a lot!!! of changes
added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
This commit is contained in:
kazu
@@ -1,15 +1,38 @@
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#ifndef WIFISENSORLINUX_H
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#define WIFISENSORLINUX_H
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#ifdef LINUX_DESKTOP
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#include "../WiFiSensor.h"
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#include <thread>
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extern "C" {
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#include "WiFiSensorLinuxC.h"
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}
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class WiFiSensorLinux : public WiFiSensor {
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private:
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std::vector<uint32_t> freqs = {2412, 2417, 2422, 2427, 2432, 2437, 2442, 2447, 2452, 2457, 2462, 2467, 2472};
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bool running;
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std::thread thread;
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int ifIdx;
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wifiState state;
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private:
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WiFiSensorLinux() {
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ifIdx = wifiGetInterfaceIndex("wlp3s0");
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if (ifIdx == 0) {throw Exception("wifi interface not found!");}
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int ret = wifiGetDriver(&state);
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if (ret != 0) {throw Exception("wifi driver not found!");}
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std::cout << "if: " << ifIdx << std::endl;
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}
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public:
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@@ -21,13 +44,59 @@ public:
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}
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void start() override {
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running = true;
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thread = std::thread(&WiFiSensorLinux::run, this);
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}
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void stop() override {
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running = false;
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thread.join();
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}
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private:
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void run() {
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wifiScanResult result;
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wifiChannels channels;
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channels.frequencies = freqs.data();
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channels.numUsed = freqs.size();
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while(running) {
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int ret;
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// trigger a scan
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ret = wifiTriggerScan(&state, ifIdx, &channels);
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if (ret != 0) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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continue;
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}
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// fetch scan result (blocks)
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ret = wifiGetScanResult(&state, ifIdx, &result);
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// convert to our format
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const Timestamp ts = Timestamp::fromUnixTime();
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WiFiMeasurements data;
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for (int i = 0; i < result.numUsed; ++i) {
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const std::string mac = result.entries[i].mac;
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const int rssi = result.entries[i].rssi;
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data.entries.push_back(WiFiMeasurement(AccessPoint(mac), rssi));
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}
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// and call the listeners
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informListeners(ts, data);
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}
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}
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};
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#endif
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#endif // WIFISENSORLINUX_H
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376
sensors/linux/WiFiSensorLinuxC.c
Normal file
376
sensors/linux/WiFiSensorLinuxC.c
Normal file
@@ -0,0 +1,376 @@
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#ifdef LINUX_DESKTOP
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#include "WiFiSensorLinuxC.h"
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struct trigger_results {
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int done;
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int aborted;
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};
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struct handler_args { // For family_handler() and nl_get_multicast_id().
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const char *group;
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int id;
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};
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static int error_handler(struct sockaddr_nl *nla, struct nlmsgerr *err, void *arg) {
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// Callback for errors.
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printf("error_handler() called.\n");
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int *ret = (int*)arg;
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*ret = err->error;
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return NL_STOP;
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}
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static int finish_handler(struct nl_msg *msg, void *arg) {
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// Callback for NL_CB_FINISH.
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int *ret = (int*)arg;
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*ret = 0;
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return NL_SKIP;
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}
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static int ack_handler(struct nl_msg *msg, void *arg) {
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// Callback for NL_CB_ACK.
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int *ret = (int*)arg;
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*ret = 0;
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return NL_STOP;
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}
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static int no_seq_check(struct nl_msg *msg, void *arg) {
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// Callback for NL_CB_SEQ_CHECK.
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return NL_OK;
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}
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static int family_handler(struct nl_msg *msg, void *arg) {
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// Callback for NL_CB_VALID within nl_get_multicast_id(). From http://sourcecodebrowser.com/iw/0.9.14/genl_8c.html.
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struct handler_args *grp = arg;
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struct nlattr *tb[CTRL_ATTR_MAX + 1];
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struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
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struct nlattr *mcgrp;
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int rem_mcgrp;
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nla_parse(tb, CTRL_ATTR_MAX, genlmsg_attrdata(gnlh, 0), genlmsg_attrlen(gnlh, 0), NULL);
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if (!tb[CTRL_ATTR_MCAST_GROUPS]) return NL_SKIP;
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nla_for_each_nested(mcgrp, tb[CTRL_ATTR_MCAST_GROUPS], rem_mcgrp) { // This is a loop.
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struct nlattr *tb_mcgrp[CTRL_ATTR_MCAST_GRP_MAX + 1];
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nla_parse(tb_mcgrp, CTRL_ATTR_MCAST_GRP_MAX, nla_data(mcgrp), nla_len(mcgrp), NULL);
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if (!tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME] || !tb_mcgrp[CTRL_ATTR_MCAST_GRP_ID]) continue;
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if (strncmp((const char*)nla_data(tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME]), grp->group,
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nla_len(tb_mcgrp[CTRL_ATTR_MCAST_GRP_NAME]))) {
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continue;
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}
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grp->id = nla_get_u32(tb_mcgrp[CTRL_ATTR_MCAST_GRP_ID]);
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break;
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}
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return NL_SKIP;
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}
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int nl_get_multicast_id(struct nl_sock *sock, const char *family, const char *group) {
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// From http://sourcecodebrowser.com/iw/0.9.14/genl_8c.html.
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struct nl_msg *msg;
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struct nl_cb *cb;
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int ret, ctrlid;
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struct handler_args grp = { .group = group, .id = -ENOENT, };
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msg = nlmsg_alloc();
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if (!msg) return -ENOMEM;
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cb = nl_cb_alloc(NL_CB_DEFAULT);
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if (!cb) {
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ret = -ENOMEM;
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goto out_fail_cb;
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}
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ctrlid = genl_ctrl_resolve(sock, "nlctrl");
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genlmsg_put(msg, 0, 0, ctrlid, 0, 0, CTRL_CMD_GETFAMILY, 0);
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ret = -ENOBUFS;
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NLA_PUT_STRING(msg, CTRL_ATTR_FAMILY_NAME, family);
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ret = nl_send_auto_complete(sock, msg);
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if (ret < 0) goto out;
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ret = 1;
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nl_cb_err(cb, NL_CB_CUSTOM, error_handler, &ret);
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nl_cb_set(cb, NL_CB_ACK, NL_CB_CUSTOM, ack_handler, &ret);
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nl_cb_set(cb, NL_CB_VALID, NL_CB_CUSTOM, family_handler, &grp);
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while (ret > 0) nl_recvmsgs(sock, cb);
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if (ret == 0) ret = grp.id;
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nla_put_failure:
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out:
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nl_cb_put(cb);
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out_fail_cb:
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nlmsg_free(msg);
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return ret;
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}
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void mac_addr_n2a(char *mac_addr, unsigned char *arg) {
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// From http://git.kernel.org/cgit/linux/kernel/git/jberg/iw.git/tree/util.c.
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int i, l;
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l = 0;
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for (i = 0; i < 6; i++) {
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if (i == 0) {
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sprintf(mac_addr+l, "%02x", arg[i]);
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l += 2;
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} else {
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sprintf(mac_addr+l, ":%02x", arg[i]);
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l += 3;
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}
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}
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}
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void print_ssid(unsigned char *ie, int ielen) {
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uint8_t len;
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uint8_t *data;
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int i;
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while (ielen >= 2 && ielen >= ie[1]) {
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if (ie[0] == 0 && ie[1] >= 0 && ie[1] <= 32) {
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len = ie[1];
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data = ie + 2;
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for (i = 0; i < len; i++) {
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if (isprint(data[i]) && data[i] != ' ' && data[i] != '\\') printf("%c", data[i]);
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else if (data[i] == ' ' && (i != 0 && i != len -1)) printf(" ");
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else printf("\\x%.2x", data[i]);
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}
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break;
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}
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ielen -= ie[1] + 2;
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ie += ie[1] + 2;
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}
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}
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static int callback_trigger(struct nl_msg *msg, void *arg) {
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// Called by the kernel when the scan is done or has been aborted.
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struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
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struct trigger_results *results = arg;
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//printf("Got something.\n");
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//printf("%d\n", arg);
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//nl_msg_dump(msg, stdout);
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if (gnlh->cmd == NL80211_CMD_SCAN_ABORTED) {
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printf("Got NL80211_CMD_SCAN_ABORTED.\n");
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results->done = 1;
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results->aborted = 1;
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} else if (gnlh->cmd == NL80211_CMD_NEW_SCAN_RESULTS) {
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printf("Got NL80211_CMD_NEW_SCAN_RESULTS.\n");
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results->done = 1;
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results->aborted = 0;
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} // else probably an uninteresting multicast message.
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return NL_SKIP;
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}
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// called by the kernel for each detected AP
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static int callback_dump(struct nl_msg *msg, void *arg) {
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// user data
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struct wifiScanResult* res = arg;
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struct wifiScanResultEntry* entry = &(res->entries[res->numUsed]);
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++res->numUsed;
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struct genlmsghdr *gnlh = nlmsg_data(nlmsg_hdr(msg));
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char mac_addr[20];
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struct nlattr *tb[NL80211_ATTR_MAX + 1];
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struct nlattr *bss[NL80211_BSS_MAX + 1];
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static struct nla_policy bss_policy[NL80211_BSS_MAX + 1] = {
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[NL80211_BSS_TSF] = { .type = NLA_U64 },
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[NL80211_BSS_FREQUENCY] = { .type = NLA_U32 },
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[NL80211_BSS_BSSID] = { },
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[NL80211_BSS_BEACON_INTERVAL] = { .type = NLA_U16 },
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[NL80211_BSS_CAPABILITY] = { .type = NLA_U16 },
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[NL80211_BSS_INFORMATION_ELEMENTS] = { },
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[NL80211_BSS_SIGNAL_MBM] = { .type = NLA_U32 },
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[NL80211_BSS_SIGNAL_UNSPEC] = { .type = NLA_U8 },
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[NL80211_BSS_STATUS] = { .type = NLA_U32 },
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[NL80211_BSS_SEEN_MS_AGO] = { .type = NLA_U32 },
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||||
[NL80211_BSS_BEACON_IES] = { },
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||||
};
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||||
// Parse and error check.
|
||||
nla_parse(tb, NL80211_ATTR_MAX, genlmsg_attrdata(gnlh, 0), genlmsg_attrlen(gnlh, 0), NULL);
|
||||
if (!tb[NL80211_ATTR_BSS]) {
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||||
printf("bss info missing!\n");
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||||
return NL_SKIP;
|
||||
}
|
||||
if (nla_parse_nested(bss, NL80211_BSS_MAX, tb[NL80211_ATTR_BSS], bss_policy)) {
|
||||
printf("failed to parse nested attributes!\n");
|
||||
return NL_SKIP;
|
||||
}
|
||||
if (!bss[NL80211_BSS_BSSID]) return NL_SKIP;
|
||||
if (!bss[NL80211_BSS_INFORMATION_ELEMENTS]) return NL_SKIP;
|
||||
|
||||
// signal-strength
|
||||
int mBm = nla_get_s32(bss[NL80211_BSS_SIGNAL_MBM]);
|
||||
entry->rssi = mBm / 100;
|
||||
|
||||
// mac-address
|
||||
mac_addr_n2a(entry->mac, (unsigned char*)nla_data(bss[NL80211_BSS_BSSID]));
|
||||
|
||||
// Start printing.
|
||||
// mac_addr_n2a(mac_addr, (unsigned char*)nla_data(bss[NL80211_BSS_BSSID]));
|
||||
// printf("%s, ", mac_addr);
|
||||
// printf("%d MHz, ", nla_get_u32(bss[NL80211_BSS_FREQUENCY]));
|
||||
// print_ssid((unsigned char*)nla_data(bss[NL80211_BSS_INFORMATION_ELEMENTS]), nla_len(bss[NL80211_BSS_INFORMATION_ELEMENTS]));
|
||||
// printf("%f dB", mBm/100.0f);
|
||||
// printf("\n");
|
||||
|
||||
return NL_SKIP;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int wifiGetDriver(struct wifiState* state) {
|
||||
|
||||
// open nl80211 socket to kernel.
|
||||
state->socket = nl_socket_alloc();
|
||||
genl_connect(state->socket);
|
||||
|
||||
state->mcid = nl_get_multicast_id(state->socket, "nl80211", "scan");
|
||||
nl_socket_add_membership(state->socket, state->mcid); // Without this, callback_trigger() won't be called.
|
||||
|
||||
state->driverID = genl_ctrl_resolve(state->socket, "nl80211");
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int wifiCleanup(struct wifiState* state) {
|
||||
|
||||
nl_socket_drop_membership(state->socket, state->mcid); // No longer need this.
|
||||
nl_socket_free(state->socket);
|
||||
|
||||
}
|
||||
|
||||
int wifiGetScanResult(struct wifiState* state, int interfaceIndex, struct wifiScanResult* res) {
|
||||
|
||||
// reset the result. very important!
|
||||
res->numUsed = 0;
|
||||
|
||||
// new message
|
||||
struct nl_msg *msg = nlmsg_alloc();
|
||||
|
||||
// configure message
|
||||
genlmsg_put(msg, 0, 0, state->driverID, 0, NLM_F_DUMP, NL80211_CMD_GET_SCAN, 0);
|
||||
nla_put_u32(msg, NL80211_ATTR_IFINDEX, interfaceIndex);
|
||||
|
||||
// add the to-be-called function for each detected AP
|
||||
nl_socket_modify_cb(state->socket, NL_CB_VALID, NL_CB_CUSTOM, callback_dump, res);
|
||||
|
||||
// send
|
||||
int ret = nl_send_auto(state->socket, msg);
|
||||
printf("NL80211_CMD_GET_SCAN sent %d bytes to the kernel.\n", ret);
|
||||
|
||||
// get answer (potential error-code)
|
||||
ret = nl_recvmsgs_default(state->socket);
|
||||
nlmsg_free(msg);
|
||||
if (ret < 0) { printf("ERROR: nl_recvmsgs_default() returned %d (%s).\n", ret, nl_geterror(-ret)); return ret; }
|
||||
|
||||
}
|
||||
|
||||
int wifiTriggerScan(struct wifiState* state, int interfaceIndex, struct wifiChannels* channels) {
|
||||
|
||||
// Starts the scan and waits for it to finish. Does not return until the scan is done or has been aborted.
|
||||
struct trigger_results results = { .done = 0, .aborted = 0 };
|
||||
struct nl_msg *msg;
|
||||
struct nl_cb *cb;
|
||||
struct nl_msg *freqs_to_scan;
|
||||
int err;
|
||||
int ret;
|
||||
|
||||
// Allocate the messages and callback handler.
|
||||
msg = nlmsg_alloc();
|
||||
if (!msg) {
|
||||
printf("ERROR: Failed to allocate netlink message for msg.\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
freqs_to_scan = nlmsg_alloc();
|
||||
if (!freqs_to_scan) {
|
||||
printf("ERROR: Failed to allocate netlink message for ssids_to_scan.\n");
|
||||
nlmsg_free(msg);
|
||||
return -ENOMEM;
|
||||
}
|
||||
cb = nl_cb_alloc(NL_CB_DEFAULT);
|
||||
if (!cb) {
|
||||
printf("ERROR: Failed to allocate netlink callbacks.\n");
|
||||
nlmsg_free(msg);
|
||||
nlmsg_free(freqs_to_scan);
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
// Setup the messages and callback handler.
|
||||
genlmsg_put(msg, 0, 0, state->driverID, 0, 0, NL80211_CMD_TRIGGER_SCAN, 0); // Setup which command to run.
|
||||
nla_put_u32(msg, NL80211_ATTR_IFINDEX, interfaceIndex); // Add message attribute, which interface to use.
|
||||
|
||||
|
||||
// limit to-be-scanned channels?
|
||||
if (channels->numUsed > 0) {
|
||||
for (int i = 0; i < channels->numUsed; ++i) { nla_put_u32(freqs_to_scan, 0, channels->frequencies[i]); }
|
||||
nla_put_nested(msg, NL80211_ATTR_SCAN_FREQUENCIES, freqs_to_scan);
|
||||
}
|
||||
nlmsg_free(freqs_to_scan);
|
||||
|
||||
|
||||
|
||||
nl_cb_set(cb, NL_CB_VALID, NL_CB_CUSTOM, callback_trigger, &results); // Add the callback.
|
||||
nl_cb_err(cb, NL_CB_CUSTOM, error_handler, &err);
|
||||
nl_cb_set(cb, NL_CB_FINISH, NL_CB_CUSTOM, finish_handler, &err);
|
||||
nl_cb_set(cb, NL_CB_ACK, NL_CB_CUSTOM, ack_handler, &err);
|
||||
nl_cb_set(cb, NL_CB_SEQ_CHECK, NL_CB_CUSTOM, no_seq_check, NULL); // No sequence checking for multicast messages.
|
||||
|
||||
// Send NL80211_CMD_TRIGGER_SCAN to start the scan. The kernel may reply with NL80211_CMD_NEW_SCAN_RESULTS on
|
||||
// success or NL80211_CMD_SCAN_ABORTED if another scan was started by another process.
|
||||
err = 1;
|
||||
ret = nl_send_auto(state->socket, msg); // Send the message.
|
||||
printf("NL80211_CMD_TRIGGER_SCAN sent %d bytes to the kernel.\n", ret);
|
||||
printf("Waiting for scan to complete...\n");
|
||||
while (err > 0) ret = nl_recvmsgs(state->socket, cb); // First wait for ack_handler(). This helps with basic errors.
|
||||
if (err < 0) {
|
||||
printf("WARNING: err has a value of %d.\n", err);
|
||||
}
|
||||
if (ret < 0) {
|
||||
printf("ERROR: nl_recvmsgs() returned %d (%s).\n", ret, nl_geterror(-ret));
|
||||
return ret;
|
||||
}
|
||||
while (!results.done) nl_recvmsgs(state->socket, cb); // Now wait until the scan is done or aborted.
|
||||
if (results.aborted) {
|
||||
printf("ERROR: Kernel aborted scan.\n");
|
||||
return 1;
|
||||
}
|
||||
printf("Scan is done.\n");
|
||||
|
||||
// Cleanup.
|
||||
nlmsg_free(msg);
|
||||
nl_cb_put(cb);
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int wifiGetInterfaceIndex(const char *name) {
|
||||
return if_nametoindex(name);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
49
sensors/linux/WiFiSensorLinuxC.h
Normal file
49
sensors/linux/WiFiSensorLinuxC.h
Normal file
@@ -0,0 +1,49 @@
|
||||
#ifndef WIFISENSORLINUXC_H
|
||||
#define WIFISENSORLINUXC_H
|
||||
|
||||
#ifdef LINUX_DESKTOP
|
||||
|
||||
#include <errno.h>
|
||||
#include <netlink/errno.h>
|
||||
#include <netlink/netlink.h>
|
||||
#include <netlink/genl/genl.h>
|
||||
#include <netlink/genl/ctrl.h>
|
||||
#include <linux/nl80211.h>
|
||||
#include <net/if.h>
|
||||
|
||||
struct wifiChannels {
|
||||
uint32_t* frequencies; // array of frequencies
|
||||
uint32_t numUsed; // number of array elements
|
||||
};
|
||||
|
||||
struct wifiScanResultEntry {
|
||||
char mac[17];
|
||||
int rssi;
|
||||
};
|
||||
|
||||
struct wifiScanResult {
|
||||
struct wifiScanResultEntry entries[128];
|
||||
int numUsed;
|
||||
};
|
||||
|
||||
struct wifiState {
|
||||
struct nl_sock* socket;
|
||||
int driverID;
|
||||
int mcid;
|
||||
};
|
||||
|
||||
/** get the driver used for scanning */
|
||||
int wifiGetDriver(struct wifiState* state);
|
||||
|
||||
/** convert interface name to index number. 0 if interface is not present */
|
||||
int wifiGetInterfaceIndex(const char* name);
|
||||
|
||||
/** trigger a scan on the given channels / the provided interface */
|
||||
int wifiTriggerScan(struct wifiState* state, int interfaceIndex, struct wifiChannels* channels);
|
||||
|
||||
/** blocking get the result of a triggered scan */
|
||||
int wifiGetScanResult(struct wifiState* state, int interfaceIndex, struct wifiScanResult* res);
|
||||
|
||||
#ifdef LINUX_DESKTOP
|
||||
|
||||
#endif // WIFISENSORLINUXC_H
|
||||
Reference in New Issue
Block a user