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import { EDeviceTypeName, EHmsLevel } from '@/types/enums'
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import cesiumOperation from '@/utils/cesium-tsa'
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import { analyzeKmzFile, XMLToJSON } from '@/utils/cesium/kmz.js'
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import IndexedDBService from '@/utils/indexDB'
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import CreateFrustum from '@/utils/cesium/frustum/CreateFrustum'
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import { useMyStore } from '@/store'
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import { getTwoPointInfo } from '@/api/manage'
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const { getEntityById, removeById, globalCesium, removeAllPoint, addLeftClickEvent, removeLeftClickEvent, flyTo } = cesiumOperation()
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// 无人机实体
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let droneEntity = null
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// 激光实体
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let laserEntity = null
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// 两点之间线实体
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let twoLineEntity = null
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let myAppEntity = null;
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export function droneFly () {
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const store = useMyStore()
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let deviceInfo = {} // 无人机信息
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let dockInfo = {} // 机场信息
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let previousPositions = []
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let wId = ''
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let snCode = []
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let viewDroneInfo = {} // 获取实时经纬度
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let waylinePoints = [] // 当前航线点
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let currentTaskCreateTime = null // 当前飞行任务创建时间
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let switchSaving = true // 有selectedWorkSpaceId 就为true
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// 航线飞行处于第几个点位
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let currentWaypointIndex = 0
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// 速度集合
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let droneSpeedArr = []
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let lastTime = null
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let viewInfoFrustum = null
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// 手机设备定位
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let me_latitude = 0;// 28.624647955787974;
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let me_longitude = 0;//115.85635808986208;
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let me_altitude = 0;
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// 扫射定位
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let measure_target_longitude = 0;//115.85635872364763;
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let measure_target_latitude = 0;//28.624648387113627;
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let measure_target_altitude = 0;
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async function initDock(data:any, sn:String, dockSn:String, workspaceId:String, ssLinePath:String, viewDroneInfo:any) {
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// 获取workspaceId
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wId = workspaceId
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// 给无人机参数赋值
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deviceInfo = data.deviceInfo[`${sn}`]
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// 机场信息
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dockInfo = data.dockInfo[`${dockSn}`]
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viewDroneInfo = viewDroneInfo
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// 当前飞行任务创建时间
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if (data.currentType === EDeviceTypeName.Aircraft && deviceInfo) {
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const droneLngLat = {
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latitude: deviceInfo.latitude || 0,
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longitude: deviceInfo.longitude || 0,
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}
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// 当飞机模型存在
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if (droneEntity) {
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// 且在空中飞行时,实时更新飞机模型的位置
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if (deviceInfo.mode_code && [3, 4, 5, 9, 10, 16, 17].includes(deviceInfo.mode_code)) {
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if (store.currentAngle == 3) {
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viewInfoFrustum?.clear()
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} else {
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// 暂时把视锥代码注释掉
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initCreateFrustum(deviceInfo, viewDroneInfo)
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}
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addFlyGltf(
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viewDroneInfo.longitude,
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viewDroneInfo.latitude,
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deviceInfo.height,
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deviceInfo.payloads[0],
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deviceInfo.attitude_head,
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deviceInfo,
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dockInfo,
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ssLinePath
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)
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let domain = sessionStorage.getItem('domain')
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// if (domain !== '0') {
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// addFlyLaser(
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// deviceInfo.payloads[0]
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// )
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// }
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setelCamera(
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viewDroneInfo.longitude,
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viewDroneInfo.latitude,
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deviceInfo.height,
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deviceInfo.payloads[0],
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deviceInfo.attitude_head,
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)
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} else {
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removeById('drone_fly')
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droneEntity = null
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removeById('me_dw')
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myAppEntity = null
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lastTime = null
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viewInfoFrustum?.clear()
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viewInfoFrustum = null
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window.cesiumViewer.camera.lookAtTransform(globalCesium.Matrix4.IDENTITY)
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store.commit('SET_CURRENTANGLE', 1)
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removeAllPoint()
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}
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} else {
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if (deviceInfo.mode_code && [3, 4, 5, 9, 10, 17].includes(deviceInfo.mode_code)) {
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initCreateFrustum(deviceInfo, viewDroneInfo)
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addFlyGltf(
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viewDroneInfo.longitude,
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viewDroneInfo.latitude,
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deviceInfo.height,
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deviceInfo.payloads[0],
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deviceInfo.attitude_head,
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deviceInfo,
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dockInfo,
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ssLinePath
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)
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let domain = sessionStorage.getItem('domain')
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// if (domain !== '0') {
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// addFlyLaser(
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// deviceInfo.payloads[0]
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// )
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// }
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}
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}
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const imgRightBlue = new URL('@/assets/images/arrow-right-pink.png', import.meta.url).href
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// 无人机路线轨迹,判断是否存在drone_route_remove
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if (getEntityById('drone_route_remove')) {
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window.cesiumViewer.entities.add({
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name: 'drone_route_remove',
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id: 'drone_route_remove',
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polyline: {
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width: 7,
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positions: previousPositions,
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material: new ImageTrailMaterial({
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color: globalCesium.Color.ORANGE,
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speed: 10,
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image: imgRightBlue,
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repeat: { x: 1, y: 0 },
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}),
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clampToGround: false,
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},
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})
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}
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if (data.deviceInfo[data.currentSn].mode_code && [3, 4, 5, 9, 10].includes(deviceInfo.mode_code)) {
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if (switchSaving) return (switchSaving = false)
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const newPositions = globalCesium.Cartesian3.fromDegrees(
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data.deviceInfo[data.currentSn].longitude,
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data.deviceInfo[data.currentSn].latitude,
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Math.floor(viewDroneInfo.elevation),
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)
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//若刷新，恢复无人机之前的路线轨迹
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const dataIndexedDB = await IndexedDBService.getDataById(wId)
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if (previousPositions.length == 0 && dataIndexedDB) {
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previousPositions = previousPositions.concat(dataIndexedDB?.temporaryflightData)
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} else {
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previousPositions = previousPositions.concat(newPositions)
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}
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// 保存无人机当前执行的路线，防止刷新数据丢失
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if (!dataIndexedDB) {
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await IndexedDBService.addData({
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id: wId,
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temporaryflightData: previousPositions,
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})
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} else {
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await IndexedDBService.updateData(wId, {temporaryflightData: previousPositions})
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}
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// 更新线段的位置
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const drone_route_remove = getEntityById('drone_route_remove')
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if (!drone_route_remove) return
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drone_route_remove.polyline.positions = previousPositions
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drone_route_remove.polyline._material._repeat._value.x = Math.floor(previousPositions.length / 7)
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} else if ([0, 14].includes(deviceInfo.mode_code)) {
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previousPositions = []
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await IndexedDBService.deleteData(wId)
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const drone_route_remove = getEntityById('drone_route_remove')
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if (!drone_route_remove) return
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drone_route_remove.polyline.positions = previousPositions
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removeById('drone_route_remove')
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viewInfoFrustum?.clear()
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viewInfoFrustum = null
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}
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}
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if (data.currentType === EDeviceTypeName.Dock && data.dockInfo[data.currentSn]) {
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if (!deviceInfo?.basic_osd?.longitude || !deviceInfo?.basic_osd?.latitude) return
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if (snCode.includes(data.currentSn)) return
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snCode.push(data.currentSn)
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}
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}
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const imgLaser = new URL('@/assets/images/laser.png', import.meta.url).href
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// 增加激光扫射点
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function addFlyLaser(payloads:any) {
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console.log('激光扫射经度',payloads.measure_target_longitude)
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console.log('激光扫射纬度',payloads.measure_target_latitude)
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const startPosition = globalCesium.Cartesian3.fromDegrees(
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me_longitude, me_latitude, 0
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)
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const position = globalCesium.Cartesian3.fromDegrees(
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payloads.measure_target_longitude, payloads.measure_target_latitude, payloads.measure_target_altitude
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)
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measure_target_longitude = payloads.measure_target_longitude;
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measure_target_latitude = payloads.measure_target_latitude;
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measure_target_altitude = payloads.measure_target_altitude;
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if (laserEntity && laserEntity != null) {
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laserEntity.position = new globalCesium.CallbackProperty(function () {
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return position
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}, false)
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laserEntity.show = true
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window.cesiumViewer.scene.requestRender()
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} else {
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removeById('laser_coordinate')
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laserEntity = window.cesiumViewer.entities.add({
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position: new globalCesium.CallbackProperty(() => {
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return globalCesium.Cartesian3.fromDegrees(
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payloads.measure_target_longitude,
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payloads.measure_target_latitude,
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payloads.measure_target_altitude
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)
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}, false),
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id: 'laser_coordinate',
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billboard: {
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image: imgLaser,
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width: 30,
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height: 30,
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scale: 1.0,
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outlineWidth: 0,
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}
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})
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}
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// 增加激光扫射信息
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laserEntity.label = new globalCesium.LabelGraphics({
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text: `H:${Math.ceil(payloads.measure_target_altitude)}m-L:${Math.round(Math.ceil(payloads.measure_target_distance),)}m`,
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font: '13px monospace',
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fillColor: globalCesium.Color.fromCssColorString('red'), // 文字颜色
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backgroundColor: globalCesium.Color.WHITE, // 背景颜色
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showBackground: true,
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horizontalOrigin: globalCesium.HorizontalOrigin.CENTER,
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verticalOrigin: globalCesium.VerticalOrigin.BOTTOM,
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disableDepthTestDistance: Number.POSITIVE_INFINITY,
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pixelOffset: new globalCesium.Cartesian2(0, -20),
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show: true,
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})
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console.log('起点',startPosition)
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console.log('终点',position)
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if (startPosition && position) {
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if (twoLineEntity && twoLineEntity != null) {
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// 如果线实体已存在，只更新位置
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twoLineEntity.polyline.positions = new globalCesium.CallbackProperty(() => {
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return [
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globalCesium.Cartesian3.fromDegrees(me_longitude, me_latitude, 0),
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globalCesium.Cartesian3.fromDegrees(
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payloads.measure_target_longitude,
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payloads.measure_target_latitude,
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payloads.measure_target_altitude
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)
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]
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}, false)
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} else {
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// 如果线实体不存在，创建新的线实体
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twoLineEntity = window.cesiumViewer.entities.add({
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polyline: {
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positions: new globalCesium.CallbackProperty(() => {
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return [
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globalCesium.Cartesian3.fromDegrees(me_longitude, me_latitude, 0),
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globalCesium.Cartesian3.fromDegrees(
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payloads.measure_target_longitude,
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payloads.measure_target_latitude,
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payloads.measure_target_altitude
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)
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]
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}, false),
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width: 2,
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material: globalCesium.Color.fromCssColorString('red'),
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clampToGround: false,
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},
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})
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}
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}
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}
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function addFlyGltf (lng:any, lat:any, alt:any, payloads:any, attitude_head:any, deviceInfo:any, dockInfo:any, ssLinePath:any) {
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const { gimbal_pitch, gimbal_yaw } = payloads
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const position = globalCesium.Cartesian3.fromDegrees(
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lng, lat, alt
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)
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const heading = globalCesium.Math.toRadians(Number(attitude_head)) //135度转弧度
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const pitch = globalCesium.Math.toRadians(0)
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const roll = 0
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const hpr = new globalCesium.HeadingPitchRoll(heading, pitch, roll)
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const orientation = globalCesium.Transforms.headingPitchRollQuaternion(
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position,
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hpr,
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)
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if (droneEntity && droneEntity != null) {
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droneEntity.position = new globalCesium.CallbackProperty(function () {
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return position
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}, false)
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droneEntity.orientation = new globalCesium.CallbackProperty(function () {
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return orientation
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}, false)
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droneEntity.show = true
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window.cesiumViewer.scene.requestRender()
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} else {
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droneEntity = window.cesiumViewer.entities.add({
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show: true,
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position,
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id: 'drone_fly',
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orientation: orientation,
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model: {
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uri: '/pilot-h5/gltf/dajiang-processed.gltf', //注意entitits.add方式加载gltf文件时，这里是uri，不是url，并且这种方式只能加载.glb格式的文件
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scale: 1, //缩放比例
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minimumPixelSize: 64, //最小像素大小，可以避免太小看不见
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maximumScale: 128, //模型的最大比例尺大小。minimumPixelSize的上限
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incrementallyLoadTextures: true, //加载模型后纹理是否可以继续流入
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runAnimations: true, //是否启动模型中制定的gltf动画
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clampAnimations: true, //制定gltf动画是否在没有关键帧的持续时间内保持最后一个姿势
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shadows: globalCesium.ShadowMode.ENABLED,
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heightReference: globalCesium.HeightReference.NONE,
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},
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})
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}
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// 创建无人机信息
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// createDroneEntityLabel(droneEntity, deviceInfo, dockInfo, ssLinePath)
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}
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function setelCamera (lng, lat, alt, payloads, attitude_head) {
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const { gimbal_pitch, gimbal_yaw } = payloads
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let time = 0
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let current = store.currentAngle
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var heading = globalCesium.Math.toRadians(Number(gimbal_yaw || attitude_head)) // 相机左右方向
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if (current == 1) {
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lastTime = null
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droneEntity.show = true
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window.cesiumViewer.camera.lookAtTransform(globalCesium.Matrix4.IDENTITY)
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} else if (current == 2) {
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lastTime = null
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droneEntity.show = true
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window.cesiumViewer.camera.lookAtTransform(globalCesium.Matrix4.IDENTITY)
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let center = globalCesium.Cartesian3.fromDegrees(lng, lat)
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window.cesiumViewer.camera.lookAt(center, new globalCesium.Cartesian3(0.0, 0, 1500))
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} else if (current == 3) {
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droneEntity.show = false
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let curTime = Date.now()
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if (lastTime && lastTime != null) {
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time = (curTime - lastTime) / 1000
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}
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window.cesiumViewer.camera.lookAtTransform(globalCesium.Matrix4.IDENTITY)
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let center = globalCesium.Cartesian3.fromDegrees(lng, lat, alt)
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var pitch = globalCesium.Math.toRadians(pitchAngle({ gimbal_pitch })) // 相机上下方向，负值表示向下看
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window.cesiumViewer.camera.flyTo({
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destination: center,
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orientation: {
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heading,
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pitch,
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roll: 0
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},
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duration: time,
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complete () {
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window.cesiumViewer.camera.lookAt(center, new globalCesium.HeadingPitchRange(
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heading,
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pitch,
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0.01
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))
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}
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})
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lastTime = Date.now()
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}
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}
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// pitch
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function pitchAngle (options) {
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const gimbal_pitch = Number(options?.gimbal_pitch) || 0
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return gimbal_pitch
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}
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// 创建视锥
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function initCreateFrustum (deviceInfo:any, test:any) {
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// console.log('视锥传参1',deviceInfo)
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// console.log('视锥传参2',test)
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if (!deviceInfo || !deviceInfo.longitude || !deviceInfo.latitude || !test.longitude || !test.latitude) return
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const attitude_head = 180 + deviceInfo.attitude_head
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const gimbal_pitch = 90 - pitchAngle({ gimbal_pitch: deviceInfo.payloads[0].gimbal_pitch })
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viewInfoFrustum?.clear()
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viewInfoFrustum = new CreateFrustum(window.cesiumViewer, {
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position: {
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longitude: test.longitude,
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latitude: test.latitude,
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altitude: deviceInfo.height,
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},
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width: 30,
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height: 30,
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fov: 20.0,
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near: 3.0,
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far: 250.0,
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roll: gimbal_pitch,
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pitch: 0,
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heading: attitude_head,
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})
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}
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// 获取手机定位和激光发射定位的高度和距离
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function getTwoHeightWidth(workspaceId:String) {
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if (me_latitude <= 0 || me_longitude <= 0 || measure_target_latitude <= 0 || measure_target_longitude <= 0) return
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getTwoPointInfo(workspaceId,me_latitude,me_longitude,measure_target_latitude,measure_target_longitude).then((res:any) => {
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const heightDifference = res.data.heightDifference
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const distance = res.data.distance
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// 增加激光扫射信息
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myAppEntity.label = new globalCesium.LabelGraphics({
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text: `H:${Math.ceil(heightDifference)}m-L:${Math.round(Math.ceil(distance),)}m`,
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font: '13px monospace',
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fillColor: globalCesium.Color.fromCssColorString('red'), // 文字颜色
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backgroundColor: globalCesium.Color.WHITE, // 背景颜色
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showBackground: true,
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horizontalOrigin: globalCesium.HorizontalOrigin.CENTER,
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verticalOrigin: globalCesium.VerticalOrigin.BOTTOM,
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disableDepthTestDistance: Number.POSITIVE_INFINITY,
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pixelOffset: new globalCesium.Cartesian2(0, -24),
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show: true,
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})
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})
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}
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const meMapSrc = new URL('@/assets/images/me.png', import.meta.url).href
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// 获取手机设备定位
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function getPhoneLocation(workspaceId:String) {
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if (window.cesiumViewer == null) return
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if (navigator.geolocation) {
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// 如果实体不存在，先创建实体
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if (!myAppEntity) {
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myAppEntity = window.cesiumViewer.entities.add({
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id: 'me_dw',
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position: new globalCesium.CallbackProperty(() => {
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return globalCesium.Cartesian3.fromDegrees(me_longitude, me_latitude, me_altitude)
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}, false),
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billboard: {
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image: meMapSrc,
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width: 30,
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height: 30,
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scale: 1.0,
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outlineWidth: 0,
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}
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});
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} else {
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myAppEntity.position = new globalCesium.CallbackProperty(() => {
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return globalCesium.Cartesian3.fromDegrees(me_longitude, me_latitude, me_altitude)
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}, false);
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}
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navigator.geolocation.watchPosition((position) => {
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if (me_longitude > 0 && me_longitude == position.coords.longitude &&
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me_latitude > 0 && me_latitude == position.coords.latitude) return
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me_longitude = position.coords.longitude;
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me_latitude = position.coords.latitude;
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me_altitude = position.coords.altitude || 0;
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// 查看两条线直接距离和高度
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getTwoHeightWidth(workspaceId)
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}, (error) => {
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console.error('定位有误:', error);
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});
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} else {
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console.log('手机不支持.');
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}
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}
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// 点击右边定自身定位
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function clickPhoneLocation() {
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if (myAppEntity && myAppEntity != null) {
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// 将相机定位到设备位置 只有点击图标才可以执行这里
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window.cesiumViewer.camera.setView({
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destination: globalCesium.Cartesian3.fromDegrees(
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Number(me_longitude),
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Number(me_latitude),
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10000.0,
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), // 相机高度
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});
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}
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}
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|
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return {
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initDock,
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getPhoneLocation,
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clickPhoneLocation
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}
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}
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