Adding rssi (#1482)

Adding rssi.
Signed-off-by: Carlos Agüero <[email protected]>

Author: caguero

src/systems/rf_comms/RFComms.cc

@@ -15,6 +15,8 @@
  *
  */
 
+#include <ignition/msgs/dataframe.pb.h>
+
 #include <limits>
 #include <list>
 #include <random>
@@ -447,7 +449,18 @@ void RFComms::Step(
 #endif
 
         if (sendPacket)
-          _newRegistry[msg->dst_address()].inboundMsgs.push_back(msg);
+        {
+          // We create a copy of the outbound message because each destination
+          // might have a different rssi value.
+          auto inboundMsg = std::make_shared<ignition::msgs::Dataframe>(*msg);
+
+          // Add rssi.
+          auto *rssiPtr = inboundMsg->mutable_header()->add_data();
+          rssiPtr->set_key("rssi");
+          rssiPtr->add_value(std::to_string(rssi));
+
+          _newRegistry[msg->dst_address()].inboundMsgs.push_back(inboundMsg);
+        }
       }
     }
 

test/integration/rf_comms.cc

@@ -65,7 +65,10 @@ TEST_F(RFCommsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RFComms))
 
     ignition::msgs::StringMsg receivedMsg;
     receivedMsg.ParseFromString(_msg.data());
+
     EXPECT_EQ(expected, receivedMsg.data());
+    ASSERT_GT(_msg.header().data_size(), 0);
+    EXPECT_EQ("rssi", _msg.header().data(0).key());
     msgCounter++;
   };