import { DRC_METHOD } from '@/const/drc.js'
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import { useMqtt } from '@/hooks/controlDrone/useMqtt'
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import { ElMessage } from 'element-plus'
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import { postPayloadCommands } from '@/api/payload'
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let myInterval
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export const 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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KEY_J: 'KeyJ',
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KEY_K: 'KeyK',
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KEY_L: 'KeyL',
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KEY_X: 'KeyX',
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KEY_Z: 'KeyZ',
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KEY_C: 'KeyC',
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KEY_I: 'KeyI',
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KEY_O: 'KeyO',
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ARROW_UP: 'ArrowUp',
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ARROW_DOWN: 'ArrowDown',
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ARROW_LEFT: 'ArrowLeft',
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ARROW_RIGHT: 'ArrowRight',
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NUMPAD_SUBTRACT: 'NumpadSubtract',
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NUMPAD_ADD: 'NumpadAdd',
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// 提升速度
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KEY_EQUAL: 'Equal',
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KEY_MINUS: 'Minus',
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// 录音
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KEY_N: 'KeyN',
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KEY_M: 'KeyM',
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}
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export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController,paramsRef) {
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const activeCodeKey = ref(null)
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let genPortOne = true //是一代机场
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const mqttHooks = useMqtt(mqttState,deviceTopicInfo)
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let seq = 0
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function handlePublish(params) {
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const body = {
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method: genPortOne ? DRC_METHOD.DRONE_CONTROL : DRC_METHOD.DRONE_CONTROL2,
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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) {
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const {droneSn,speed} = paramsRef.value
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if (!deviceTopicInfo.pubTopic) {
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ElMessage.error('请确保已经建立DRC链路')
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return
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}
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if (droneSn.value === '4TADKCM0010016' || droneSn.value === 'BA0BA1C3D38157A49E1B16574FA474F7') {
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genPortOne = true
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}
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const SPEED = genPortOne ? (speed.value || 5) : 500 // check
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const HEIGHT = genPortOne ? 5 : 500; // check
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const W_SPEED = genPortOne ? 20 : 500 // 机头角速度
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seq = 0
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switch (keyCode) {
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case 'KeyQ':
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if (activeCodeKey === keyCode) return
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let objQ = { yaw: 1024-W_SPEED }
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if (genPortOne) {objQ = {w: -W_SPEED}}
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handlePublish(objQ)
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activeCodeKey.value = keyCode
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break
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case 'KeyW':
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if (activeCodeKey === keyCode) return
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let objW = { pitch: 1024+SPEED }
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if (genPortOne) {objW = {x: SPEED}}
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handlePublish(objW)
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activeCodeKey.value = keyCode
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break
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case 'KeyE':
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if (activeCodeKey === keyCode) return
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let objE = { yaw: 1024+W_SPEED }
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if (genPortOne) {objE = {w: W_SPEED}}
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handlePublish(objE)
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activeCodeKey.value = keyCode
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break
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case 'KeyA':
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if (activeCodeKey === keyCode) return
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let objA = { roll: 1024-SPEED }
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if (genPortOne) {objA = {y: -SPEED}}
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handlePublish(objA)
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activeCodeKey.value = keyCode
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break
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case 'KeyS':
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if (activeCodeKey === keyCode) return
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let objS = { pitch: 1024-SPEED }
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if (genPortOne) {objS = {x: -SPEED}}
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handlePublish(objS)
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activeCodeKey.value = keyCode
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break
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case 'KeyD':
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if (activeCodeKey === keyCode) return
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let objD = { roll: 1024+SPEED }
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if (genPortOne) {objD = {y: SPEED}}
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handlePublish(objD)
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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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default:
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break
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}
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}
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const handlePayloadTurn = (params) => {
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handleClearInterval()
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if (!this.myInterval) {
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postPayloadCommands(this.sn, params)
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}
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this.myInterval = setInterval(() => {
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postPayloadCommands(this.sn, params)
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}, 500)
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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) {
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handleKeyup(e.code)
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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(
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() => isCurrentFlightController.value,
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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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},
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{ immediate: true }
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)
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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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ElMessage.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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