name) const;
+    const std::string getBestAP() const;
+
+private:
+    std::string m_name;
+    std::string m_roaming_port_name;
+    yarp::os::Port m_roaming_port;
+
+    yarp::dev::Nav2D::INavigation2D *m_navigation;
+    yarp::dev::Nav2D::ILocalization2D *m_localization;
+    yarp::dev::Nav2D::IMap2D *m_map;
+    yarp::dev::PolyDriver m_ddNav;
+
+    INetworkInteraction& m_net;
+
+    std::vector<std::string> m_ap_list;
+    std::string m_map_name;
+
+
+    // Configuration
+    bool configureInterfaces();
+
+    // Roaming 
+    yarp::dev::Nav2D::Map2DLocation m_robot_position;
+    bool checkRoamingCondition(const double threshold = 5.0);
+};

aux_modules/roaming/include/WpaSupplicantRoaming.h

@@ -0,0 +1,10 @@
+#include <string>
+#include <wpa_ctrl.h>
+
+class WpaSupplicantRoaming
+{
+    public:
+        bool roam(const std::string& if_name, const std::string& ssid, const std::string& ap_name);
+    private:
+        std::string wpa_request(wpa_ctrl* ctrl, const std::string& cmd);
+};

aux_modules/roaming/src/LinuxNetworkInteraction.cpp

@@ -0,0 +1,30 @@
+#include <LinuxNetworkInteraction.h>
+#include <yarp/os/LogStream.h>
+
+std::vector<std::string> LinuxNetworkInteraction::getCurrentApName()
+{
+    // Get current connected AP name
+    std::vector<std::string> iw_config_out;
+
+    // Get iwconfig output
+    FILE* pipe = popen("iwconfig 2>&1", "r");
+    if(!pipe) {
+        yError() << "Failed to execute iwconfig. Is iwconfig installed? Please run sudo apt update; sudo apt install wireless-tools";
+        return iw_config_out;
+    }
+
+    // Parse iwconfig output to get Access Point name
+    char buffer[128];
+    while(fgets(buffer, 128, pipe) != NULL) {
+        std::string line(buffer);
+        iw_config_out.push_back(line);
+    }
+
+    return iw_config_out;
+}
+
+bool LinuxNetworkInteraction::roam(const std::string& ap_name)
+{
+    yWarning() << "Roaming capability is not implemented in LinuxNetworkInteraction";
+    return true;
+}

aux_modules/roaming/src/RoamingClient.cpp

@@ -0,0 +1,59 @@
+#include <RoamingClient.h>
+#include <yarp/os/Bottle.h>
+#include <yarp/os/LogStream.h>
+#include <algorithm>
+
+RoamingClient::RoamingClient():
+    roaming{WpaSupplicantRoaming()}
+    {}
+
+bool RoamingClient::configure(yarp::os::ResourceFinder& rf)
+{
+    m_name = rf.check("name",yarp::os::Value("RoamingClient")).asString();
+    m_interface_name = rf.check("interface",yarp::os::Value("wlp0s20f3")).asString();
+    m_ssid = rf.check("ssid",yarp::os::Value("r1_wifi")).asString();
+
+    yDebug() << "Parameter name set to:" << m_name;
+    yDebug() << "Parameter interface set to:" << m_interface_name;
+    yDebug() << "Parameter ssid set to:" << m_ssid;
+
+    m_port_ap_name = "/" + m_name + "/ap:i";
+    m_port_ap.open(m_port_ap_name);
+
+    return true;
+}
+
+bool RoamingClient::updateModule()
+{
+    yarp::os::Bottle ap_name_bot;
+    if(m_port_ap.read(ap_name_bot))
+    {
+        std::string ap_name = ap_name_bot.toString();
+
+        // Trimming the \" at the start and end of string introduced by the bottle
+        ap_name.erase(std::remove(ap_name.begin(),ap_name.end(),'\"'),ap_name.end());
+        if(!roaming.roam(m_interface_name,m_ssid,ap_name))
+        {
+            yError() << "Roaming to ap: " << ap_name << " has failed";
+        }
+    }
+
+    return true;
+}
+
+bool RoamingClient::interruptModule()
+{
+    m_port_ap.interrupt();
+    return true;
+}
+
+bool RoamingClient::close()
+{
+    m_port_ap.close();
+    return true;
+}
+
+double RoamingClient::getPeriod()
+{
+    return 1;
+}