117 lines
2.4 KiB
HTML
117 lines
2.4 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="http://static.robotwebtools.org/roslibjs/current/roslib.min.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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url : 'ws://localhost:9090'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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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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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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function listener(){
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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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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:0x123,
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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:[1, 2, 3, 4, 5, 6, 7, 8]
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});
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can_pub.publish(can_msg);
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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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</body>
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</html>
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