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.');
});

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);
}

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){
	AGV_ID=message.AGV_ID;
	Sys_Mode=message.Sys_Mode;
	VehicleCtrlExpThrottle=message.VehicleCtrlExpThrottle;
	Warning_Code=message.Warning_Code;
	Car_Global_rx=message.Car_Global_rx;
	Car_Global_ry=message.Car_Global_ry;
	Car_Global_Theta=message.Car_Global_Theta;
	StartNode=message.StartNode;
	EndNode=message.EndNode;
        RealAutoChargeState=message.RealAutoChargeState;
	PWR_Percent=message.PWR_Percent;
	SVreal_angle=message.SVreal_angle;
	Speedm_Tmp=message.Speedm_Tmp;
	VehicleCtrlRealAltitude_mm=message.VehicleCtrlRealAltitude_mm;
	PWR_Warn=message.PWR_Warn;
	Curtis_Warning_Code=message.Curtis_Warning_Code;
	VehicleCtrlRealCustomStateByte0=message.VehicleCtrlRealCustomStateByte0;
	VehicleCtrlRealCustomStateByte1=message.VehicleCtrlRealCustomStateByte1;
	VehicleCtrlRealCustomStateByte2=message.VehicleCtrlRealCustomStateByte2;
	VehicleCtrlRealCustomStateByte3=message.VehicleCtrlRealCustomStateByte3;
	Remote_Or_HMI_Ctrl=message.Remote_Or_HMI_Ctrl;
	Get_Nav350_Curr_Layer=message.Get_Nav350_Curr_Layer;
	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;
  });
}