201 lines
5.4 KiB
HTML
201 lines
5.4 KiB
HTML
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script type="text/javascript" src="eventemitter2.min.js"></script>
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<script type="text/javascript" src="roslib.min.js"></script>
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<!--<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>-->
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<!--<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>-->
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<script type="text/javascript" src="canvas-gauges/js/gauge.min.js"></script>
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<script type="text/javascript" src="Lu_Math_Driver.js"></script>
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<script type="text/javascript" src="Lu_Display_Driver.js"></script>
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<script type="text/javascript" type="text/javascript">
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var ros = new ROSLIB.Ros({
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url : 'ws://localhost:9090'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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function changeImage()
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{
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element=document.getElementById('myimage')
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if (element.src.match("bulbon"))
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{
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element.src="eg_bulboff.gif";
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}
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else
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{
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element.src="eg_bulbon.gif";
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}
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var value = Math.round(Math.random() * 100);
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gauge.value = value;
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// Update the declarative chart...
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document.getElementById("gauge-a").setAttribute("data-value", value);
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}
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function talker1(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
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var p0=Lu_StrToByte(data0);
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var p1=Lu_StrToByte(data1);
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var p2=Lu_StrToByte(data2);
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var p3=Lu_StrToByte(data3);
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var p4=Lu_StrToByte(data4);
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var p5=Lu_StrToByte(data5);
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var p6=Lu_StrToByte(data6);
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var p7=Lu_StrToByte(data7);
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/*
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alert("talker1函数:"+canframeid+" "+data0+" "+data1+" "+data2+" "+data3+" "+data4+" "+data5+" "+data6+" "+data7+"\n"+ p0+" "+p1+" "+p2+" "+p3+" "+p4+" "+p5+" "+p6+" "+p7);
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*/
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var can_pub = new ROSLIB.Topic({
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ros : ros,
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name : '/js_can',
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messageType : 'lu_ps20l_msgs/Msg_CANFrame'
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});
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var can_msg = new ROSLIB.Message({
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header: {
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stamp: {
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secs: 0,
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nsecs: 0
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},
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frame_id: "",
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seq: 0
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},
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id:parseInt(canframeid),
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is_rtr:false,
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is_extended:false,
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is_error:false,
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dlc:8,
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data:[p0,p1,p2,p3,p4,p5,p6,p7]
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});
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can_pub.publish(can_msg);
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}
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function talker2(id){
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element = document.getElementById(id);
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alert("talker2函数:"+element.value);
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}
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function listener(){
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var listener = new ROSLIB.Topic({
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ros : ros,
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name : '/chatter',
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messageType : 'std_msgs/String'
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});
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listener.subscribe(function(message) {
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console.log('Received message on ' + listener.name + ': ' + message.data);
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listener.unsubscribe();
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});
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var can_sub = new ROSLIB.Topic({
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ros : ros,
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name : '/Topic_HMI_CAN_SendFrame',//'js_can',
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messageType : 'lu_ps20l_msgs/Msg_CANFrame'
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});
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can_sub.subscribe(function(message){
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var p = atob(message.data);
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var str= 'Received can message on ' + can_sub.name + ':\n 0x' + message.id.toString(16) +'\n'+message.is_rtr +'\n'+message.is_extended +'\n'+message.is_error+'\n'+message.dlc+'\n'
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+'0x'+p.charCodeAt(0).toString(16)+' '
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+'0x'+p.charCodeAt(1).toString(16)+' '
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+'0x'+p.charCodeAt(2).toString(16)+' '
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+'0x'+p.charCodeAt(3).toString(16)+' '
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+'0x'+p.charCodeAt(4).toString(16)+' '
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+'0x'+p.charCodeAt(5).toString(16)+' '
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+'0x'+p.charCodeAt(6).toString(16)+' '
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+'0x'+p.charCodeAt(7).toString(16)+'\n';
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console.log(str);
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document.getElementById('test').innerText= str;
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can_sub.unsubscribe();
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});
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}
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var t2 = window.setInterval("listener()",100);
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</script>
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</head>
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<body>
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<h1>Simple roslib Example 你好 欢迎使用AGV</h1>
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<p>Check your Web Console for output.</p>
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<div id='test'> </div>
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<form name=f1>
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<p><input type=text name=canframeid></input></p>
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<p><input type=text name=data0></input></p>
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<p><input type=text name=data1></input></p>
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<p><input type=text name=data2></input></p>
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<p><input type=text name=data3></input></p>
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<p><input type=text name=data4></input></p>
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<p><input type=text name=data5></input></p>
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<p><input type=text name=data6></input></p>
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<p><input type=text name=data7></input></p>
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<p><input type=button value=ok onclick=talker1(canframeid.value,data0.value,data1.value,data2.value,data3.value,data4.value,data5.value,data6.value,data7.value)></input></p>
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</form>
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<img id="myimage" onclick="changeImage()" src="eg_bulboff.gif">
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<div class="wrapper">
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<p>Declarative approach w/ data- attributes</p>
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<canvas data-type="radial-gauge" id="gauge-a"
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data-width="300"
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data-height="300"
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data-units="Km/h"
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data-value="40"
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data-min-value="0"
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data-start-angle="90"
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data-ticks-angle="180"
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data-value-box="false"
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data-max-value="100"
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data-major-ticks="0,20,40,60,80,100"
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data-minor-ticks="2"
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data-stroke-ticks="true"
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data-highlights='[
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{"from": 70, "to": 100, "color": "rgba(200, 50, 50, .75)"}
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]'
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data-color-plate="#fff"
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data-border-shadow-width="0"
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data-borders="false"
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data-needle-type="arrow"
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data-needle-width="2"
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data-needle-circle-size="7"
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data-needle-circle-outer="true"
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data-needle-circle-inner="false"
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data-animation-duration="800"
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data-animation-rule="linear"
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></canvas>
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<hr/>
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<p>JS-based approach.</p>
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<canvas id="gauge"></canvas>
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<p><a href="https://canvas-gauges.com/">
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https://canvas-gauges.com/</a></p>
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</div>
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</body>
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</html>
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