130 lines
2.8 KiB
HTML
130 lines
2.8 KiB
HTML
<!DOCTYPE html>
|
||
<html>
|
||
<head>
|
||
<meta charset="utf-8" />
|
||
<script type="text/javascript" src="http://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
|
||
<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
|
||
<script type="text/javascript" type="text/javascript">
|
||
|
||
var ros = new ROSLIB.Ros({
|
||
url : 'ws://localhost:9090'
|
||
});
|
||
|
||
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 talker1(str){
|
||
alert("talker1函数:"+str);
|
||
}
|
||
|
||
function talker2(id){
|
||
element = document.getElementById(id);
|
||
alert("talker2函数:"+element.value);
|
||
|
||
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:0x123,
|
||
is_rtr:false,
|
||
is_extended:false,
|
||
is_error:false,
|
||
dlc:8,
|
||
data:[1, 2, 3, 4, 5, 6, 7, 8]
|
||
|
||
});
|
||
can_pub.publish(can_msg);
|
||
|
||
}
|
||
|
||
function listener(){
|
||
|
||
|
||
|
||
|
||
var listener = new ROSLIB.Topic({
|
||
ros : ros,
|
||
name : '/chatter',
|
||
messageType : 'std_msgs/String'
|
||
});
|
||
|
||
listener.subscribe(function(message) {
|
||
console.log('Received message on ' + listener.name + ': ' + message.data);
|
||
listener.unsubscribe();
|
||
});
|
||
|
||
var can_sub = new ROSLIB.Topic({
|
||
ros : ros,
|
||
name : '/Topic_HMI_CAN_SendFrame',//'js_can',
|
||
messageType : 'lu_ps20l_msgs/Msg_CANFrame'
|
||
});
|
||
|
||
can_sub.subscribe(function(message){
|
||
|
||
var p = atob(message.data);
|
||
|
||
|
||
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'
|
||
|
||
+'0x'+p.charCodeAt(0).toString(16)+' '
|
||
+'0x'+p.charCodeAt(1).toString(16)+' '
|
||
+'0x'+p.charCodeAt(2).toString(16)+' '
|
||
+'0x'+p.charCodeAt(3).toString(16)+' '
|
||
+'0x'+p.charCodeAt(4).toString(16)+' '
|
||
+'0x'+p.charCodeAt(5).toString(16)+' '
|
||
+'0x'+p.charCodeAt(6).toString(16)+' '
|
||
+'0x'+p.charCodeAt(7).toString(16)+'\n';
|
||
|
||
console.log(str);
|
||
|
||
document.getElementById('test').innerText= str;
|
||
can_sub.unsubscribe();
|
||
});
|
||
|
||
}
|
||
|
||
var t2 = window.setInterval("listener()",100);
|
||
|
||
|
||
</script>
|
||
</head>
|
||
|
||
<body>
|
||
<h1>Simple roslib Example 你好 欢迎使用AGV</h1>
|
||
<p>Check your Web Console for output.</p>
|
||
|
||
<div id='test'> </div>
|
||
|
||
<form name=f1>
|
||
<input type=text name=t1></input>
|
||
<input type=button value=ok onclick=talker1(t1.value)></input>
|
||
</form>
|
||
|
||
<input type=text id="id1" />
|
||
<input type=button value=ok onclick=talker2("id1") />
|
||
|
||
</body>
|
||
</html>
|
||
|