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, ptzControlApi } from '@/api/payload'
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import { throttle } from 'lodash'
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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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let activeCodeKey = null
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let genPortOne = true //是一代机场
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let mqttHooks = useMqtt(mqttState,deviceTopicInfo)
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let seq = 0
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const keysPressed = [
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{key: 'KeyQ', value: false},
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{key: 'KeyW', value: false},
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{key: 'KeyE', value: false},
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{key: 'KeyA', value: false},
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{key: 'KeyS', value: false},
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{key: 'KeyD', value: false},
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]
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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, 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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let arrList = []
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if (genPortOne) {
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arrList = [
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{ Key: 'KeyQ', category: 'w', value: -W_SPEED },{ Key: 'KeyW',category: 'x', value: SPEED },
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{ Key: 'KeyE', category: 'w', value: W_SPEED},{ Key: 'KeyA', category: 'y', value: -SPEED},
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{ Key: 'KeyS', category: 'x', value: -SPEED},{ Key: 'KeyD', category: 'y', value: SPEED}
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]
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} else {
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arrList = [
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{ Key: 'KeyQ', category: 'yaw', value: 1024-W_SPEED },{ Key: 'KeyW',category: 'pitch', value: 1024+SPEED },
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{ Key: 'KeyE', category: 'yaw', value: 1024+W_SPEED},{ Key: 'KeyA', category: 'roll', value: 1024-SPEED},
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{ Key: 'KeyS', category: 'pitch', value: 1024-SPEED},{ Key: 'KeyD', category: 'roll', value: 1024+SPEED}
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]
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}
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let resultObj = []
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let resultArr = []
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// 遍历被选中得数组
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if (keyCode === 'assemblyKeys') {
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keysPressed.map(key => {
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if (key.value) {
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let result = arrList.filter(item =>item.Key===key.key)
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resultObj.push(result[0])
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}
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})
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// 相同属性值进行计算
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resultArr = resultObj.reduce((acc, item) => {
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// 如果累加器中已经有这个 category，则累加 value
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if (acc[item.category]) {
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// acc[item.category] += item.value;
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acc[item.category] = genPortOne ? 0 : 1024;
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} else {
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// 否则，初始化这个 category 的 value
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acc[item.category] = item.value;
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}
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return acc;
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}, {});
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}
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seq = 0
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switch (keyCode) {
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case 'assemblyKeys': // 针对Q W E A S D 组合键
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if (activeCodeKey === keyCode) return
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handlePublish(resultArr)
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activeCodeKey = keyCode
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break
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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 = 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 = 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 = 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 = 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 = 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 = keyCode
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break
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case 'KeyZ':
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if (activeCodeKey === keyCode) return
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let objZ = { throttle: 1024-HEIGHT }
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if (genPortOne) {objZ = {h: -HEIGHT}}
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handlePublish(objZ)
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activeCodeKey = keyCode
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break
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// case 'ArrowDown':
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case 'KeyC':
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if (activeCodeKey === keyCode) return
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let objC = { throttle: 1024+HEIGHT }
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if (genPortOne) {objC = {h: HEIGHT}}
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handlePublish(objC)
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activeCodeKey = keyCode
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break
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case 'ArrowUp':
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if (activeCodeKey === keyCode) return
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clearInterval(myInterval)
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ptzControl('up')
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myInterval = setInterval(()=>ptzControl('up'), 200)
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activeCodeKey = keyCode
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break
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case 'ArrowDown':
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if (activeCodeKey === keyCode) return
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clearInterval(myInterval)
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ptzControl('down')
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myInterval = setInterval(()=>ptzControl('down'), 200)
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activeCodeKey = keyCode
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break
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case 'ArrowLeft':
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if (activeCodeKey === keyCode) return
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clearInterval(myInterval)
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ptzControl('left')
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myInterval = setInterval(()=>ptzControl('left'), 200)
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activeCodeKey = keyCode
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break
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case 'ArrowRight':
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if (activeCodeKey === keyCode) return
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clearInterval(myInterval)
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ptzControl('right')
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myInterval = setInterval(()=>ptzControl('right'), 200)
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activeCodeKey = 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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// 云台上下左右
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function ptzControl(key) {
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const {dockSn} = paramsRef.value
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ptzControlApi(key, { sn: dockSn }).then(res => {
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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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keysPressed.map(item => item.value = false)
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activeCodeKey = 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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e.preventDefault()
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keysPressed.forEach(item => {
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if(e.code === item.key) item.value = true
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})
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let result = keysPressed.filter(item=>item.value===true)
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if (result && result.length >= 2) {
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handleKeyup('assemblyKeys')
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} else {
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handleKeyup(e.code)
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}
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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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deviceTopicInfo.subTopic = ''
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deviceTopicInfo.pubTopic = ''
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mqttHooks = null
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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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