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)
});