feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -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;
+}