import {
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ref,
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onUnmounted,
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watch,
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Ref,
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} from 'vue'
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import { message } from 'ant-design-vue'
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import {
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DRC_METHOD,
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DroneControlProtocol,
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} from '/@/types/drc'
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import {
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useMqtt,
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DeviceTopicInfo
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} from './use-mqtt'
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let myInterval: any
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export enum KeyCode {
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KEY_W = 'KeyW',
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KEY_A = 'KeyA',
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KEY_S = 'KeyS',
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KEY_D = 'KeyD',
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KEY_Q = 'KeyQ',
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KEY_E = 'KeyE',
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ARROW_UP = 'ArrowUp',
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ARROW_DOWN = 'ArrowDown',
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}
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export function useManualControl (deviceTopicInfo: DeviceTopicInfo, isCurrentFlightController: Ref<boolean>) {
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const activeCodeKey = ref(null) as Ref<KeyCode | null>
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const mqttHooks = useMqtt(deviceTopicInfo)
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let seq = 0
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function handlePublish (params: DroneControlProtocol) {
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const body = {
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method: DRC_METHOD.DRONE_CONTROL,
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data: params,
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}
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handleClearInterval()
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myInterval = setInterval(() => {
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body.data.seq = seq++
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seq++
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window.console.log('keyCode>>>>', activeCodeKey.value, body)
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mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 })
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}, 50)
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}
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function handleKeyup (keyCode: KeyCode) {
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if (!deviceTopicInfo.pubTopic) {
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message.error('请确保已经建立DRC链路')
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return
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}
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const SPEED = 5 // check
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const HEIGHT = 5 // check
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const W_SPEED = 20 // 机头角速度
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seq = 0
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switch (keyCode) {
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case 'KeyA':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ y: -SPEED })
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activeCodeKey.value = keyCode
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break
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case 'KeyW':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ x: SPEED })
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activeCodeKey.value = keyCode
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break
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case 'KeyS':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ x: -SPEED })
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activeCodeKey.value = keyCode
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break
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case 'KeyD':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ y: SPEED })
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activeCodeKey.value = keyCode
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break
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case 'ArrowUp':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ h: HEIGHT })
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activeCodeKey.value = keyCode
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break
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case 'ArrowDown':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ h: -HEIGHT })
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activeCodeKey.value = keyCode
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break
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case 'KeyQ':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ w: -W_SPEED })
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activeCodeKey.value = keyCode
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break
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case 'KeyE':
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if (activeCodeKey.value === keyCode) return
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handlePublish({ w: W_SPEED })
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activeCodeKey.value = keyCode
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break
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default:
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break
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}
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}
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function handleClearInterval () {
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clearInterval(myInterval)
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myInterval = undefined
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}
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function resetControlState () {
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activeCodeKey.value = null
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seq = 0
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handleClearInterval()
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}
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function onKeyup () {
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resetControlState()
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}
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function onKeydown (e: KeyboardEvent) {
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handleKeyup(e.code as KeyCode)
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}
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function startKeyboardManualControl () {
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window.addEventListener('keydown', onKeydown)
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window.addEventListener('keyup', onKeyup)
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}
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function closeKeyboardManualControl () {
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resetControlState()
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window.removeEventListener('keydown', onKeydown)
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window.removeEventListener('keyup', onKeyup)
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}
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watch(() => isCurrentFlightController.value, (val) => {
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if (val && deviceTopicInfo.pubTopic) {
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startKeyboardManualControl()
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} else {
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closeKeyboardManualControl()
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}
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}, { immediate: true })
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onUnmounted(() => {
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closeKeyboardManualControl()
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})
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function handleEmergencyStop () {
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if (!deviceTopicInfo.pubTopic) {
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message.error('请确保已经建立DRC链路')
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return
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}
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const body = {
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method: DRC_METHOD.DRONE_EMERGENCY_STOP,
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data: {}
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}
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resetControlState()
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window.console.log('handleEmergencyStop>>>>', deviceTopicInfo.pubTopic, body)
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mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 1 })
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}
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return {
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activeCodeKey,
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handleKeyup,
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handleEmergencyStop,
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resetControlState,
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}
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}
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