201 lines
5.4 KiB
HTML
201 lines
5.4 KiB
HTML
<!DOCTYPE html>
|
||
<html>
|
||
<head>
|
||
<meta charset="utf-8" />
|
||
<script type="text/javascript" src="eventemitter2.min.js"></script>
|
||
<script type="text/javascript" src="roslib.min.js"></script>
|
||
<!--<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" src="canvas-gauges/js/gauge.min.js"></script>
|
||
<script type="text/javascript" src="Lu_Math_Driver.js"></script>
|
||
<script type="text/javascript" src="Lu_Display_Driver.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 changeImage()
|
||
{
|
||
element=document.getElementById('myimage')
|
||
if (element.src.match("bulbon"))
|
||
{
|
||
element.src="eg_bulboff.gif";
|
||
}
|
||
else
|
||
{
|
||
element.src="eg_bulbon.gif";
|
||
}
|
||
|
||
var value = Math.round(Math.random() * 100);
|
||
gauge.value = value;
|
||
// Update the declarative chart...
|
||
document.getElementById("gauge-a").setAttribute("data-value", value);
|
||
}
|
||
|
||
|
||
function talker1(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("talker1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 talker2(id){
|
||
element = document.getElementById(id);
|
||
alert("talker2函数:"+element.value);
|
||
}
|
||
|
||
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>
|
||
<p><input type=text name=canframeid></input></p>
|
||
<p><input type=text name=data0></input></p>
|
||
<p><input type=text name=data1></input></p>
|
||
<p><input type=text name=data2></input></p>
|
||
<p><input type=text name=data3></input></p>
|
||
<p><input type=text name=data4></input></p>
|
||
<p><input type=text name=data5></input></p>
|
||
<p><input type=text name=data6></input></p>
|
||
<p><input type=text name=data7></input></p>
|
||
<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>
|
||
</form>
|
||
|
||
<img id="myimage" onclick="changeImage()" src="eg_bulboff.gif">
|
||
|
||
<div class="wrapper">
|
||
<p>Declarative approach w/ data- attributes</p>
|
||
<canvas data-type="radial-gauge" id="gauge-a"
|
||
data-width="300"
|
||
data-height="300"
|
||
data-units="Km/h"
|
||
data-value="40"
|
||
data-min-value="0"
|
||
data-start-angle="90"
|
||
data-ticks-angle="180"
|
||
data-value-box="false"
|
||
data-max-value="100"
|
||
data-major-ticks="0,20,40,60,80,100"
|
||
data-minor-ticks="2"
|
||
data-stroke-ticks="true"
|
||
data-highlights='[
|
||
{"from": 70, "to": 100, "color": "rgba(200, 50, 50, .75)"}
|
||
]'
|
||
data-color-plate="#fff"
|
||
data-border-shadow-width="0"
|
||
data-borders="false"
|
||
data-needle-type="arrow"
|
||
data-needle-width="2"
|
||
data-needle-circle-size="7"
|
||
data-needle-circle-outer="true"
|
||
data-needle-circle-inner="false"
|
||
data-animation-duration="800"
|
||
data-animation-rule="linear"
|
||
></canvas>
|
||
<hr/>
|
||
<p>JS-based approach.</p>
|
||
<canvas id="gauge"></canvas>
|
||
<p><a href="https://canvas-gauges.com/">
|
||
https://canvas-gauges.com/</a></p>
|
||
</div>
|
||
</body>
|
||
</html>
|
||
|