var ros = new ROSLIB.Ros();

ros.topics = [];
ros.nodes = [];

ros.recording = false;


ros.connectionName = 'ws://192.168.0.100:9090';

// 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 = "";

    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 getTopics() {

    var topicsClient = new ROSLIB.Service({
    ros : ros,
    name : '/rosapi/topics',
    serviceType : '/rosapi/Topics'
    });

    var request = new ROSLIB.ServiceRequest();

    // ros.topics = [];
    topicsClient.callService(request, function(result) {
        ros.topics = result.topics;
    });

    return ros.topics;
};

function getNodes() {

    var topicsClient = new ROSLIB.Service({
    ros : ros,
    name : '/rosapi/nodes',
    serviceType : '/rosapi/nodes'
    });

    var request = new ROSLIB.ServiceRequest();

    // ros.nodes = [];
    topicsClient.callService(request, function(result) {
        ros.nodes = result.nodes;
    });

    return ros.nodes;
};

function getTime() {

    var topicsClient = new ROSLIB.Service({
    ros : ros,
    name : '/rosapi/get_time',
    serviceType : '/rosapi/GetTime'
    });

    var request = new ROSLIB.ServiceRequest({});

    topicsClient.callService(request, function(result) {
        console.log("Getting Time...");
        console.log(result.time.secs);
    });
};

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")
    }
}