149 lines
4.1 KiB
HTML
149 lines
4.1 KiB
HTML
<!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="http://static.robotwebtools.org/EventEmitter2/current/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="Lu_Math_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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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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alert('连接成功');
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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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alert(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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alert("与服务器失去连接");
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});
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function talker1(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
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var IP = data0
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var Port = data1
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ros.connect('ws://'+IP+':'+Port);
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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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//
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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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// });
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// can_pub.publish(can_msg);
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}
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function talker3(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
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ros.close();
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//ros.clone();
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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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<p><input type=button value=che onclick=talker3(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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</body>
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</html>
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