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';
// ros.connectionName = 'ws://titan.aescape.co:9090';
ros.connectionName = 'ws://atlas.local: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() {
  ros.connected = true;
  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 = Array();
  ros.topics = Array();

});

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"
  document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
  ros.nodes = Array();
  ros.topics = Array();
});
// Create a connection to the rosbridge WebSocket server.
//ros.connect(ros.connectionName);


///////////////////////////////////////////////////////////////////////////////////
// Publishers
///////////////////////////////////////////////////////////////////////////////////

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
  })
  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 if (message.data === "STOPPED")
  {
    document.getElementById("recordButtonText").innerHTML = "Start"
    document.getElementById("recordButton").className = "btn btn-primary"
  }

  console.log("bagNotifier: " +message.data)
});



///////////////////////////////////////////////////////////////////////////////////
// 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()
{
  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")
    }
  }
}