diff --git a/src/config/mork.js b/src/config/mork.js
index 2c8eeb8..45c1445 100644
--- a/src/config/mork.js
+++ b/src/config/mork.js
@@ -159,55 +159,9 @@ export const sysMenuBuild = () => {
           "menuId": "1654809097821884416",
           "pid": "1324783485328",
           "label": "示教",
-          "router": "",
+          "router": "/index/teach",
           "index": "5",
-          "children": [
-            {
-                "menuId": "1654809097821884417",
-                "pid": "1654809097821884416",
-                "label": "绘制地图",
-                "router": "/index/mapping",
-                "index": "1",
-                "children": null,
-                "title": "绘制地图",
-                "zhTitle": "绘制地图",
-                "enTitle": "Mapping",
-                "inTitle": null,
-                "zh_title": "绘制地图",
-                "en_title": "Mapping",
-                "in_title": null
-            },
-            {
-                "menuId": "1654809097821884418",
-                "pid": "1654809097821884416",
-                "label": "示教线路",
-                "router": "/index/sketch",
-                "index": "2",
-                "children": null,
-                "title": "示教线路",
-                "zhTitle": "示教线路",
-                "enTitle": "Sketch",
-                "inTitle": null,
-                "zh_title": "示教线路",
-                "en_title": "Sketch",
-                "in_title": null
-            },
-            {
-                "menuId": "1654809097821884419",
-                "pid": "1654809097821884416",
-                "label": "显示地图",
-                "router": "/index/map",
-                "index": "3",
-                "children": null,
-                "title": "显示地图",
-                "zhTitle": "显示地图",
-                "enTitle": "Map",
-                "inTitle": null,
-                "zh_title": "显示地图",
-                "en_title": "Map",
-                "in_title": null
-            }
-          ],
+          "children": null,
           "title": "示教",
           "zhTitle": "示教",
           "enTitle": "Teach",
@@ -311,7 +265,7 @@ export const sysMenuBuild = () => {
           "menuId": "1654809097821884416",
           "pid": "1324783485328",
           "label": "调试",
-          "router": "/index/teach",
+          "router": "/index/debug",
           "index": "7",
           "children": null,
           "title": "调试",
diff --git a/src/pages/modules/teach/debug.vue b/src/pages/modules/teach/debug.vue
new file mode 100644
index 0000000..7cd8413
--- /dev/null
+++ b/src/pages/modules/teach/debug.vue
@@ -0,0 +1,20 @@
+<template>
+  <div class="main-container main-container_l">
+    <div class="iframe_wrap">
+      <iframe class="iframe" src="./static/Magic4/HMI_JavaApp_FullScreen.html" frameborder="0"></iframe>
+    </div>
+  </div>
+</template>
+
+<style lang="stylus" scoped>
+@import '~@style/mixin'
+.main-container_l
+  width 100%
+  padding-left 53px
+.iframe_wrap
+  position relative
+  _wh(100%, 100%)
+  overflow hidden
+.iframe
+  _wh(100%, 100%)
+</style>
diff --git a/src/pages/modules/teach/teach.vue b/src/pages/modules/teach/teach.vue
index 7cd8413..27076bf 100644
--- a/src/pages/modules/teach/teach.vue
+++ b/src/pages/modules/teach/teach.vue
@@ -1,18 +1,12 @@
 <template>
-  <div class="main-container main-container_l">
-    <div class="iframe_wrap">
-      <iframe class="iframe" src="./static/Magic4/HMI_JavaApp_FullScreen.html" frameborder="0"></iframe>
-    </div>
+  <div class="iframe_wrap">
+    <iframe class="iframe" src="./static/Magic4/HMI_JavaApp_Map.html" frameborder="0"></iframe>
   </div>
 </template>
 
 <style lang="stylus" scoped>
 @import '~@style/mixin'
-.main-container_l
-  width 100%
-  padding-left 53px
 .iframe_wrap
-  position relative
   _wh(100%, 100%)
   overflow hidden
 .iframe
diff --git a/src/pages/shells/index/index.vue b/src/pages/shells/index/index.vue
index 9dffdb7..75de284 100644
--- a/src/pages/shells/index/index.vue
+++ b/src/pages/shells/index/index.vue
@@ -48,7 +48,7 @@
       <div class="hud_left"></div>
       <div class="hud_right"></div>
       <div class="bottom_bg"></div>
-      <div v-show="$route.path !== '/index/home' && $route.path !== '/index/errorinfo'" class="side-bar-container">
+      <div v-show="$route.path !== '/index/home' && $route.path !== '/index/errorinfo' && $route.path !== '/index/teach'" class="side-bar-container">
         <el-menu :default-active="$route.meta.guidePath" @select="handleSelectChild">
           <el-menu-item :index="menu.index" v-for="menu in childmenus" :key="menu.index" :class="{'el-menu-item-long': menu.title.length === 5 }">{{selectType === 'en-us' ? menu.en_title : menu.zh_title}}</el-menu-item>
         </el-menu>
@@ -96,8 +96,8 @@
 <script>
 import jxTime from '@components/time.vue'
 import jxDialog from '@components/dialog.vue'
-// import { sysMenuBuild } from '@/config/mork.js'
-import { sysMenuBuild, updatePass, authLogout } from '@config/getData2.js'
+import { sysMenuBuild } from '@/config/mork.js'
+import { updatePass, authLogout } from '@config/getData2.js'
 import { sendWebsocket, closeWebsocket } from '@/config/websocket.js'
 import {encrypt} from '../../../main.js'
 export default {
@@ -167,7 +167,7 @@ export default {
   },
   created () {
     this._sysMenuBuild()
-    this._queryHead()
+    // this._queryHead()
     // this.timer = setInterval(() => {
     //   this._queryHead()
     // }, this.itime)
@@ -198,7 +198,7 @@ export default {
         if (el.router === '' && el.index === key) {
           this.$router.push({ path: el.children[0].router })
         }
-        if (key === '7') {
+        if (key === '5' || key === '7') {
           this.$router.push({ path: el.router })
         }
       })
diff --git a/src/router/index.js b/src/router/index.js
index b55b4b5..ab8751a 100644
--- a/src/router/index.js
+++ b/src/router/index.js
@@ -19,9 +19,7 @@ const VehicleControl = r => require.ensure([], () => r(require('@page/modules/ve
 const Slam = r => require.ensure([], () => r(require('@page/modules/vehicleinformation/slam.vue')), 'modules')
 
 const Teach = r => require.ensure([], () => r(require('@page/modules/teach/teach.vue')), 'modules')
-const Mapping = r => require.ensure([], () => r(require('@page/modules/teach/mapping.vue')), 'modules')
-const Sketch = r => require.ensure([], () => r(require('@page/modules/teach/sketch.vue')), 'modules')
-const Map = r => require.ensure([], () => r(require('@page/modules/teach/map.vue')), 'modules')
+const Debug = r => require.ensure([], () => r(require('@page/modules/teach/debug.vue')), 'modules')
 
 const User = r => require.ensure([], () => r(require('@page/modules/SystemManage/user.vue')), 'modules')
 const Role = r => require.ensure([], () => r(require('@page/modules/SystemManage/role.vue')), 'modules')
@@ -85,17 +83,9 @@ const router = new VueRouter({
         component: Slam,
         meta: {jumpPath: '4', guidePath: '3'}
       }, {
-        path: 'mapping',
-        component: Mapping,
+        path: 'teach',
+        component: Teach,
         meta: {jumpPath: '5', guidePath: '1'}
-      }, {
-        path: 'sketch',
-        component: Sketch,
-        meta: {jumpPath: '5', guidePath: '2'}
-      }, {
-        path: 'map',
-        component: Map,
-        meta: {jumpPath: '5', guidePath: '3'}
       }, {
         path: 'user',
         component: User,
@@ -117,8 +107,8 @@ const router = new VueRouter({
         component: Remote,
         meta: {jumpPath: '6', guidePath: '5'}
       }, {
-        path: 'teach',
-        component: Teach,
+        path: 'debug',
+        component: Debug,
         meta: {jumpPath: '7', guidePath: '1'}
       }]
     }
diff --git a/static/Magic4/HMI_JavaApp_Map.html b/static/Magic4/HMI_JavaApp_Map.html
new file mode 100644
index 0000000..a5fb6e4
--- /dev/null
+++ b/static/Magic4/HMI_JavaApp_Map.html
@@ -0,0 +1,1484 @@
+<!DOCTYPE html>
+<html lang="en" >
+<head>
+  <meta charset="utf-8" name="viewport" content="width=device-width" />
+	<link rel="stylesheet" href="css/bootstrap.min.css"/>
+	<link rel="stylesheet" href="Button_Display/css/main.css">
+	<link rel="stylesheet" href="vendors/mdi/css/materialdesignicons.min.css">
+	<link rel="stylesheet" href="vendors/base/vendor.bundle.base.css">
+	<link rel="stylesheet" href="css/style.css">
+	<link rel="stylesheet" href="css/keyboard.css">
+	<style>
+    @font-face {
+      font-family: "YouSheBiaoTiHei";
+      src: url('font/YouSheBiaoTiHei.ttf') format('truetype');
+    }
+    body {
+      background-color: transparent;
+    }
+    .page-body-wrapper {
+      padding-top: 0;
+    }
+    .sidebar {
+      background: transparent;
+      width: 228px;
+      height: 100%;
+    }
+    .sidebar .nav:not(.sub-menu) {
+      margin-top: 101px;
+    }
+    .sidebar .nav .nav-item {
+      height: 120px;
+      padding: 0 43px 10px 87px;
+      background: center / 100% 100% url(./images/sidebar_bg.png) no-repeat;
+    }
+    .sidebar .nav:not(.sub-menu) > .nav-item {
+      border-bottom: 0;
+    }
+		.content-wrapper{
+			transform: scale(1);
+		}
+		.keyboard{
+			display: none;
+		}
+		.keyboardBackground{
+			opacity: .5;
+			position: fixed;
+			z-index: 4999;
+			background-color: #000;
+			width: 100%;
+			height: 100%;
+			top: 0;
+		}
+		.simple-keyboard{
+			right: 60px;
+			margin:0 auto;
+			width: 80%;
+			position: fixed;
+			z-index: 5999;
+		}
+		.hg-candidate-box{
+			position: fixed;
+		}
+		.hg-theme-default .hg-button{
+			height: 60px;
+		}
+		.close{
+			font-weight: 100;
+			opacity: inherit;
+			line-height: inherit;
+		}
+		#warning{
+			padding: 0px 16px;
+			color: red;
+			font-size: 25px;
+		}
+    .sidebar {
+      border-right: none;
+    }
+    .sidebar .nav .nav-item {
+      display: flex;
+      align-items: center;
+    }
+    .sidebar .nav .nav-item .nav-link {
+      color: #fff !important;
+      padding: 0;
+    }
+    .sidebar .nav .nav-item .nav-link .menu-title {
+      font-size: 36px;
+      font-family: 'YouSheBiaoTiHei';
+      white-space: wrap;
+    }
+    .main-panel {
+      width: calc(100% - 228px);
+      padding-right: 53px;
+    }
+    .content-wrapper {
+      height: 100%;
+      padding: 0 30px;
+      background: transparent;
+      overflow: hidden;
+    }
+	</style>
+  <script type="text/javascript" src="jquery-2.1.0.min.js"></script>
+	<script type="text/javascript" src="Lu_Global.js"></script>
+	<script type="text/javascript" src="eventemitter2.min.js"></script>
+	<script type="text/javascript" src="roslib.min.js"></script>
+	<script  src="Lu_Math_Driver.js"></script>
+	<script type="text/javascript" src="Lu_Scroll_Driver.js"></script>
+	<!-- inject:js -->
+	<script src="js/off-canvas.js"></script>
+	<script src="js/hoverable-collapse.js"></script>
+	<script src="js/template.js"></script>
+	<!-- endinject -->
+	<!-- Custom js for this page-->
+	<script src="vendors/base/vendor.bundle.base.js"></script>
+	<script type="text/javascript" src="js/WarningData.js"></script>
+	<script type="text/javascript" src="jquery.cookie.js"></script>
+	<script type="text/javascript" src="js/bootstrap.min.js"></script>
+	<script type="text/javascript" src="js/i18n/jquery.i18n.properties-1.0.9.js"></script>
+  <script type="text/javascript" type="text/javascript">
+    var Main_Init=0;
+    var PWR_Percents = 40;
+    var ros = new ROSLIB.Ros({
+    url : 'ws://localhost:9190'
+    });
+
+    ros.on('connection', function() {
+    console.log('Connected to websocket server.');
+    });
+
+    ros.on('error', function(error) {
+    console.log('Error connecting to websocket server: ', error);
+    });
+
+    ros.on('close', function() {
+    console.log('Connection to websocket server closed.');
+    });
+
+    console.log("screen.availHeight",screen.availHeight)
+    PWR_Percents
+    function rc_client(str){
+      var rc_client_HMIString=new ROSLIB.Service({
+        ros:ros,
+        name:'/Service_RCHMIString',
+        serviceType:'lu_ps20l_msgs/Srv_HMIString'
+      });
+
+      var request = new ROSLIB.ServiceRequest({
+        HMI_String_Input:str
+      });
+
+      rc_client_HMIString.callService(request,function(result) {
+
+        document.getElementById('topIframe') .contentWindow.postMessage(
+            {
+              event_id: 'rc_client_response',
+              data: {
+                v1: result.result,
+                v2: result.ROS_String_Output,
+                v3: result.Rec_HMI_String_Input
+              }
+            },
+            "*" //or "www.parentpage.com"
+        );
+      });
+    }
+    function client(str){
+        var client_HMIString=new ROSLIB.Service({
+      ros:ros,
+      name:'/Service_HMIString',
+      serviceType:'lu_ps20l_msgs/Srv_HMIString'
+        });
+
+        var request = new ROSLIB.ServiceRequest({
+      HMI_String_Input:str
+        });
+
+        client_HMIString.callService(request,function(result) {
+
+
+
+      document.getElementById('topIframe') .contentWindow.postMessage(
+      {
+      event_id: 'client_response',
+      data: {
+          v1: result.result,
+          v2: result.ROS_String_Output,
+          v3: result.Rec_HMI_String_Input
+      }
+      },
+      "*" //or "www.parentpage.com"
+      );
+      /*
+      console.log('Result for service call on '
+            + client_HMIString.name
+            + ': '
+            + result.result
+            + ': '
+            + result.ROS_String_Output);
+      */
+      //client_result=result.result;
+      //client_ROS_String_Output=result.ROS_String_Output;
+        });
+    }
+
+    function talker(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
+      var p0=Lu_StrToByte(data0);
+      var p1=Lu_StrToByte(data1);
+      var p2=Lu_StrToByte(data2);
+      var p3=Lu_StrToByte(data3);
+      var p4=Lu_StrToByte(data4);
+      var p5=Lu_StrToByte(data5);
+      var p6=Lu_StrToByte(data6);
+      var p7=Lu_StrToByte(data7);
+      /*
+      alert("talker函数:"+canframeid+" "+data0+" "+data1+" "+data2+" "+data3+" "+data4+" "+data5+" "+data6+" "+data7+"\n"+ p0+" "+p1+" "+p2+" "+p3+" "+p4+" "+p5+" "+p6+" "+p7);
+      */
+      var can_pub = new ROSLIB.Topic({
+        ros : ros,
+        name : '/js_can',
+        messageType : 'lu_ps20l_msgs/Msg_CANFrame'
+      });
+
+      var can_msg = new ROSLIB.Message({
+      header: {
+        stamp: {
+            secs: 0,
+            nsecs: 0
+        },
+        frame_id: "",
+        seq: 0
+          },
+      id:parseInt(canframeid),
+      is_rtr:false,
+      is_extended:false,
+      is_error:false,
+      dlc:8,
+      data:[p0,p1,p2,p3,p4,p5,p6,p7]
+
+      });
+      can_pub.publish(can_msg);
+    }
+
+    window.addEventListener("message", receiveMessage, false);
+
+    function receiveMessage(event){
+      //console.log(event.data.event_id);
+
+      switch(event.data.event_id){
+        case 'talker':{
+          //console.log(event.data.data);
+          var data=event.data.data;
+          //console.log(data);
+          talker(data.v1,data.v2,data.v3,data.v4,data.v5,data.v6,data.v7,data.v8,data.v9);
+        }
+        break;
+        case 'client_request':{
+          var data=event.data.data;
+          //console.log(data);
+          client(data.v1);
+        }
+        break;
+        case 'rc_client_request':{
+          var data=event.data.data;
+          rc_client(data.v1);
+        }
+        break;
+      }
+    }
+
+    function listener(){
+      var sub_Display_State=new ROSLIB.Topic({
+        ros : ros,
+        name : '/Topic_Display_State',
+        messageType : 'lu_ps20l_msgs/Msg_DisplayState'
+      });
+
+      sub_Display_State.subscribe(function(message){
+      Msg_Timestamp=message.header.stamp.secs;//+message.header.stamp.nsecs/1000000000.0;
+      AGV_ID=message.AGV_ID;
+      Sys_Mode=message.Sys_Mode;
+      VehicleCtrlExpThrottle=message.VehicleCtrlExpThrottle;
+      Warning_Code=message.Warning_Code;
+      Sub_Warning_Code0=message.Sub_Warning_Code0;
+      Car_Global_rx=message.Car_Global_rx;
+      Car_Global_ry=message.Car_Global_ry;
+      Car_Global_Theta=message.Car_Global_Theta;
+      Lateral_Deviation_m=message.Lateral_Deviation_m;
+      Vertical_Deviation_deg=message.Vertical_Deviation_deg;
+      Out_Of_Path_Times=message.Out_Of_Path_Times;
+      PLC_Warning_Code=message.PLC_Warning_Code;
+        Plate_Check_Err_Code=message.Plate_Check_Err_Code;
+      Min_Dist=message.Min_Dist;
+      Auto_In_Line_State=message.Auto_In_Line_State;
+      PathFollow_Enable=message.PathFollow_Enable;
+      StartNode=message.StartNode;
+      EndNode=message.EndNode;
+      RealAutoChargeState=message.RealAutoChargeState;
+      PWR_Percent=message.PWR_Percent;  PWR_Percents = message.PWR_Percent;
+      SVreal_angle=message.SVreal_angle;
+      Speedm_Tmp=message.Speedm_Tmp;
+      VehicleCtrlRealAltitude_mm=message.VehicleCtrlRealAltitude_mm;
+      VehicleCtrlRealGantryX_mm=message.VehicleCtrlRealGantryX_mm;
+      VehicleCtrlRealGantryY_mm=message.VehicleCtrlRealGantryY_mm;
+      ReachState=message.ReachState;
+      ObstacleDetectState=message.ObstacleDetectState;
+      ObstacleTouchState=message.ObstacleTouchState;
+      PWR_Warn=message.PWR_Warn;
+      VehicleCtrl_CAN_Err_Info=message.VehicleCtrl_CAN_Err_Info;
+      Curtis_Warning_Code_Speed=message.Curtis_Warning_Code_Speed;
+      Curtis_Warning_Code_Steer=message.Curtis_Warning_Code_Steer;
+      Curtis_Warning_Code_Pump=message.Curtis_Warning_Code_Pump;
+      LindeDriveErrCode1=message.LindeDriveErrCode1;
+      LindeDriveErrCode2=message.LindeDriveErrCode2;
+      LindeDriveErrCode3=message.LindeDriveErrCode3;
+      LindeDriveErrCode4=message.LindeDriveErrCode4;
+      LindeLiftErrCode1=message.LindeLiftErrCode1;
+      LindeLiftErrCode2=message.LindeLiftErrCode2;
+      LindeLiftErrCode3=message.LindeLiftErrCode3;
+      LindeLiftErrCode4=message.LindeLiftErrCode4;
+      LindeSteerErrCode1=message.LindeSteerErrCode1;
+      LindeSteerErrCode2=message.LindeSteerErrCode2;
+      LindeSteerErrCode3=message.LindeSteerErrCode3;
+      LindeSteerErrCode4=message.LindeSteerErrCode4;
+      LindeAgwSteerModeSelectorState=message.LindeAgwSteerModeSelectorState;
+      LindeAgwSteerErrorFlag=message.LindeAgwSteerErrorFlag;
+      LindeAgwSteerCenterPivotPlateAng=message.LindeAgwSteerCenterPivotPlateAng;
+      LindeAgwTracLiftModeSelectorState=message.LindeAgwTracLiftModeSelectorState;
+      LindeAgwTracLiftErrorFlag=message.LindeAgwTracLiftErrorFlag;
+      VehicleCtrlRealCustomStateByte0=message.VehicleCtrlRealCustomStateByte0;
+      VehicleCtrlRealCustomStateByte1=message.VehicleCtrlRealCustomStateByte1;
+      VehicleCtrlRealCustomStateByte2=message.VehicleCtrlRealCustomStateByte2;
+      VehicleCtrlRealCustomStateByte3=message.VehicleCtrlRealCustomStateByte3;
+        RealRCEnable=message.VehicleCtrlRealRCEnable;
+        RealJoyEnable=message.VehicleCtrlRealJoyEnable;
+      LastAltitudeExpectValue_mm=message.LastAltitudeExpectValue_mm;
+      LastGantryXExpectValue_mm=message.LastGantryXExpectValue_mm;
+      LastGantryYExpectValue_mm=message.LastGantryYExpectValue_mm;
+        PathFollow_Expect_AltitudeCtrlEnable=message.PathFollow_Expect_AltitudeCtrlEnable;
+        PathFollow_Expect_GantryXCtrlEnable=message.PathFollow_Expect_GantryXCtrlEnable;
+        PathFollow_Expect_GantryYCtrlEnable=message.PathFollow_Expect_GantryYCtrlEnable;
+        MissionCompleteAltitude_mm_RemoteOrHMI_FB=message.MissionCompleteAltitude_mm_RemoteOrHMI_FB;
+        MissionCompleteGantryX_mm_RemoteOrHMI_FB=message.MissionCompleteGantryX_mm_RemoteOrHMI_FB;
+        MissionCompleteGantryY_mm_RemoteOrHMI_FB=message.MissionCompleteGantryY_mm_RemoteOrHMI_FB;
+      Sche_JSON_Sche_Enable=message.Sche_JSON_Sche_Enable;
+      Remote_Or_HMI_Ctrl=message.Remote_Or_HMI_Ctrl;
+      CAD_Or_TCS_Ctrl=message.CAD_Or_TCS_Ctrl;
+      Language=message.Language;
+      Get_Nav350_Curr_Layer=message.Get_Nav350_Curr_Layer;
+      Ref_std_rx=message.Ref_std_rx;
+      Ref_std_ry=message.Ref_std_ry;
+      Ref_std_rt=message.Ref_std_rt;
+      CurNodeID=message.CurNodeID;
+
+      Cur_Stop_Info1_StopStartNode=message.Cur_Stop_Info1_StopStartNode;
+      Cur_Stop_Info1_StopEndNode=message.Cur_Stop_Info1_StopEndNode;
+      Cur_Stop_Info1_Authorized_Pass=message.Cur_Stop_Info1_Authorized_Pass;
+      Cur_Stop_Info1_High_Precious_Enable=message.Cur_Stop_Info1_High_Precious_Enable;
+      Cur_Stop_Info1_Stop_Endx=message.Cur_Stop_Info1_Stop_Endx;
+      Cur_Stop_Info1_Stop_Endy=message.Cur_Stop_Info1_Stop_Endy;
+      Cur_Stop_Info1_Stop_Endt=message.Cur_Stop_Info1_Stop_Endt;
+      Cur_Stop_Info1_Stop_Num=message.Cur_Stop_Info1_Stop_Num;
+      Cur_Stop_Info1_Single_Stop_Sch=message.Cur_Stop_Info1_Single_Stop_Sch;
+      Cur_Stop_Info1_Single_Request_Sch=message.Cur_Stop_Info1_Single_Request_Sch;
+      Cur_Stop_Info1_Reached_Stop=message.Cur_Stop_Info1_Reached_Stop;
+      Cur_Stop_Info1_Set_Pathx=message.Cur_Stop_Info1_Set_Pathx;
+      Cur_Stop_Info1_Set_Pathy=message.Cur_Stop_Info1_Set_Pathy;
+      Cur_Stop_Info1_Set_Patht=message.Cur_Stop_Info1_Set_Patht;
+
+      Cur_Stop_Info2_StopStartNode=message.Cur_Stop_Info2_StopStartNode;
+      Cur_Stop_Info2_StopEndNode=message.Cur_Stop_Info2_StopEndNode;
+      Cur_Stop_Info2_Authorized_Pass=message.Cur_Stop_Info2_Authorized_Pass;
+      Cur_Stop_Info2_High_Precious_Enable=message.Cur_Stop_Info2_High_Precious_Enable;
+      Cur_Stop_Info2_Stop_Endx=message.Cur_Stop_Info2_Stop_Endx;
+      Cur_Stop_Info2_Stop_Endy=message.Cur_Stop_Info2_Stop_Endy;
+      Cur_Stop_Info2_Stop_Endt=message.Cur_Stop_Info2_Stop_Endt;
+      Cur_Stop_Info2_Stop_Num=message.Cur_Stop_Info2_Stop_Num;
+      Cur_Stop_Info2_Single_Stop_Sch=message.Cur_Stop_Info2_Single_Stop_Sch;
+      Cur_Stop_Info2_Single_Request_Sch=message.Cur_Stop_Info2_Single_Request_Sch;
+      Cur_Stop_Info2_Reached_Stop=message.Cur_Stop_Info2_Reached_Stop;
+      Cur_Stop_Info2_Set_Pathx=message.Cur_Stop_Info2_Set_Pathx;
+      Cur_Stop_Info2_Set_Pathy=message.Cur_Stop_Info2_Set_Pathy;
+      Cur_Stop_Info2_Set_Patht=message.Cur_Stop_Info2_Set_Patht;
+      Navi_Method=message.Navi_Method;
+      Bosch_Car_Global_rx=message.Bosch_Car_Global_rx;
+      Bosch_Car_Global_ry=message.Bosch_Car_Global_ry;
+      Bosch_Car_Global_Theta=message.Bosch_Car_Global_Theta;
+      Bosch_Loc_State=message.Bosch_Loc_State;
+      Bosch_No_Rec_State=message.Bosch_No_Rec_State;
+      Bosch_raw_age=message.Bosch_raw_age;
+      Bosch_raw_timestamp=message.Bosch_raw_timestamp;
+        Bosch_raw_uniqueId=message.Bosch_raw_uniqueId;
+        Bosch_raw_locState=message.Bosch_raw_locState;
+      Bosch_raw_x=message.Bosch_raw_x;
+      Bosch_raw_y=message.Bosch_raw_y;
+      Bosch_raw_yaw=message.Bosch_raw_yaw;
+      Bosch_raw_z=message.Bosch_raw_z;
+      Bosch_raw_qw=message.Bosch_raw_qw;
+      Bosch_raw_qx=message.Bosch_raw_qx;
+      Bosch_raw_qy=message.Bosch_raw_qy;
+      Bosch_raw_qz=message.Bosch_raw_qz;
+      Bosch_raw_epoch=message.Bosch_raw_epoch;
+      Bosch_raw_x_odo=message.Bosch_raw_x_odo;
+      Bosch_raw_y_odo=message.Bosch_raw_y_odo;
+      Bosch_raw_yaw_odo=message.Bosch_raw_yaw_odo;
+        Update_Sch=message.Update_Sch;
+      Update_State=message.Update_State;
+      Task_Sch=message.Task_Sch;
+      Task_State=message.Task_State;
+      PFC_Sch=message.PFC_Sch;
+      PFC_State=message.PFC_State;
+      PFPC_Sch=message.PFPC_Sch;
+      PFPC_State=message.PFPC_State;
+        License_Info=message.License_Info;
+        Login_Info=message.Login_Info;
+      Env_CustomName=message.Env_CustomName;
+      Env_VehicleType=message.Env_VehicleType;
+      Env_SoftwareVersion=message.Env_SoftwareVersion;
+        Env_HMIUseJavaApp=message.Env_HMIUseJavaApp;
+        Env_LearnEnable=message.Env_LearnEnable;
+        Env_Lu_ROS_IP2=message.Env_Lu_ROS_IP2;
+      if(Main_Init==0){
+        //SwitchMain();
+        Main_Init=1;
+      }
+      sub_Display_State.unsubscribe();
+      //var str= message.AGV_ID.toString()+' '+message.Sys_Mode.toString()+' '+message.VehicleCtrlExpThrottle.toString()+' '+message.Warning_Code.toString()+'\n';
+      //console.log(str);
+      //document.getElementById('test').innerText= str;
+      });
+    }
+
+    function SwitchMain(){
+      let iframe = $('#topIframe')[0];
+      if(Env_VehicleType=="RT16"){
+        iframe.src = 'HMI_Main_RT16.html';
+      }
+      else if(Env_VehicleType=="PS15RM"){
+        iframe.src = 'HMI_Main_PS15RM.html';
+      }
+      else {
+        iframe.src = 'HMI_Main.html';
+      }
+    }
+    function SwitchCmd(){
+      let iframe = $('#topIframe')[0];
+      if(Env_VehicleType=="RT16"){
+        iframe.src = 'HMI_Cmd_RT16.html';
+        //window.open( 'HMI_Cmd_RT16.html', 'topIframe');
+      }
+      else {
+        iframe.src = 'HMI_Cmd.html';
+        //window.open( 'HMI_Cmd.html', 'topIframe')
+      }
+    }
+    function ButtonOnClick(bs){
+      let iframe = $('#topIframe')[0];
+      Button_State=bs;
+      switch(bs){
+        case 0:
+          iframe.src = '/home/generallu/apt/dist/index.html';
+        break;
+        default:
+        case 1:
+          SwitchMain();
+        break;
+        case 2:
+          iframe.src = 'HMI_Warning.html';
+        break;
+        case 3:
+          iframe.src = 'HMI_Sensor_V2.html';
+        break;
+        case 4:
+          SwitchCmd();
+        break;
+        case 5:
+          iframe.src = 'HMI_Log.html';
+        break;
+        case 6:
+          iframe.src = 'HMI_Debug.html';
+        break;
+        case 7:
+          iframe.src = 'HMI_Slam.html';
+        break;
+        case 8:
+          iframe.src = 'HMI_Map2.html';
+          document.getElementById('btn8').style.backgroundImage = "url('./images/sidebar_active_bg.png')";
+          document.getElementById('btn10').style.backgroundImage = "url('./images/sidebar_bg.png')";
+          document.getElementById('btn16').style.backgroundImage = "url('./images/sidebar_bg.png')";
+        break;
+        case 9:
+          iframe.src = 'Lu_Test_Threejs_12.html';
+        break;
+        case 10:
+          iframe.src = 'Sketch/HMI_Sketch.html';
+          document.getElementById('btn10').style.backgroundImage = "url('./images/sidebar_active_bg.png')";
+          document.getElementById('btn8').style.backgroundImage = "url('./images/sidebar_bg.png')";
+          document.getElementById('btn16').style.backgroundImage = "url('./images/sidebar_bg.png')";
+        break;
+        case 11:
+          iframe.src = 'http://"+Env_Lu_ROS_IP2+":8888/stream_viewer?topic=/usb_cam/image_raw';
+        break;
+        case 12:
+          iframe.src = 'login.html';
+        break;
+        case 13:
+          iframe.src = 'HMI_RemoteCtrl.html';
+        break;
+        case 15:
+          iframe.src = 'HMI_Sche_Test4.html';
+        break;
+        case 16:
+          iframe.src = 'Mapping/HMI_Mapping.html';
+          document.getElementById('btn16').style.backgroundImage = "url('./images/sidebar_active_bg.png')";
+          document.getElementById('btn8').style.backgroundImage = "url('./images/sidebar_bg.png')";
+          document.getElementById('btn10').style.backgroundImage = "url('./images/sidebar_bg.png')";
+        break;
+        case 17:
+          iframe.src = 'NUS/HMI_SLAM_Init.html';
+        break;
+        case 18:
+          iframe.src = 'Setting/HMI_Setting_Profile.html';
+        break;
+        case 19:
+          iframe.src = 'Setting/HMI_Getting_RemoteID.html';
+        break;
+        case 20:
+          iframe.src = 'Setting/HMI_Setting_FRP.html';
+        break;
+        case 21:
+          iframe.src = 'NUS/map.html';
+          break;
+        case 22:
+          iframe.src = 'FleetInfo/HMI_FleetInfo.html';
+          break;
+        case 23:
+          iframe.src = 'Setting/HMI_Setting_N2NProfile.html';
+        break;
+        case 24:
+          iframe.src = 'http://192.168.137.1/';
+        break;
+      }
+    }
+    Switching_Modes = 0;
+    function Switching_Mode(State){
+      Switching_Modes = State
+    }
+
+    function ButtonImage_Vertical_Click(){
+      if(Button_Vertical==0){
+        Button_Vertical=1;
+        document.getElementById("buttonimage_Vertical").setAttribute("src","Led_Display/Button_Vertical_On.bmp");
+      }
+      else{
+        Button_Vertical=0;
+        document.getElementById("buttonimage_Vertical").setAttribute("src","Led_Display/Button_Vertical_Off.bmp");
+      }
+    }
+
+    function Timer(){
+      Time=fnDate();
+      listener();
+      //client("Test");
+      GetHMIMapInfoCookie();
+      Refresh();
+      UserOrDeveloper();
+    }
+
+    function GetHMIMapInfoCookie(){
+
+      if($.cookie("HMIMapInfo")!=null)HMIMapInfo=$.cookie('HMIMapInfo');
+        document.getElementById('HMIMapInfo').innerText='HMIMapInfo='+HMIMapInfo;
+      if(Button_Vertical==0){
+        document.getElementById('HMIMapInfo').style.display="none";
+      }
+      else{
+        document.getElementById('HMIMapInfo').style.display="";
+      }
+    }
+
+    function UserOrDeveloper(){
+      $("#warningText").html("");
+      if (Switching_Modes === 0){
+        $("#control").hide()
+        $("#warning").show();
+        $("#control").parent("li").attr("class","nav-item nav-search d-none d-lg-block");
+
+            let wc = $.cookie('Warning_Code')
+        let swc = $.cookie('Sub_Warning_Code0')
+        let rw = $.cookie('PWR_Warn')
+        var warnings = showWarningList(wc,swc,rw);
+        // console.log("warnings",warnings);
+        
+        $("#warningText").html(warnings);
+      }else {
+        $("#warning").hide();
+        $("#control").show()
+        $("#control").parent("li").attr("class","nav-item nav-search d-none d-lg-block col-9");
+      }
+    }
+
+
+    function Refresh(){
+      document.getElementById('time').innerText=Env_CustomName+" "+Env_VehicleType+" "+Time+" "+Login_Info;
+      if(Sche_JSON_Sche_Enable==true)document.getElementById("Sche_JSON_Sche_Enable").setAttribute("src","Led_Display/light_blue_on.bmp");
+      else document.getElementById("Sche_JSON_Sche_Enable").setAttribute("src","Led_Display/light_blue_off.bmp");
+
+      if(RealRCEnable==true)document.getElementById("RealRCEnable").setAttribute("src","Led_Display/light_blue_on.bmp");
+      else document.getElementById("RealRCEnable").setAttribute("src","Led_Display/light_blue_off.bmp");
+
+      if(RealJoyEnable==true)document.getElementById("RealJoyEnable").setAttribute("src","Led_Display/light_blue_on.bmp");
+      else document.getElementById("RealJoyEnable").setAttribute("src","Led_Display/light_blue_off.bmp");
+
+      if(Remote_Or_HMI_Ctrl%2==1)document.getElementById("Remote_Or_HMI_Ctrl").setAttribute("src","Led_Display/light_blue_on.bmp");
+      else document.getElementById("Remote_Or_HMI_Ctrl").setAttribute("src","Led_Display/light_blue_off.bmp");
+
+      if(CAD_Or_TCS_Ctrl%2==1)document.getElementById("CAD_Or_TCS_Ctrl").setAttribute("src","Led_Display/light_blue_on.bmp");
+      else document.getElementById("CAD_Or_TCS_Ctrl").setAttribute("src","Led_Display/light_blue_off.bmp");
+
+      document.getElementById('Language').innerText='Language='+Language;
+      document.getElementById('Msg_Timestamp').innerText='Msg_Timestamp='+Msg_Timestamp;
+      document.getElementById('AGV_ID').innerText= 'AGV_ID='+AGV_ID;
+      document.getElementById('Sys_Mode').innerText= 'Sys_Mode='+Sys_Mode;
+      document.getElementById('VehicleCtrlExpThrottle').innerText= 'Throttle='+VehicleCtrlExpThrottle;
+      document.getElementById('Warning_Code').innerText= 'Warning_Code='+Warning_Code;
+      document.getElementById('Sub_Warning_Code0').innerText='Sub_Warning_Code0='+Sub_Warning_Code0;
+      document.getElementById('Car_Global_rx').innerText= 'Car_Global_rx='+Car_Global_rx.toFixed(3);
+      document.getElementById('Car_Global_ry').innerText= 'Car_Global_ry='+Car_Global_ry.toFixed(3);
+      document.getElementById('Car_Global_Theta').innerText= 'Car_Global_Theta='+Car_Global_Theta.toFixed(3);
+      document.getElementById('Lateral_Deviation_m').innerText='Lateral_Deviation_m='+Lateral_Deviation_m.toFixed(3);
+      document.getElementById('Vertical_Deviation_deg').innerText='Vertical_Deviation_deg='+Vertical_Deviation_deg.toFixed(3);
+      document.getElementById('Out_Of_Path_Times').innerText='Out_Of_Path_Times='+Out_Of_Path_Times;
+      document.getElementById('PLC_Warning_Code').innerText='PLC_Warning_Code='+PLC_Warning_Code;
+      document.getElementById('Plate_Check_Err_Code').innerText='Plate_Check_Err_Code='+Plate_Check_Err_Code;
+      document.getElementById('Min_Dist').innerText='Min_Dist='+Min_Dist;
+      document.getElementById('Auto_In_Line_State').innerText='Auto_In_Line_State='+Auto_In_Line_State;
+      document.getElementById('PathFollow_Enable').innerText='PathFollow_Enable='+PathFollow_Enable;
+      document.getElementById('StartNode').innerText= 'StartNode='+StartNode;
+      document.getElementById('EndNode').innerText= 'EndNode='+EndNode;
+      document.getElementById('RealAutoChargeState').innerText='RealAutoChargeState='+RealAutoChargeState;
+      document.getElementById('PWR_Percent').innerText='PWR_Percent='+PWR_Percent;
+      document.getElementById('SVreal_angle').innerText='SVreal_angle='+SVreal_angle;
+      document.getElementById('Speedm_Tmp').innerText='Speedm_Tmp='+Speedm_Tmp;
+      document.getElementById('VehicleCtrlRealAltitude_mm').innerText='VehicleCtrlRealAltitude_mm='+VehicleCtrlRealAltitude_mm;
+      document.getElementById('VehicleCtrlRealGantryX_mm').innerText='VehicleCtrlRealGantryX_mm='+VehicleCtrlRealGantryX_mm;
+      document.getElementById('VehicleCtrlRealGantryY_mm').innerText='VehicleCtrlRealGantryY_mm='+VehicleCtrlRealGantryY_mm;
+      document.getElementById('ReachState').innerText='ReachState='+ReachState;
+      document.getElementById('ObstacleDetectState').innerText='ObstacleDetectState='+ObstacleDetectState;
+      document.getElementById('ObstacleTouchState').innerText='ObstacleTouchState='+ObstacleTouchState;
+      document.getElementById('PWR_Warn').innerText='PWR_Warn='+PWR_Warn;
+      document.getElementById('VehicleCtrl_CAN_Err_Info').innerText='VehicleCtrl_CAN_Err_Info='+VehicleCtrl_CAN_Err_Info;
+      document.getElementById('Curtis_Warning_Code_Speed').innerText='Curtis_Warning_Code_Speed='+Curtis_Warning_Code_Speed;
+      document.getElementById('Curtis_Warning_Code_Steer').innerText='Curtis_Warning_Code_Steer='+Curtis_Warning_Code_Steer;
+      document.getElementById('Curtis_Warning_Code_Pump').innerText='Curtis_Warning_Code_Pump='+Curtis_Warning_Code_Pump;
+      document.getElementById('LindeDriveErrCode1').innerText='LindeDriveErrCode1='+LindeDriveErrCode1;
+      document.getElementById('LindeDriveErrCode2').innerText='LindeDriveErrCode2='+LindeDriveErrCode2;
+      document.getElementById('LindeDriveErrCode3').innerText='LindeDriveErrCode3='+LindeDriveErrCode3;
+      document.getElementById('LindeDriveErrCode4').innerText='LindeDriveErrCode4='+LindeDriveErrCode4;
+      document.getElementById('LindeLiftErrCode1').innerText='LindeLiftErrCode1='+LindeLiftErrCode1;
+      document.getElementById('LindeLiftErrCode2').innerText='LindeLiftErrCode2='+LindeLiftErrCode2;
+      document.getElementById('LindeLiftErrCode3').innerText='LindeLiftErrCode3='+LindeLiftErrCode3;
+      document.getElementById('LindeLiftErrCode4').innerText='LindeLiftErrCode4='+LindeLiftErrCode4;
+      document.getElementById('LindeSteerErrCode1').innerText='LindeSteerErrCode1='+LindeSteerErrCode1;
+      document.getElementById('LindeSteerErrCode2').innerText='LindeSteerErrCode2='+LindeSteerErrCode2;
+      document.getElementById('LindeSteerErrCode3').innerText='LindeSteerErrCode3='+LindeSteerErrCode3;
+      document.getElementById('LindeSteerErrCode4').innerText='LindeSteerErrCode4='+LindeSteerErrCode4;
+      document.getElementById('LindeAgwSteerModeSelectorState').innerText='LindeAgwSteerModeSelectorState='+LindeAgwSteerModeSelectorState;
+      document.getElementById('LindeAgwSteerErrorFlag').innerText='LindeAgwSteerErrorFlag='+LindeAgwSteerErrorFlag;
+      document.getElementById('LindeAgwSteerCenterPivotPlateAng').innerText='LindeAgwSteerCenterPivotPlateAng='+LindeAgwSteerCenterPivotPlateAng;
+      document.getElementById('LindeAgwTracLiftModeSelectorState').innerText='LindeAgwTracLiftModeSelectorState='+LindeAgwTracLiftModeSelectorState;
+      document.getElementById('LindeAgwTracLiftErrorFlag').innerText='LindeAgwTracLiftErrorFlag='+LindeAgwTracLiftErrorFlag;
+      document.getElementById('VehicleCtrlRealCustomStateByte0').innerText='VehicleCtrlRealCustomStateByte0='+VehicleCtrlRealCustomStateByte0;
+      document.getElementById('VehicleCtrlRealCustomStateByte1').innerText='VehicleCtrlRealCustomStateByte1='+VehicleCtrlRealCustomStateByte1;
+      document.getElementById('VehicleCtrlRealCustomStateByte2').innerText='VehicleCtrlRealCustomStateByte2='+VehicleCtrlRealCustomStateByte2;
+      document.getElementById('VehicleCtrlRealCustomStateByte3').innerText='VehicleCtrlRealCustomStateByte3='+VehicleCtrlRealCustomStateByte3;
+      document.getElementById('LastAltitudeExpectValue_mm').innerText='LastAltitudeExpectValue_mm='+LastAltitudeExpectValue_mm;
+      document.getElementById('LastGantryXExpectValue_mm').innerText='LastGantryXExpectValue_mm='+LastGantryXExpectValue_mm;
+      document.getElementById('LastGantryYExpectValue_mm').innerText='LastGantryYExpectValue_mm='+LastGantryYExpectValue_mm;
+      document.getElementById('PathFollow_Expect_AltitudeCtrlEnable').innerText='PathFollow_Expect_AltitudeCtrlEnable='+PathFollow_Expect_AltitudeCtrlEnable;
+      document.getElementById('PathFollow_Expect_GantryXCtrlEnable').innerText='PathFollow_Expect_GantryXCtrlEnable='+PathFollow_Expect_GantryXCtrlEnable;
+      document.getElementById('PathFollow_Expect_GantryYCtrlEnable').innerText='PathFollow_Expect_GantryYCtrlEnable='+PathFollow_Expect_GantryYCtrlEnable;
+      document.getElementById('MissionCompleteAltitude_mm_RemoteOrHMI_FB').innerText='MissionCompleteAltitude_mm_RemoteOrHMI_FB='+MissionCompleteAltitude_mm_RemoteOrHMI_FB;
+      document.getElementById('MissionCompleteGantryX_mm_RemoteOrHMI_FB').innerText='MissionCompleteGantryX_mm_RemoteOrHMI_FB='+MissionCompleteGantryX_mm_RemoteOrHMI_FB;
+      document.getElementById('MissionCompleteGantryY_mm_RemoteOrHMI_FB').innerText='MissionCompleteGantryY_mm_RemoteOrHMI_FB='+MissionCompleteGantryY_mm_RemoteOrHMI_FB;
+      document.getElementById('Get_Nav350_Curr_Layer').innerText='Get_Nav350_Curr_Layer='+Get_Nav350_Curr_Layer;
+      document.getElementById('Ref_std_rx').innerText='Ref_std_rx='+Ref_std_rx;
+      document.getElementById('Ref_std_ry').innerText='Ref_std_ry='+Ref_std_ry;
+      document.getElementById('Ref_std_rt').innerText='Ref_std_rt='+Ref_std_rt;
+      document.getElementById('CurNodeID').innerText='CurNodeID='+CurNodeID;
+
+      document.getElementById('Update_Sch').innerText='Update_Sch='+Update_Sch;
+      document.getElementById('Update_State').innerText='Update_State='+Update_State;
+      document.getElementById('Task_Sch').innerText='Task_Sch='+Task_Sch;
+      document.getElementById('Task_State').innerText='Task_State='+Task_State;
+      document.getElementById('PFC_Sch').innerText='PFC_Sch='+PFC_Sch;
+      document.getElementById('PFC_State').innerText='PFC_State='+PFC_State;
+      document.getElementById('PFPC_Sch').innerText='PFPC_Sch='+PFPC_Sch;
+      document.getElementById('PFPC_State').innerText='PFPC_State='+PFPC_State;
+      document.getElementById('License_Info').innerText='License_Info='+License_Info;
+      document.getElementById('Login_Info').innerText='Login_Info='+Login_Info;
+      document.getElementById('Env_CustomName').innerText='Env_CustomName='+Env_CustomName;
+      document.getElementById('Env_VehicleType').innerText='Env_VehicleType='+Env_VehicleType;
+      document.getElementById('Env_SoftwareVersion').innerText='Env_SoftwareVersion='+Env_SoftwareVersion;
+      document.getElementById('Env_HMIUseJavaApp').innerText='Env_HMIUseJavaApp='+Env_HMIUseJavaApp;
+      document.getElementById('Env_LearnEnable').innerText='Env_LearnEnable='+Env_LearnEnable;
+      document.getElementById('Env_Lu_ROS_IP2').innerText='Env_Lu_ROS_IP2='+Env_Lu_ROS_IP2;
+      document.getElementById('Button_State').innerText='Button_State='+Button_State;
+
+      // if(Env_HMIUseJavaApp=="true")document.getElementById('btn0').style.display="";
+      // else document.getElementById('btn0').style.display="none";
+      //
+      // if(Env_LearnEnable=="true")document.getElementById('btn9').style.display="";
+      // else document.getElementById('btn9').style.display="none";
+      //
+      // if(Env_Lu_ROS_IP2.split('.').length==4)document.getElementById('btn11').style.display="";
+      // else document.getElementById('btn11').style.display="none";
+
+      if(Button_Vertical==0){
+        //document.getElementById('btn0').style.display="none";
+      document.getElementById('Language').style.display="none";
+        document.getElementById('Msg_Timestamp').style.display="none";
+        document.getElementById('AGV_ID').style.display="none";
+        document.getElementById('Sys_Mode').style.display="none";
+        document.getElementById('VehicleCtrlExpThrottle').style.display="none";
+        document.getElementById('Warning_Code').style.display="none";
+        document.getElementById('Sub_Warning_Code0').style.display="none";
+        document.getElementById('Car_Global_rx').style.display="none";
+        document.getElementById('Car_Global_ry').style.display="none";
+        document.getElementById('Car_Global_Theta').style.display="none";
+        document.getElementById('Lateral_Deviation_m').style.display="none";
+        document.getElementById('Vertical_Deviation_deg').style.display="none";
+        document.getElementById('Out_Of_Path_Times').style.display="none";
+        document.getElementById('PLC_Warning_Code').style.display="none";
+        document.getElementById('Plate_Check_Err_Code').style.display="none";
+        document.getElementById('Min_Dist').style.display="none";
+        document.getElementById('Auto_In_Line_State').style.display="none";
+        document.getElementById('PathFollow_Enable').style.display="none";
+        document.getElementById('StartNode').style.display="none";
+        document.getElementById('EndNode').style.display="none";
+        document.getElementById('RealAutoChargeState').style.display="none";
+        document.getElementById('PWR_Percent').style.display="none";
+        document.getElementById('SVreal_angle').style.display="none";
+        document.getElementById('Speedm_Tmp').style.display="none";
+        document.getElementById('VehicleCtrlRealAltitude_mm').style.display="none";
+        document.getElementById('VehicleCtrlRealGantryX_mm').style.display="none";
+        document.getElementById('VehicleCtrlRealGantryY_mm').style.display="none";
+        document.getElementById('ReachState').style.display="none";
+        document.getElementById('ObstacleDetectState').style.display="none";
+        document.getElementById('ObstacleTouchState').style.display="none";
+        document.getElementById('PWR_Warn').style.display="none";
+        document.getElementById('VehicleCtrl_CAN_Err_Info').style.display="none";
+        document.getElementById('Curtis_Warning_Code_Speed').style.display="none";
+        document.getElementById('Curtis_Warning_Code_Steer').style.display="none";
+        document.getElementById('Curtis_Warning_Code_Pump').style.display="none";
+        document.getElementById('LindeDriveErrCode1').style.display="none";
+      document.getElementById('LindeDriveErrCode2').style.display="none";
+      document.getElementById('LindeDriveErrCode3').style.display="none";
+      document.getElementById('LindeDriveErrCode4').style.display="none";
+      document.getElementById('LindeLiftErrCode1').style.display="none";
+      document.getElementById('LindeLiftErrCode2').style.display="none";
+      document.getElementById('LindeLiftErrCode3').style.display="none";
+      document.getElementById('LindeLiftErrCode4').style.display="none";
+      document.getElementById('LindeSteerErrCode1').style.display="none";
+      document.getElementById('LindeSteerErrCode2').style.display="none";
+      document.getElementById('LindeSteerErrCode3').style.display="none";
+      document.getElementById('LindeSteerErrCode4').style.display="none";
+      document.getElementById('LindeAgwSteerModeSelectorState').style.display="none";
+      document.getElementById('LindeAgwSteerErrorFlag').style.display="none";
+      document.getElementById('LindeAgwSteerCenterPivotPlateAng').style.display="none";
+      document.getElementById('LindeAgwTracLiftModeSelectorState').style.display="none";
+      document.getElementById('LindeAgwTracLiftErrorFlag').style.display="none";
+        document.getElementById('VehicleCtrlRealCustomStateByte0').style.display="none";
+        document.getElementById('VehicleCtrlRealCustomStateByte1').style.display="none";
+        document.getElementById('VehicleCtrlRealCustomStateByte2').style.display="none";
+        document.getElementById('VehicleCtrlRealCustomStateByte3').style.display="none";
+        document.getElementById('LastAltitudeExpectValue_mm').style.display="none";
+        document.getElementById('LastGantryXExpectValue_mm').style.display="none";
+        document.getElementById('LastGantryYExpectValue_mm').style.display="none";
+        document.getElementById('PathFollow_Expect_AltitudeCtrlEnable').style.display="none";
+        document.getElementById('PathFollow_Expect_GantryXCtrlEnable').style.display="none";
+        document.getElementById('PathFollow_Expect_GantryYCtrlEnable').style.display="none";
+        document.getElementById('MissionCompleteAltitude_mm_RemoteOrHMI_FB').style.display="none";
+        document.getElementById('MissionCompleteGantryX_mm_RemoteOrHMI_FB').style.display="none";
+        document.getElementById('MissionCompleteGantryY_mm_RemoteOrHMI_FB').style.display="none";
+        document.getElementById('Get_Nav350_Curr_Layer').style.display="none";
+      document.getElementById('Ref_std_rx').style.display="none";
+      document.getElementById('Ref_std_ry').style.display="none";
+      document.getElementById('Ref_std_rt').style.display="none";
+      document.getElementById('CurNodeID').style.display="none";
+      document.getElementById('Update_Sch').style.display="none";
+        document.getElementById('Update_State').style.display="none";
+        document.getElementById('Task_Sch').style.display="none";
+        document.getElementById('Task_State').style.display="none";
+        document.getElementById('PFC_Sch').style.display="none";
+        document.getElementById('PFC_State').style.display="none";
+        document.getElementById('PFPC_Sch').style.display="none";
+        document.getElementById('PFPC_State').style.display="none";
+        document.getElementById('License_Info').style.display="none";
+        document.getElementById('Login_Info').style.display="none";
+        document.getElementById('Env_CustomName').style.display="none";
+        document.getElementById('Env_VehicleType').style.display="none";
+        document.getElementById('Env_SoftwareVersion').style.display="none";
+        document.getElementById('Env_HMIUseJavaApp').style.display="none";
+        document.getElementById('Env_LearnEnable').style.display="none";
+        document.getElementById('Env_Lu_ROS_IP2').style.display="none";
+        document.getElementById('Button_State').style.display="none";
+      }
+      else{
+        //document.getElementById('btn0').style.display="";
+      document.getElementById('Language').style.display="";
+        document.getElementById('Msg_Timestamp').style.display="";
+        document.getElementById('AGV_ID').style.display="";
+        document.getElementById('Sys_Mode').style.display="";
+        document.getElementById('VehicleCtrlExpThrottle').style.display="";
+        document.getElementById('Warning_Code').style.display="";
+        document.getElementById('Sub_Warning_Code0').style.display="";
+        document.getElementById('Car_Global_rx').style.display="";
+        document.getElementById('Car_Global_ry').style.display="";
+        document.getElementById('Car_Global_Theta').style.display="";
+        document.getElementById('Lateral_Deviation_m').style.display="";
+        document.getElementById('Vertical_Deviation_deg').style.display="";
+        document.getElementById('Out_Of_Path_Times').style.display="";
+        document.getElementById('PLC_Warning_Code').style.display="";
+        document.getElementById('Plate_Check_Err_Code').style.display="";
+        document.getElementById('Min_Dist').style.display="";
+        document.getElementById('Auto_In_Line_State').style.display="";
+        document.getElementById('PathFollow_Enable').style.display="";
+        document.getElementById('StartNode').style.display="";
+        document.getElementById('EndNode').style.display="";
+        document.getElementById('RealAutoChargeState').style.display="";
+        document.getElementById('PWR_Percent').style.display="";
+        document.getElementById('SVreal_angle').style.display="";
+        document.getElementById('Speedm_Tmp').style.display="";
+        document.getElementById('VehicleCtrlRealAltitude_mm').style.display="";
+        document.getElementById('VehicleCtrlRealGantryX_mm').style.display="";
+        document.getElementById('VehicleCtrlRealGantryY_mm').style.display="";
+        document.getElementById('ReachState').style.display="";
+        document.getElementById('ObstacleDetectState').style.display="";
+        document.getElementById('ObstacleTouchState').style.display="";
+        document.getElementById('PWR_Warn').style.display="";
+        document.getElementById('VehicleCtrl_CAN_Err_Info').style.display="";
+        document.getElementById('Curtis_Warning_Code_Speed').style.display="";
+        document.getElementById('Curtis_Warning_Code_Steer').style.display="";
+        document.getElementById('Curtis_Warning_Code_Pump').style.display="";
+      document.getElementById('LindeDriveErrCode1').style.display="";
+      document.getElementById('LindeDriveErrCode2').style.display="";
+      document.getElementById('LindeDriveErrCode3').style.display="";
+      document.getElementById('LindeDriveErrCode4').style.display="";
+      document.getElementById('LindeLiftErrCode1').style.display="";
+      document.getElementById('LindeLiftErrCode2').style.display="";
+      document.getElementById('LindeLiftErrCode3').style.display="";
+      document.getElementById('LindeLiftErrCode4').style.display="";
+      document.getElementById('LindeSteerErrCode1').style.display="";
+      document.getElementById('LindeSteerErrCode2').style.display="";
+      document.getElementById('LindeSteerErrCode3').style.display="";
+      document.getElementById('LindeSteerErrCode4').style.display="";
+      document.getElementById('LindeAgwSteerModeSelectorState').style.display="";
+      document.getElementById('LindeAgwSteerErrorFlag').style.display="";
+      document.getElementById('LindeAgwSteerCenterPivotPlateAng').style.display="";
+      document.getElementById('LindeAgwTracLiftModeSelectorState').style.display="";
+      document.getElementById('LindeAgwTracLiftErrorFlag').style.display="";
+        document.getElementById('VehicleCtrlRealCustomStateByte0').style.display="";
+        document.getElementById('VehicleCtrlRealCustomStateByte1').style.display="";
+        document.getElementById('VehicleCtrlRealCustomStateByte2').style.display="";
+        document.getElementById('VehicleCtrlRealCustomStateByte3').style.display="";
+        document.getElementById('LastAltitudeExpectValue_mm').style.display="";
+        document.getElementById('LastGantryXExpectValue_mm').style.display="";
+        document.getElementById('LastGantryYExpectValue_mm').style.display="";
+        document.getElementById('PathFollow_Expect_AltitudeCtrlEnable').style.display="";
+        document.getElementById('PathFollow_Expect_GantryXCtrlEnable').style.display="";
+        document.getElementById('PathFollow_Expect_GantryYCtrlEnable').style.display="";
+        document.getElementById('MissionCompleteAltitude_mm_RemoteOrHMI_FB').style.display="";
+        document.getElementById('MissionCompleteGantryX_mm_RemoteOrHMI_FB').style.display="";
+        document.getElementById('MissionCompleteGantryY_mm_RemoteOrHMI_FB').style.display="";
+        document.getElementById('Get_Nav350_Curr_Layer').style.display="";
+      document.getElementById('Ref_std_rx').style.display="";
+      document.getElementById('Ref_std_ry').style.display="";
+      document.getElementById('Ref_std_rt').style.display="";
+      document.getElementById('CurNodeID').style.display="";
+      document.getElementById('Update_Sch').style.display="";
+        document.getElementById('Update_State').style.display="";
+        document.getElementById('Task_Sch').style.display="";
+        document.getElementById('Task_State').style.display="";
+        document.getElementById('PFC_Sch').style.display="";
+        document.getElementById('PFC_State').style.display="";
+        document.getElementById('PFPC_Sch').style.display="";
+        document.getElementById('PFPC_State').style.display="";
+        document.getElementById('License_Info').style.display="";
+        document.getElementById('Login_Info').style.display="";
+        document.getElementById('Env_CustomName').style.display="";
+        document.getElementById('Env_VehicleType').style.display="";
+        document.getElementById('Env_SoftwareVersion').style.display="";
+        document.getElementById('Env_HMIUseJavaApp').style.display="";
+        document.getElementById('Env_LearnEnable').style.display="";
+        document.getElementById('Env_Lu_ROS_IP2').style.display="";
+        document.getElementById('Button_State').style.display="";
+      }
+      $.cookie("Language",Language,{secure:true});
+      $.cookie("Switching_Modes",Switching_Modes);
+      $.cookie("Msg_Timestamp",Msg_Timestamp,{secure:true});
+      $.cookie("ros",ros,{secure:true});
+      $.cookie("AGV_ID",AGV_ID,{secure: true});
+      $.cookie("Sys_Mode",Sys_Mode,{secure: true});
+      $.cookie("Warning_Code",Warning_Code,{secure: true});
+      $.cookie("Sub_Warning_Code0",Sub_Warning_Code0,{secure: true});
+      $.cookie("Car_Global_rx",Car_Global_rx,{secure: true});
+      $.cookie("Car_Global_ry",Car_Global_ry,{secure: true });
+      $.cookie("Car_Global_Theta",Car_Global_Theta,{secure: true});
+      $.cookie("Lateral_Deviation_m",Lateral_Deviation_m,{secure: true});
+      $.cookie("Vertical_Deviation_deg",Vertical_Deviation_deg,{secure: true});
+      $.cookie("Out_Of_Path_Times",Out_Of_Path_Times,{secure: true});
+      $.cookie("PLC_Warning_Code",PLC_Warning_Code,{secure:true});
+      $.cookie("Plate_Check_Err_Code",Plate_Check_Err_Code,{secure:true});
+      $.cookie("Min_Dist",Min_Dist,{secure: true});
+      $.cookie("Auto_In_Line_State",Auto_In_Line_State,{secure: true});
+      $.cookie("PathFollow_Enable",PathFollow_Enable,{secure:true});
+      $.cookie("StartNode",StartNode,{secure: true});
+      $.cookie("EndNode",EndNode,{secure:true});
+      $.cookie("RealAutoChargeState",RealAutoChargeState,{secure:true});
+      $.cookie("VehicleCtrlRealAltitude_mm",VehicleCtrlRealAltitude_mm,{secure: true });
+      $.cookie("VehicleCtrlRealGantryX_mm",VehicleCtrlRealGantryX_mm,{secure: true});
+      $.cookie("VehicleCtrlRealGantryY_mm",VehicleCtrlRealGantryY_mm,{secure: true});
+      $.cookie("ReachState",ReachState,{secure: true});
+      $.cookie("ObstacleDetectState",ObstacleDetectState,{secure:true});
+      $.cookie("ObstacleTouchState",ObstacleTouchState,{secure:true});
+      $.cookie("VehicleCtrlExpThrottle",VehicleCtrlExpThrottle,{secure: true });
+      $.cookie("Speedm_Tmp",Speedm_Tmp,{secure: true });
+      $.cookie("PWR_Percent",PWR_Percent,{secure: true });
+      $.cookie("SVreal_angle",SVreal_angle,{secure: true });
+      $.cookie("PWR_Warn",PWR_Warn,{secure: true});
+      $.cookie("VehicleCtrl_CAN_Err_Info",VehicleCtrl_CAN_Err_Info,{secure:true});
+      $.cookie("Curtis_Warning_Code_Speed",Curtis_Warning_Code_Speed,{secure:true});
+      $.cookie("Curtis_Warning_Code_Steer",Curtis_Warning_Code_Steer,{secure:true});
+      $.cookie("Curtis_Warning_Code_Pump",Curtis_Warning_Code_Pump,{secure:true});
+      $.cookie("LindeDriveErrCode1",LindeDriveErrCode1,{secure:true});
+      $.cookie("LindeDriveErrCode2",LindeDriveErrCode2,{secure:true});
+      $.cookie("LindeDriveErrCode3",LindeDriveErrCode3,{secure:true});
+      $.cookie("LindeDriveErrCode4",LindeDriveErrCode4,{secure:true});
+      $.cookie("LindeLiftErrCode1",LindeLiftErrCode1,{secure:true});
+      $.cookie("LindeLiftErrCode2",LindeLiftErrCode2,{secure:true});
+      $.cookie("LindeLiftErrCode3",LindeLiftErrCode3,{secure:true});
+      $.cookie("LindeLiftErrCode4",LindeLiftErrCode4,{secure:true});
+      $.cookie("LindeSteerErrCode1",LindeSteerErrCode1,{secure:true});
+      $.cookie("LindeSteerErrCode2",LindeSteerErrCode2,{secure:true});
+      $.cookie("LindeSteerErrCode3",LindeSteerErrCode3,{secure:true});
+      $.cookie("LindeSteerErrCode4",LindeSteerErrCode4,{secure:true});
+      $.cookie("LindeAgwSteerModeSelectorState",LindeAgwSteerModeSelectorState,{secure:true});
+      $.cookie("LindeAgwSteerErrorFlag",LindeAgwSteerErrorFlag,{secure:true});
+      $.cookie("LindeAgwSteerCenterPivotPlateAng",LindeAgwSteerCenterPivotPlateAng,{secure:true});
+      $.cookie("LindeAgwTracLiftModeSelectorState",LindeAgwTracLiftModeSelectorState,{secure:true});
+      $.cookie("LindeAgwTracLiftErrorFlag",LindeAgwTracLiftErrorFlag,{secure:true});
+      $.cookie("VehicleCtrlRealCustomStateByte0",VehicleCtrlRealCustomStateByte0,{secure:true});
+      $.cookie("VehicleCtrlRealCustomStateByte1",VehicleCtrlRealCustomStateByte1,{secure:true});
+      $.cookie("VehicleCtrlRealCustomStateByte2",VehicleCtrlRealCustomStateByte2,{secure:true});
+      $.cookie("VehicleCtrlRealCustomStateByte3",VehicleCtrlRealCustomStateByte3,{secure:true});
+      $.cookie("LastAltitudeExpectValue_mm",LastAltitudeExpectValue_mm,{secure:true});
+      $.cookie("LastGantryXExpectValue_mm",LastGantryXExpectValue_mm,{secure:true});
+      $.cookie("LastGantryYExpectValue_mm",LastGantryYExpectValue_mm,{secure:true});
+      $.cookie("PathFollow_Expect_AltitudeCtrlEnable",PathFollow_Expect_AltitudeCtrlEnable,{secure:true});
+      $.cookie("PathFollow_Expect_GantryXCtrlEnable",PathFollow_Expect_GantryXCtrlEnable,{secure:true});
+      $.cookie("PathFollow_Expect_GantryYCtrlEnable",PathFollow_Expect_GantryYCtrlEnable,{secure:true});
+      $.cookie("MissionCompleteAltitude_mm_RemoteOrHMI_FB",MissionCompleteAltitude_mm_RemoteOrHMI_FB,{secure:true});
+      $.cookie("MissionCompleteGantryX_mm_RemoteOrHMI_FB",MissionCompleteGantryX_mm_RemoteOrHMI_FB,{secure:true});
+      $.cookie("MissionCompleteGantryY_mm_RemoteOrHMI_FB",MissionCompleteGantryY_mm_RemoteOrHMI_FB,{secure:true});
+      $.cookie("Get_Nav350_Curr_Layer",Get_Nav350_Curr_Layer,{secure:true});
+      $.cookie("Ref_std_rx",Ref_std_rx,{secure:true});
+      $.cookie("Ref_std_ry",Ref_std_ry,{secure:true});
+      $.cookie("Ref_std_rt",Ref_std_rt,{secure:true});
+      $.cookie("CurNodeID",CurNodeID,{secure:true});
+
+      $.cookie("Cur_Stop_Info1_StopStartNode",Cur_Stop_Info1_StopStartNode,{secure:true});
+      $.cookie("Cur_Stop_Info1_StopEndNode",Cur_Stop_Info1_StopEndNode,{secure:true});
+      $.cookie("Cur_Stop_Info1_Authorized_Pass",Cur_Stop_Info1_Authorized_Pass,{secure:true});
+      $.cookie("Cur_Stop_Info1_High_Precious_Enable",Cur_Stop_Info1_High_Precious_Enable,{secure:true});
+      $.cookie("Cur_Stop_Info1_Stop_Endx",Cur_Stop_Info1_Stop_Endx,{secure:true});
+      $.cookie("Cur_Stop_Info1_Stop_Endy",Cur_Stop_Info1_Stop_Endy,{secure:true});
+      $.cookie("Cur_Stop_Info1_Stop_Endt",Cur_Stop_Info1_Stop_Endt,{secure:true});
+      $.cookie("Cur_Stop_Info1_Stop_Num",Cur_Stop_Info1_Stop_Num,{secure:true});
+      $.cookie("Cur_Stop_Info1_Single_Stop_Sch",Cur_Stop_Info1_Single_Stop_Sch,{secure:true});
+      $.cookie("Cur_Stop_Info1_Single_Request_Sch",Cur_Stop_Info1_Single_Request_Sch,{secure:true});
+      $.cookie("Cur_Stop_Info1_Reached_Stop",Cur_Stop_Info1_Reached_Stop,{secure:true});
+      $.cookie("Cur_Stop_Info1_Set_Pathx",Cur_Stop_Info1_Set_Pathx,{secure:true});
+      $.cookie("Cur_Stop_Info1_Set_Pathy",Cur_Stop_Info1_Set_Pathy,{secure:true});
+      $.cookie("Cur_Stop_Info1_Set_Patht",Cur_Stop_Info1_Set_Patht,{secure:true});
+      $.cookie("Cur_Stop_Info2_StopStartNode",Cur_Stop_Info2_StopStartNode,{secure:true});
+      $.cookie("Cur_Stop_Info2_StopEndNode",Cur_Stop_Info2_StopEndNode,{secure:true});
+      $.cookie("Cur_Stop_Info2_Authorized_Pass",Cur_Stop_Info2_Authorized_Pass,{secure:true});
+      $.cookie("Cur_Stop_Info2_High_Precious_Enable",Cur_Stop_Info2_High_Precious_Enable,{secure:true});
+      $.cookie("Cur_Stop_Info2_Stop_Endx",Cur_Stop_Info2_Stop_Endx,{secure:true});
+      $.cookie("Cur_Stop_Info2_Stop_Endy",Cur_Stop_Info2_Stop_Endy,{secure:true});
+      $.cookie("Cur_Stop_Info2_Stop_Endt",Cur_Stop_Info2_Stop_Endt,{secure:true});
+      $.cookie("Cur_Stop_Info2_Stop_Num",Cur_Stop_Info2_Stop_Num,{secure:true});
+      $.cookie("Cur_Stop_Info2_Single_Stop_Sch",Cur_Stop_Info2_Single_Stop_Sch,{secure:true});
+      $.cookie("Cur_Stop_Info2_Single_Request_Sch",Cur_Stop_Info2_Single_Request_Sch,{secure:true});
+      $.cookie("Cur_Stop_Info2_Reached_Stop",Cur_Stop_Info2_Reached_Stop,{secure:true});
+      $.cookie("Cur_Stop_Info2_Set_Pathx",Cur_Stop_Info2_Set_Pathx,{secure:true});
+      $.cookie("Cur_Stop_Info2_Set_Pathy",Cur_Stop_Info2_Set_Pathy,{secure:true});
+      $.cookie("Cur_Stop_Info2_Set_Patht",Cur_Stop_Info2_Set_Patht,{secure:true});
+      $.cookie("Navi_Method",Navi_Method,{secure:true});
+      $.cookie("Bosch_Car_Global_rx",Bosch_Car_Global_rx,{secure:true});
+      $.cookie("Bosch_Car_Global_ry",Bosch_Car_Global_ry,{secure:true});
+      $.cookie("Bosch_Car_Global_Theta",Bosch_Car_Global_Theta,{secure:true});
+      $.cookie("Bosch_Loc_State",Bosch_Loc_State,{secure:true});
+      $.cookie("Bosch_No_Rec_State",Bosch_No_Rec_State,{secure:true});
+      $.cookie("Bosch_raw_age",Bosch_raw_age,{secure:true});
+      $.cookie("Bosch_raw_timestamp",Bosch_raw_timestamp,{secure:true});
+      $.cookie("Bosch_raw_uniqueId",Bosch_raw_uniqueId,{secure:true});
+      $.cookie("Bosch_raw_locState",Bosch_raw_locState,{secure:true});
+      $.cookie("Bosch_raw_x",Bosch_raw_x,{secure:true});
+      $.cookie("Bosch_raw_y",Bosch_raw_y,{secure:true});
+      $.cookie("Bosch_raw_yaw",Bosch_raw_yaw,{secure:true});
+      $.cookie("Bosch_raw_z",Bosch_raw_z,{secure:true});
+      $.cookie("Bosch_raw_qw",Bosch_raw_qw,{secure:true});
+      $.cookie("Bosch_raw_qx",Bosch_raw_qx,{secure:true});
+      $.cookie("Bosch_raw_qy",Bosch_raw_qy,{secure:true});
+      $.cookie("Bosch_raw_qz",Bosch_raw_qz,{secure:true});
+      $.cookie("Bosch_raw_epoch",Bosch_raw_epoch,{secure:true});
+      $.cookie("Bosch_raw_x_odo",Bosch_raw_x_odo,{secure:true});
+      $.cookie("Bosch_raw_y_odo",Bosch_raw_y_odo,{secure:true});
+      $.cookie("Bosch_raw_yaw_odo",Bosch_raw_yaw_odo,{secure:true});
+      $.cookie("Update_Sch",Update_Sch,{secure:true});
+      $.cookie("Update_State",Update_State,{secure:true});
+      $.cookie("Task_Sch",Task_Sch,{secure:true});
+      $.cookie("Task_State",Task_State,{secure:true});
+      $.cookie("PFC_Sch",PFC_Sch,{secure:true});
+      $.cookie("PFC_State",PFC_State,{secure:true});
+      $.cookie("PFPC_Sch",PFPC_Sch,{secure:true});
+      $.cookie("PFPC_State",PFPC_State,{secure:true});
+      $.cookie("License_Info",License_Info,{secure:true});
+      $.cookie("Login_Info",Login_Info,{secure:true});
+      $.cookie("Env_CustomName",License_Info,{secure:true});
+      $.cookie("Env_VehicleType",Env_VehicleType,{secure:true});
+      $.cookie("Env_SoftwareVersion",Env_SoftwareVersion,{secure:true});
+      $.cookie("HMIMapInfo_Record",HMIMapInfo,{secure:true});
+    }
+    //切换模式
+    function switchMode(){
+      var text = $("#profileDropdown span").text();
+      var dataAttr = $("#profileDropdown span").data("i18n-text");
+      console.log("dataAttr:",dataAttr)
+      if(Switching_Modes == 0){
+        let loginInfo = $.cookie("Login_Info");
+        // if(loginInfo == ""){
+        // 	$("#exampleModalLogin").modal('show');
+        // 	return;
+        // }else{
+          Switching_Modes = 1
+        // }
+      
+      }else{
+        Switching_Modes = 0
+      }
+      
+      $("#profileDropdown span").text($("#profileDropdown1 span").text());
+      $("#profileDropdown1 span").text(text);
+      
+      
+      $("#profileDropdown span").data("i18n-text",$("#profileDropdown1 span").data("i18n-text"));
+      $("#profileDropdown1 span").data("i18n-text",dataAttr);
+      
+      // menu();
+
+    }
+	
+    function login(){
+      document.getElementById("topIframe").src = 'login.html';
+      $("#exampleModalLogin").modal('hide');
+    }
+	
+    function closeModal(){
+      $("#exampleModalLogin").modal('hide');
+    }
+
+    function menu(){
+      $("#container ul li").each(function (i){
+        if ($.inArray(i, Sidebar_indexs) === -1){
+          if (Switching_Modes === 0){
+            $(this).hide()
+          }else {
+            $(this).show()
+          }
+        }
+      })
+      $("#container ul li:visible").get(0).click();
+    }
+
+    $(document).on('show.bs.modal','#exampleModal',function(event) {
+      if(warningList.size < 1){
+        $('#exampleModal').modal('hide')
+        return
+      }
+
+      var warnings = '';
+
+      for(let value of warningList.values()){
+        warnings += `<div class="row cols-xs-space cols-sm-space cols-md-space">
+                <div class="col-lg-3">
+                <h3 class="heading h6 text-uppercase text-primary">${value.name}</h3>
+                </div>
+                <div class="col-lg-9">
+                    <p>
+                  ${value.resolvent}
+                    </p>
+                </div>
+            </div>`
+        }
+        $("#modalBody").html(warnings);
+    })
+	
+
+    var resultCode = 0;
+    var taskListbak = [];
+	
+    function client1(str,taskList){
+        var client_HMIString=new ROSLIB.Service({
+      ros:ros,
+      name:'/Service_HMIString',
+      serviceType:'lu_ps20l_msgs/Srv_HMIString'
+        });
+    
+        var request = new ROSLIB.ServiceRequest({
+      HMI_String_Input:str
+        });
+        client_HMIString.callService(request,function(result) {
+        
+        document.getElementById('topIframe') .contentWindow.postMessage({
+          event_id: 'client_response',
+          data: {
+            v1: result.result,
+            v2: result.ROS_String_Output,
+            v3: result.Rec_HMI_String_Input
+          }
+        },"*" //or "www.parentpage.com"
+        );
+        resultCode = result.result
+        //console.log("result=====",resultCode)
+        if(resultCode == 0){
+          taskListbak.push(taskList[0]);
+          taskList.splice(0,1)
+          $.cookie("taskList",JSON.stringify(taskList),{secure:true});
+        }
+        
+      });
+    }
+	
+    function determineTask(){
+      //console.log("resultCode",resultCode)
+      if(resultCode < 1){
+        firingTask();
+      }
+    }
+	
+    function firingTask(){
+      //console.log("PathFollow_Enable",$.cookie('PathFollow_Enable'))
+      if('true' == $.cookie('PathFollow_Enable')){ //待机状态
+        return;
+      }
+      //console.log("taskListbak",taskListbak)
+      if(taskListbak.length > 0){
+        if( taskListbak[0].height != ""){
+          //console.log("MissionCompleteAltitude_mm_RemoteOrHMI_FB",$.cookie('MissionCompleteAltitude_mm_RemoteOrHMI_FB'))
+          if(taskListbak[0].height != parseInt($.cookie("MissionCompleteAltitude_mm_RemoteOrHMI_FB"))){  //抬升高度
+            
+            return;
+          }
+        }else{
+          //console.log("CurNodeID",$.cookie('CurNodeID'))
+          if(taskListbak[0].endNode != parseInt($.cookie("CurNodeID"))){ //当前点位
+            
+            return;
+          }
+        }
+        taskListbak.splice(0,1)
+      }
+
+      let taskListString = $.cookie("taskList");
+      //console.log("taskListString",taskListString)
+      if(typeof(taskListString) == "undefined" || taskListString == "[]"){
+        return;
+      }
+      let taskList = JSON.parse(taskListString);
+      if(taskList.length < 1){
+        return;
+      }
+      resultCode = 1
+      client1(taskList[0].str,taskList);
+    }
+	
+	
+	 var T1 = window.setInterval("Timer()",100);
+	 var T2 = window.setInterval("determineTask()",1000);
+	 
+	 // saveLogs("asddddd");
+	 
+  </script>
+  <title>HMI</title>
+</head>
+<body>
+  <!--	<table>-->
+  <div class="container-scroller" style="display: none">
+    <nav class="navbar col-lg-12 col-12 p-0 fixed-top d-flex flex-row">
+      <!--	左侧顶部-->
+      <div class="navbar-brand-wrapper d-flex justify-content-center">
+        <div class="navbar-brand-inner-wrapper d-flex justify-content-between align-items-center w-100">
+          <img class="navbar-brand brand-logo" src="Custom_Logo/NobleLift/logo1.png" width="80%" alt="logo"/>
+          <button class="navbar-toggler navbar-toggler align-self-center" type="button" data-toggle="minimize" style="width: 60px;">
+            <span class="mdi mdi-sort-variant"></span>
+          </button>
+        </div>
+      </div>
+				<!--	右侧顶部-->
+      <div class="navbar-menu-wrapper d-flex align-items-center justify-content-end">
+        <ul class="navbar-nav mr-lg-4 w-100">
+          <li class="nav-item nav-search d-none d-lg-block col-3">
+            <div style="text-align: center; width:100%;" id="time"> </div>
+          </li>
+          <li class="nav-item nav-search d-none d-lg-block col-9">
+            <table class="offset-md-2" id="control">
+              <tr>
+                <td>
+                  <div style="text-align: center; padding: 0px 10px;" data-i18n-text="control.sche">Sche控制</div>
+                </td>
+                <td>
+                  <div style="text-align: center; padding: 0px 10px;" data-i18n-text="control.display">显示屏控制</div>
+                </td>
+                <td>
+                  <div style="text-align: center; padding: 0px 10px;" data-i18n-text="control.tcs">TCS控制</div>
+                </td>
+                <td>
+                  <div style="text-align: center; padding: 0px 10px;" data-i18n-text="control.rc">RC控制</div>
+                </td>
+                <td>
+                  <div style="text-align: center; padding: 0px 10px;" data-i18n-text="control.joy">Joy控制</div>
+                </td>
+              </tr>
+              <tr>
+                <td>
+                  <div style="text-align: center;"><img id='Sche_JSON_Sche_Enable'></img></div>
+                </td>
+                <td>
+                  <div style="text-align: center;"><img id='Remote_Or_HMI_Ctrl'></img></div>
+                </td>
+                <td>
+                  <div style="text-align: center;"><img id='CAD_Or_TCS_Ctrl'></img></div>
+                </td>
+                <td>
+                  <div style="text-align: center;"><img id='RealRCEnable'></img></div>
+                </td>
+                <td>
+                  <div style="text-align: center;"><img id='RealJoyEnable'></img></div>
+                </td>
+              </tr>
+            </table>
+          </li>
+          <li class="nav-item nav-search d-none d-lg-block col-9">
+            <div class="alert alert-light" role="alert"  id="warning">
+              <div id="warningText">
+
+              </div>
+              <div id="warningDetails">
+                <a herf='#' data-toggle="modal" data-target="#exampleModal" data-i18n-text="other.details">详情</a>
+              </div>
+            </div>
+          </li>
+        </ul>
+        <ul class="navbar-nav navbar-nav-right">
+          <li class="nav-item nav-profile dropdown" style="min-width:80px; display: none !important" id="i18nDropdown">
+            <a class="nav-link dropdown-toggle" href="#" data-bs-toggle="dropdown" id="i18nChange">
+              <span class="nav-profile-name">中文</span>
+            </a>
+            <div class="dropdown-menu dropdown-menu-right navbar-dropdown" aria-labelledby="profileDropdown">
+              <a class="dropdown-item i18nChange" href="#">
+                <span data-i18n-change="zh_CN">中文</span>
+              </a>
+              <a class="dropdown-item i18nChange" href="#">
+                <span data-i18n-change="en_GB">English</span>
+              </a>
+            </div>
+          </li>
+          <li class="nav-item nav-profile dropdown">
+            <a class="nav-link dropdown-toggle" href="#" data-bs-toggle="dropdown" id="profileDropdown">
+              <span class="nav-profile-name" data-i18n-text="choose.user">用户</span>
+            </a>
+            <div class="dropdown-menu dropdown-menu-right navbar-dropdown" aria-labelledby="profileDropdown">
+              <a class="dropdown-item" id="profileDropdown1" onclick="switchMode()" style="margin: 0px;">
+                <span data-i18n-text="choose.develop">开发</span>
+              </a>
+            </div>
+          </li>
+        </ul>
+        <button class="navbar-toggler navbar-toggler-right d-lg-none align-self-center" type="button" data-toggle="offcanvas">
+          <span class="mdi mdi-menu"></span>
+        </button>
+      </div>
+    </nav>
+  </div>
+  <div class="modal fade" id="exampleModalLogin" tabindex="-1" role="dialog" aria-labelledby="exampleModalLabelLogin" aria-hidden="true">
+    <div class="modal-dialog">
+      <div class="modal-content">
+        <div class="modal-header">
+          <h5 class="modal-title" id="exampleModalLabelLogin">提示</h5>
+          <button type="button" class="close" data-dismiss="modal" aria-label="Close" onclick="closeModal()">
+            <span aria-hidden="true">&times;</span>
+          </button>
+        </div>
+        <div class="modal-body">
+        是否前往登录
+        </div>
+        <div class="modal-footer">
+      <button type="button" class="btn btn-primary" onclick="login()">登录</button>
+          <button type="button" class="btn btn-secondary" data-dismiss="modal" aria-label="Close" onclick="closeModal()">取消</button>
+        </div>
+      </div>
+    </div>
+  </div>
+		<!-- Modal -->
+  <div class="modal fade" id="exampleModal" tabindex="-1" role="dialog" aria-labelledby="exampleModalLabel" aria-hidden="true">
+    <div class="modal-dialog modal-xl" role="document">
+      <div class="modal-content">
+        <div class="modal-header">
+          <h5 class="modal-title" id="exampleModalLabel" data-i18n-text="other.fultDetails">故障详情</h5>
+          <button type="button" class="close" data-dismiss="modal" aria-label="Close">
+            <span aria-hidden="true">&times;</span>
+          </button>
+        </div>
+        <div class="modal-body">
+      <div class="row-wrapper" id="modalBody">
+        
+      </div>
+        </div>
+        <div class="modal-footer">
+          <button type="button" class="btn btn-secondary" data-dismiss="modal" data-i18n-text="other.close">关闭</button>
+        </div>
+      </div>
+    </div>
+  </div>
+	<div class="container-fluid page-body-wrapper"  style="-moz-user-select:none;height: 100vh;">
+    <!--左侧导航栏-->
+    <nav class="sidebar sidebar-offcanvas" id="container">
+      <ul class="nav"  >
+        <li class="nav-item" id="btn8" onclick="ButtonOnClick(8)">
+          <a class="nav-link">
+            <span class="menu-title" data-i18n-text = "menu.map"></span>
+          </a>
+        </li>
+        <li class="nav-item" id="btn10" onclick="ButtonOnClick(10)">
+          <a class="nav-link">
+            <span class="menu-title" data-i18n-text = "menu.sketch"></span>
+          </a>
+        </li>
+        <li class="nav-item"  id="btn16" onclick="ButtonOnClick(16)">
+          <a class="nav-link">
+            <span class="menu-title" data-i18n-text = "menu.mapping"></span>
+          </a>
+        </li>
+      </ul>
+    </nav>
+    <!--右侧主体-->
+    <div class="main-panel">
+      <div class="content-wrapper">
+        <iframe id="topIframe" name="topIframe" width="100%" height="100%" src="HMI_Map2.html" 
+          frameborder="2" scrolling="auto"></iframe>
+        <div class="keyboard">
+          <div class="keyboardBackground"></div>
+          <div class="simple-keyboard"></div>
+        </div>
+      </div>
+    </div>
+  </div>
+	<tr>
+	  <img id="buttonimage_Vertical" onclick="ButtonImage_Vertical_Click()" src="Led_Display/Button_Vertical_Off.bmp"/ 
+		style="display: block; position: fixed; top: 1010px; left: 5px;">
+    <div id='Language'></div>
+    <div id='Msg_Timestamp'></div>
+    <div id='AGV_ID'> </div>
+    <div id='Sys_Mode'> </div>
+    <div id='VehicleCtrlExpThrottle'> </div>
+    <div id='Warning_Code'></div>
+    <div id='Sub_Warning_Code0'></div>
+    <div id='Car_Global_rx'></div>
+    <div id='Car_Global_ry'></div>
+    <div id='Car_Global_Theta'></div>
+    <div id='Lateral_Deviation_m'></div>
+    <div id='Vertical_Deviation_deg'></div>
+    <div id='Out_Of_Path_Times'></div>
+    <div id='PLC_Warning_Code'></div>
+    <div id='Plate_Check_Err_Code'></div>
+    <div id='Min_Dist'></div>
+    <div id='Auto_In_Line_State'></div>
+    <div id='PathFollow_Enable'></div>
+    <div id='StartNode'></div>
+    <div id='EndNode'></div>
+    <div id='RealAutoChargeState'></div>
+    <div id='PWR_Percent'></div>
+    <div id='SVreal_angle'></div>
+    <div id='Speedm_Tmp'></div>
+    <div id='VehicleCtrlRealAltitude_mm'></div>
+    <div id='VehicleCtrlRealGantryX_mm'></div>
+    <div id='VehicleCtrlRealGantryY_mm'></div>
+    <div id='ReachState'></div>
+    <div id='ObstacleDetectState'></div>
+    <div id='ObstacleTouchState'></div>
+    <div id='PWR_Warn'></div>
+    <div id='VehicleCtrl_CAN_Err_Info'></div>
+    <div id='Curtis_Warning_Code_Speed'></div>
+    <div id='Curtis_Warning_Code_Steer'></div>
+    <div id='Curtis_Warning_Code_Pump'></div>
+    <div id='LindeDriveErrCode1'></div>
+    <div id='LindeDriveErrCode2'></div>
+    <div id='LindeDriveErrCode3'></div>
+    <div id='LindeDriveErrCode4'></div>
+    <div id='LindeLiftErrCode1'></div>
+    <div id='LindeLiftErrCode2'></div>
+    <div id='LindeLiftErrCode3'></div>
+    <div id='LindeLiftErrCode4'></div>
+    <div id='LindeSteerErrCode1'></div>
+    <div id='LindeSteerErrCode2'></div>
+    <div id='LindeSteerErrCode3'></div>
+    <div id='LindeSteerErrCode4'></div>
+    <div id='LindeAgwSteerModeSelectorState'></div>
+    <div id='LindeAgwSteerErrorFlag'></div>
+    <div id='LindeAgwSteerCenterPivotPlateAng'></div>
+    <div id='LindeAgwTracLiftModeSelectorState'></div>
+    <div id='LindeAgwTracLiftErrorFlag'></div>
+    <div id='VehicleCtrlRealCustomStateByte0'></div>
+    <div id='VehicleCtrlRealCustomStateByte1'></div>
+    <div id='VehicleCtrlRealCustomStateByte2'></div>
+    <div id='VehicleCtrlRealCustomStateByte3'></div>
+    <div id='LastAltitudeExpectValue_mm'></div>
+    <div id='LastGantryXExpectValue_mm'></div>
+    <div id='LastGantryYExpectValue_mm'></div>
+    <div id='PathFollow_Expect_AltitudeCtrlEnable'></div>
+    <div id='PathFollow_Expect_GantryXCtrlEnable'></div>
+    <div id='PathFollow_Expect_GantryYCtrlEnable'></div>
+    <div id='MissionCompleteAltitude_mm_RemoteOrHMI_FB'></div>
+    <div id='MissionCompleteGantryX_mm_RemoteOrHMI_FB'></div>
+    <div id='MissionCompleteGantryY_mm_RemoteOrHMI_FB'></div>
+    <div id='Get_Nav350_Curr_Layer'></div>
+    <div id='Ref_std_rx'></div>
+    <div id='Ref_std_ry'></div>
+    <div id='Ref_std_rt'></div>
+    <div id='CurNodeID'></div>
+    <div id='Update_Sch'></div>
+    <div id='Update_State'></div>
+    <div id='Task_Sch'></div>
+    <div id='Task_State'></div>
+    <div id='PFC_Sch'></div>
+    <div id='PFC_State'></div>
+    <div id='PFPC_Sch'></div>
+    <div id='PFPC_State'></div>
+    <div id='License_Info'></div>
+    <div id='Login_Info'></div>
+    <div id='Env_CustomName'></div>
+    <div id='Env_VehicleType'></div>
+    <div id='Env_SoftwareVersion'></div>
+    <div id='Env_HMIUseJavaApp'></div>
+    <div id='Env_LearnEnable'></div>
+    <div id='Env_Lu_ROS_IP2'></div>
+    <div id='HMIMapInfo'></div>
+    <div id='Button_State'></div>
+	</tr>
+  <!--	</table>-->
+</body>
+<script type="text/javascript" src="js/keyboardLayout_index.min.js"></script>
+<script type="text/javascript" src="js/keyboardLayouts_index.min.js"></script>
+<script type="text/javascript" src="js/keyboard.js"></script>
+<script type="text/javascript" src="js/i18n/i18n.js"></script>
+<script type="text/javascript" src="js/drag.js"></script>
+<script type="text/javascript">
+  document.getElementById('btn8').style.backgroundImage = "url('./images/sidebar_active_bg.png')";
+  // menu();
+  $(".iframe", parent.document).css("top", "0px")
+  window.addEventListener('storage', function(event) {
+        if (event.key === 'locale') { // 判断是否为需要监听的localStorage的key
+          var newValue = event.newValue; // 获取localStorage的新值
+          // 进行相应的处理
+          console.log('localStorage值已改变，新值为：' + newValue);
+        changeI18n(newValue);
+        }
+      });
+      
+  $("#minimize").trigger('click');
+</script>
+</html>
\ No newline at end of file
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