var ros = new ROSLIB.Ros();

ros.connectionName = 'ws://192.168.1.102:9090';
//             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"
    console.log(error);
});
// 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("ConnectionButton").className = "btn btn-success"
});

ros.on('close', function() {
    console.log('Connection closed.');
});
// Create a connection to the rosbridge WebSocket server.
ros.connect(ros.connectionName);


// 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);
}


// LISTENER ///
var voltageListener = new ROSLIB.Topic({
    ros : ros,
    name : '/asctec/LL_STATUS',
    messageType : '/asctec_msgs/LLStatus'
});

voltageListener.subscribe(function(message) {
    updateVoltage(message.battery_voltage_1/1000);
    updateUpTime(message.up_time)
});

function updateVoltage(voltage)
{

    var voltage_min = 9.5;
    var voltage_max = 12.5;
    var voltage_range = voltage_max - voltage_min;

    var voltage_percentage = (voltage - voltage_min) / voltage_range * 100;

    var voltage_string = "";
    voltage_string = voltage_string.concat(voltage_percentage);
    voltage_string = voltage_string.substring(0,4);
    voltage_string = voltage_string.concat('%');

    document.getElementById("VoltageDisplay").style.width = voltage_string;
    document.getElementById("VoltageDisplay").innerHTML = voltage_string;

    if (voltage_percentage < 50 && voltage_percentage > 25 ) {
        document.getElementById("VoltageDisplay").className = "progress-bar progress-bar-warning"
    }
    else if ( voltage_percentage <= 25)
    {
        document.getElementById("VoltageDisplay").className = "progress-bar progress-bar-danger"
        var sound = document.getElementById("audio");
        sound.play()
        console.log("Pay Sound")
    }
    else
    {
        document.getElementById("VoltageDisplay").className = "progress-bar progress-bar-success"
    }
};

function updateUpTime(time)
{
    document.getElementById("UpTime").innerHTML = time
};


function validateForm()
{
    ros.attemptConnection();
    return false;
};