125 lines
4.0 KiB
JavaScript
125 lines
4.0 KiB
JavaScript
var ros = new ROSLIB.Ros();
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ros.recording = false;
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// ros.connectionName = 'ws://192.168.1.105:9090';
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ros.connectionName = 'ws://localhost:9090';
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// If there is an error on the backend, an 'error' emit will be emitted.
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ros.on('error', function(error) {
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'No connection';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'No connection';
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document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
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rosbridgeconnection_badge
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console.log(error);192
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});
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// Find out exactly when we made a connection.
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ros.on('connection', function() {
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console.log('Connection made!');
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document.getElementById("ConnectionIPForm").className = "form-group has-success has-feedback";
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document.getElementById("ConnectionIPInput").value = ros.connectionName;
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection made at:';
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connected';
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document.getElementById("ConnectionButton").className = "btn btn-success"
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ros.nodes = [];
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ros.topics = [];
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});
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ros.on('close', function() {
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console.log('Connection closed.');
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document.getElementById("ConnectionIPForm").className = "form-group has-warning has-feedback";
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document.getElementById("ConnectionIPLabel").innerHTML = 'Connection closed';
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document.getElementById("ConnectionButton").className = "btn btn-warning"
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document.getElementById("rosbridgeconnection_badge").innerHTML = 'Connection closed';
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ros.nodes = [];
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ros.topics = [];
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});
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// Create a connection to the rosbridge WebSocket server.
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ros.connect(ros.connectionName);
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///////////////////////////////////////////////////////////////////////////////////
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// Publishers
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///////////////////////////////////////////////////////////////////////////////////
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function publishBagMessage(bagFilename)
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{
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var bagMessage = new ROSLIB.Message({
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data : bagFilename
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})
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bagPublisher.publish(bagMessage)
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}
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////////////////////////////////////////////////////////////////
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// Topics
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////////////////////////////////////////////////////////////////
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var bagPublisher = new ROSLIB.Topic({
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ros : ros,
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name : 'bag_publisher',
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messageType : 'std_msgs/String'
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});
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var bagNotifier = new ROSLIB.Topic({
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ros : ros,
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name : 'bag_notifier',
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messageType : 'std_msgs/String'
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});
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////////////////////////////////////////////////////////////////
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// Subscribers
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////////////////////////////////////////////////////////////////
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bagNotifier.subscribe(function(message) {
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if (message.data === "STARTED") {
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document.getElementById("recordButtonText").innerHTML = "Stop"
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document.getElementById("recordButton").className = "btn btn-danger"
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} else {
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document.getElementById("recordButtonText").innerHTML = "Start"
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document.getElementById("recordButton").className = "btn btn-primary"
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}
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});
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///////////////////////////////////////////////////////////////////////////////////
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// Functions
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///////////////////////////////////////////////////////////////////////////////////
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// attept to connect to the ros master from the IP given orgrab it from the form
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ros.attemptConnection = function(ipAddress)
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{
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if( typeof ipAddress !== "undefined")
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{
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ros.connectionName = ipAddress;
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}
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else
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{
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ros.connectionName = document.getElementById("ConnectionIPInput").value
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}
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console.log('Connection = ' + ros.connectionName);
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ros.connect(ros.connectionName);
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}
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function toggleRecording()
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{
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document.getElementById("recordButtonText").innerHTML = "Wait"
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document.getElementById("recordButton").className = "btn btn-warning"
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if (!ros.recording) {
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ros.recording = true
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publishBagMessage(document.getElementById("recordText").value)
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} else {
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ros.recording = false
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publishBagMessage("STOP")
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}
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}
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