Connman is the network management tool from Moblin with a tray applet similar to Wicd or Gnome's network manager. However it's lightweight, python-free, hal-free, and has no gnome-dependencies. It's only dependency is dbus which is relatively painless.
I got it to build pretty easily, and built a dbus-enabled wpa-supplicant, and got everything talking to each other, but still no access points show up in the applet. I can see them in the debugging output from connmand so I know it's close to working. However, the debugging output is not otherwise helpful, I can't find any documentation, and I'm totally stuck now and have to admit defeat.
Does anyone with some mad skills want to give it a try?
http://connman.net/