var AGV_ID=0;
var Sys_Mode=0;
var VehicleCtrlExpThrottle=0;
var Warning_Code=0;
var Car_Global_rx=0;
var Car_Global_ry=0;
var Car_Global_Theta=0;
var StartNode=0;
var EndNode=0;
var RealAutoChargeState=0;
var PWR_Percent=0;
var SVreal_angle=0;
var Speedm_Tmp=0;
var VehicleCtrlRealAltitude_mm=0;
function Lu_HMI_CAN_Reader_Handle(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
	switch(canframeid){
		case 0x100:
		{	
			/*
			 var str= canframeid +   ': 0x'+data0.toString(16)+' '
						  +'0x'+data1.toString(16)+' '
						  +'0x'+data2.toString(16)+' '
						  +'0x'+data3.toString(16)+' '
						  +'0x'+data4.toString(16)+' '
						  +'0x'+data5.toString(16)+' '
						  +'0x'+data6.toString(16)+' '
						  +'0x'+data7.toString(16)+'\n';

			console.log(str);
			*/
			switch(data0){
				case 0x10:
				{
					switch(data1){
						case 0x00:
						{
							switch(data2){
								case 0x00:
								{
									switch(data3){
										case 0x01:
										{
											Car_Global_rx=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
										}
										break;
										case 0x02:
										{
											Car_Global_ry=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
										}
										break;
										case 0x03:
										{
											Car_Global_Theta=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
										}
										break;
									}
								}
								break;
								case 0x01:
								{
									switch(data3){
										case 0x02:
										{
											AGV_ID=data4;
											Sys_Mode=data5;
											VehicleCtrlExpThrottle=Lu_Convert2ByteToInt16(data6,data7);
											//console.log('Sys_Mode='+Sys_Mode+'\n');
										}
										break;
									}
								}
								break;
								case 0x02:
								{
									switch(data3){
										case 0x01:
										{
											StartNode=Lu_Convert2ByteToInt16(data4,data5);
											EndNode=Lu_Convert2ByteToInt16(data6,data7);
										}
										break;
									}
								}
								break;
							}
						}
						break;
						case 0x01:
						{
							switch(data2){
								case 0x00:
								{
									switch(data3){
										case 0x01:
										{
											Warning_Code=Lu_Convert4ByteToUInt32(data4,data5,data6,data7);
										}
										break;									
									}
								}
							}
						}
						break;
					}
				}
				break;
			}
		}
		break;
	}
}