fixed douplicate functions for getting nodes and topics

2015-06-19 14:41:28 -07:00
parent 82196e461f
commit d146020719
13 changed files with 361 additions and 308 deletions
--- a/backend/js/ros_scripts.js
+++ b/backend/js/ros_scripts.js
@@ -0,0 +1,124 @@
+var ros = new ROSLIB.Ros();
+
+ros.recording = false;
+
+// ros.connectionName = 'ws://192.168.1.105:9090';
+ros.connectionName = 'ws://localhost:9090';
+
+// If there is an error on the backend, an 'error' emit will be emitted.
+ros.on('error', function(error) {
+  document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
+  document.getElementById("ConnectionIPInput").value = ros.connectionName;
+  document.getElementById("ConnectionIPLabel").innerHTML = 'No connection';
+  document.getElementById("ConnectionButton").className = "btn btn-warning"
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'No connection';
+  document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
+
+  rosbridgeconnection_badge
+  console.log(error);192
+});
+// Find out exactly when we made a connection.
+ros.on('connection', function() {
+  console.log('Connection made!');
+  document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
+  document.getElementById("ConnectionIPInput").value = ros.connectionName;
+  document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
+  document.getElementById("ConnectionButton").className = "btn btn-success"
+
+  ros.nodes = [];
+  ros.topics = [];
+
+});
+
+ros.on('close', function() {
+  console.log('Connection closed.');
+
+  document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
+  document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
+  document.getElementById("ConnectionButton").className = "btn btn-warning"
+  document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
+  ros.nodes = [];
+  ros.topics = [];
+});
+// Create a connection to the rosbridge WebSocket server.
+ros.connect(ros.connectionName);
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Publishers
+///////////////////////////////////////////////////////////////////////////////////
+
+function publishBagMessage(bagFilename)
+{
+  var bagMessage = new ROSLIB.Message({
+    data : bagFilename
+  })
+  bagPublisher.publish(bagMessage)
+}
+
+////////////////////////////////////////////////////////////////
+// Topics
+////////////////////////////////////////////////////////////////
+
+var bagPublisher = new ROSLIB.Topic({
+  ros : ros,
+  name : 'bag_publisher',
+  messageType : 'std_msgs/String'
+});
+
+var bagNotifier = new ROSLIB.Topic({
+  ros : ros,
+  name : 'bag_notifier',
+  messageType : 'std_msgs/String'
+});
+
+////////////////////////////////////////////////////////////////
+// Subscribers
+////////////////////////////////////////////////////////////////
+
+
+bagNotifier.subscribe(function(message) {
+  if (message.data === "STARTED") {
+    document.getElementById("recordButtonText").innerHTML = "Stop"
+    document.getElementById("recordButton").className = "btn btn-danger"
+  } else {
+    document.getElementById("recordButtonText").innerHTML = "Start"
+    document.getElementById("recordButton").className = "btn btn-primary"
+  }
+});
+
+
+///////////////////////////////////////////////////////////////////////////////////
+// Functions
+///////////////////////////////////////////////////////////////////////////////////
+
+
+
+// attept to connect to the ros master from the IP given orgrab it from the form
+ros.attemptConnection = function(ipAddress)
+{
+  if( typeof ipAddress !== "undefined")
+  {
+    ros.connectionName = ipAddress;
+  }
+  else
+  {
+    ros.connectionName = document.getElementById("ConnectionIPInput").value
+  }
+  console.log('Connection = ' + ros.connectionName);
+  ros.connect(ros.connectionName);
+}
+
+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")
+  }
+}