now can choose which topics to bag in the control pannel

backend/js/ros_scripts.js

@@ -1,6 +1,10 @@
 var ros = new ROSLIB.Ros();
 
+
+ros.topics = Array();
+ros.nodes = Array();
 ros.recording = false;
+ros.connected = false;
 
 // ros.connectionName = 'ws://192.168.1.105:9090';
 ros.connectionName = 'ws://localhost:9090';
@@ -19,6 +23,7 @@ ros.on('error', function(error) {
 });
 // Find out exactly when we made a connection.
 ros.on('connection', function() {
+  ros.connected = true;
   console.log('Connection made!');
   document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
   document.getElementById("ConnectionIPInput").value = ros.connectionName;
@@ -33,7 +38,7 @@ ros.on('connection', function() {
 
 ros.on('close', function() {
   console.log('Connection closed.');
-
+  ros.connected = false;
   document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
   document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
   document.getElementById("ConnectionButton").className = "btn btn-warning"
@@ -51,6 +56,18 @@ ros.connect(ros.connectionName);
 
 function publishBagMessage(bagFilename)
 {
+  var bag_file_message = ""
+  bag_file_message += bagFilename;
+  if (bagFilename != "STOP")
+  {
+    for (topic in ros.topics)
+    {
+      if(ros.topics[topic].bag)
+      {
+        bag_file_message += " " + ros.topics[topic].name
+      }
+    }
+  }
   var bagMessage = new ROSLIB.Message({
     data : bagFilename
   })
@@ -82,18 +99,77 @@ bagNotifier.subscribe(function(message) {
   if (message.data === "STARTED") {
     document.getElementById("recordButtonText").innerHTML = "Stop"
     document.getElementById("recordButton").className = "btn btn-danger"
-  } else {
+  } else if (message.data === "STOPPED")
+  {
     document.getElementById("recordButtonText").innerHTML = "Start"
     document.getElementById("recordButton").className = "btn btn-primary"
   }
+
+  console.log("bagNotifier: " +message.data)
 });
 
 
+
 ///////////////////////////////////////////////////////////////////////////////////
 // Functions
 ///////////////////////////////////////////////////////////////////////////////////
 
 
+ros.buildTopicList = function(fresh_topics)
+{
+
+  //   console.log(topics)
+//   fresh_topics = fresh_topics.sort();
+  //   First check that all our current topics are in the list of fresh_topics
+  for( var topic = 0; topic < ros.topics.length; topic ++)
+  {
+
+    if (fresh_topics.indexOf(ros.topics[topic].name) > -1)
+    {
+      //       We know that we have already found that topic so we don't need to remove it
+    }
+    else
+    {
+      //       That topic is no longer being published so we need ro remove it
+      ros.topics.splice(topic,1);
+    }
+  }
+
+  for (var topic =0; topic < fresh_topics.length; topic ++ )
+  {
+    if (ros.topics.indexOfTopic(fresh_topics[topic]) > -1)
+    {
+      //       We know that we have already found that topic so we don't need to re-add it
+    }
+    else
+    {
+      //       We do not have that topic so we need to add it
+      //       create the new topic
+      var new_topic = new Topic(fresh_topics[topic]);
+      //       make sure to put in in the list in the order
+      ros.topics.push(new_topic);
+
+    }
+  }
+
+  ros.topics.sort(function(a, b) {
+    if ( a.name < b.name )
+      return -1;
+    if ( a.name > b.name )
+      return 1;
+    return 0;
+  })
+
+};
+
+
+ros.getTopicsList = function()
+{
+  //   var topicList = [];
+  return ros.topics;
+
+}
+
 
 // attept to connect to the ros master from the IP given orgrab it from the form
 ros.attemptConnection = function(ipAddress)
@@ -112,13 +188,25 @@ ros.attemptConnection = function(ipAddress)
 
 function toggleRecording()
 {
-  document.getElementById("recordButtonText").innerHTML = "Wait"
-  document.getElementById("recordButton").className = "btn btn-warning"
-  if (!ros.recording) {
-    ros.recording = true
-    publishBagMessage(document.getElementById("recordText").value)
-  } else {
-    ros.recording = false
-    publishBagMessage("STOP")
+  if(ros.connected)
+  {
+    document.getElementById("recordButtonText").innerHTML = "Wait"
+    document.getElementById("recordButton").className = "btn btn-warning"
+
+    if (!ros.recording) {
+      ros.recording = true
+      topicstobag = " "
+      for (i = 0; i < ros.topics.length; i ++)
+      {
+        if (ros.topics[i].bag == true)
+        {
+          topicstobag  = topicstobag.concat(ros.topics[i].name + " ")
+        }
+      }
+      publishBagMessage(document.getElementById("recordText").value + topicstobag)
+    } else {
+      ros.recording = false
+      publishBagMessage("STOP")
+    }
   }
 }