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setting up communication with the robot
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,101 @@ | ||
| //Instantiate the new client | ||
| // using `window.location.hostname` causes the client to open a | ||
| // NT connection on the same machine as is serving the website. | ||
| // It could be hardcoded to point at a roboRIO if needed. | ||
| var nt4Client = new NT4_Client( | ||
| window.location.hostname, | ||
| topicAnnounceHandler, | ||
| topicUnannounceHandler, | ||
| valueUpdateHandler, | ||
| onConnect, | ||
| onDisconnect | ||
| ); | ||
| //nt4client IMPORTANT methods | ||
| /* | ||
| subscribeTopicNames : list of topics name to subscribe to | ||
| subscribePeriodic : list of topic names, data rate in seconds | ||
| addSample : add a sample value to a topic | ||
| publishTopic : name of topic, type | ||
| unSubscribe | ||
| clearAllSubscriptions | ||
| */ | ||
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| // Allocate a variable to hold the subscription to all topics | ||
| var subscription = null; | ||
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| /** | ||
| * Topic Announce Handler | ||
| * The NT4_Client will call this function whenever the server announces a new topic. | ||
| * It's the user's job to react to the new topic in some useful way. | ||
| * @param {NT4_Topic} newTopic The new topic the server just announced. | ||
| */ | ||
| function topicAnnounceHandler( newTopic ) { | ||
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||
| //For this example, when a new topic is announced, | ||
| console.log("new topic id: " + newTopic.id.toString()); | ||
| console.log("new topic name: " + newTopic.name.toString()); | ||
| console.log("new topic type: " + newTopic.type.toString()); | ||
| console.log("new topic properties: " + newTopic.getPropertiesString()); | ||
|
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| } | ||
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| /** | ||
| * Topic UnAnnounce Handler | ||
| * The NT4_Client will call this function whenever the server un-announces a topic. | ||
| * It's the user's job to react to the un-anncouncement in some useful way. | ||
| * @param {NT4_Topic} removedTopic The topic the server just un-announced. | ||
| */ | ||
| function topicUnannounceHandler( removedTopic ) { | ||
| //For this example, when a topic is unannounced, we remove its row. | ||
| console.log("removed topic name: " + removedTopic.name.toString()); | ||
| } | ||
|
|
||
| /** | ||
| * Value Update Handler | ||
| * The NT4_Client will call this function whenever the server sends a value update | ||
| * for a topic. | ||
| * @param {NT4_Topic} topic The topic with a value update | ||
| * @param {double} timestamp_us The server time of the value update occurring | ||
| * @param {*} value the new value for the topic | ||
| */ | ||
| function valueUpdateHandler( topic, timestamp_us, value ) { | ||
| console.log(topicAnnounceHandler(topic)); | ||
| console.log(timestamp_us); | ||
| console.log(value); | ||
| } | ||
|
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| /** | ||
| * On Connection Handler | ||
| * The NT4_Client will call this after every time it successfully connects to an NT4 server. | ||
| */ | ||
| function onConnect() { | ||
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| console.log("robot connected") | ||
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| } | ||
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| /** | ||
| * On Disconnection Handler | ||
| * The NT4_Client will call this after every time it disconnects to an NT4 server. | ||
| */ | ||
| function onDisconnect() { | ||
| changeMenu(menuChoices.SCREEN, "NO ROBOT CONNECTION"); | ||
| //For this example, we simply mark the status as disconnected. | ||
| console.log("robot disconnected") | ||
|
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||
| //throwing an error to stop the reconnect cycle because we have nothing planned currently | ||
| throw new Error("Robot disconnected"); | ||
| //Since we've disconnected from the server, the connection is no longer valid. | ||
| subscription = null; | ||
| } | ||
|
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| const getAlliance = () => { | ||
| let temporaryAlliance = "Red"; | ||
| if(temporaryAlliance == "Red") { | ||
| document.body.style.background = "radial-gradient(circle at 50% 50%, pink, rgb(114, 114, 138))"; | ||
| } else if(temporaryAlliance == "Blue") { | ||
| document.body.style.background = "radial-gradient(circle at 50% 50%, cornflowerblue, rgb(114, 114, 138))"; | ||
| } | ||
| } | ||
|
|
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