forked from drone/command-center-dashboard
src/hooks/controlDrone/useManualControl.js
@@ -1,19 +1,38 @@ import { DRC_METHOD } from '@/const/drc.js' import { useMqtt } from '@/hooks/controlDrone/useMqtt' import { ElMessage } from 'element-plus' import { postPayloadCommands } from '@/api/payload' let myInterval export const KeyCode = { KEY_W: 'KeyW', KEY_A: 'KeyA', KEY_S: 'KeyS', KEY_D: 'KeyD', KEY_Q: 'KeyQ', KEY_E: 'KeyE', ARROW_UP: 'ArrowUp', ARROW_DOWN: 'ArrowDown', } export const KeyCode = { KEY_W: 'KeyW', KEY_A: 'KeyA', KEY_S: 'KeyS', KEY_D: 'KeyD', KEY_Q: 'KeyQ', KEY_E: 'KeyE', KEY_J: 'KeyJ', KEY_K: 'KeyK', KEY_L: 'KeyL', KEY_X: 'KeyX', KEY_Z: 'KeyZ', KEY_C: 'KeyC', KEY_I: 'KeyI', KEY_O: 'KeyO', ARROW_UP: 'ArrowUp', ARROW_DOWN: 'ArrowDown', ARROW_LEFT: 'ArrowLeft', ARROW_RIGHT: 'ArrowRight', NUMPAD_SUBTRACT: 'NumpadSubtract', NUMPAD_ADD: 'NumpadAdd', // 提升速度 KEY_EQUAL: 'Equal', KEY_MINUS: 'Minus', // 录音 KEY_N: 'KeyN', KEY_M: 'KeyM', } export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController) { const activeCodeKey = ref(null) @@ -35,34 +54,63 @@ }, 50) } function handleKeyup(keyCode) { function handleKeyup(keyCode,params) { const {sn,speed} = params let genPortOne = false //是一代机场 if (!deviceTopicInfo.pubTopic) { ElMessage.error('请确保已经建立DRC链路') return } const SPEED = 5 // check const HEIGHT = 5 // check const W_SPEED = 20 // 机头角速度 if (sn === '4TADKCM0010016' || sn === 'BA0BA1C3D38157A49E1B16574FA474F7') { genPortOne = true } const SPEED = genPortOne ? (speed || 5) : 500 // check const HEIGHT = genPortOne ? 5 : 500; // check const W_SPEED = genPortOne ? 20 : 500 // 机头角速度 seq = 0 switch (keyCode) { case 'KeyA': if (activeCodeKey.value === keyCode) return handlePublish({ y: -SPEED }) case 'KeyQ': if (activeCodeKey === keyCode) return let objQ = { yaw: 1024-W_SPEED } if (genPortOne) {objQ = {w: -W_SPEED}} handlePublish(objQ) activeCodeKey.value = keyCode break case 'KeyW': if (activeCodeKey.value === keyCode) return handlePublish({ x: SPEED }) if (activeCodeKey === keyCode) return let objW = { pitch: 1024+SPEED } if (genPortOne) {objW = {x: SPEED}} handlePublish(objW) activeCodeKey.value = keyCode break case 'KeyE': if (activeCodeKey === keyCode) return let objE = { yaw: 1024+W_SPEED } if (genPortOne) {objE = {w: W_SPEED}} handlePublish(objE) activeCodeKey.value = keyCode break case 'KeyA': if (activeCodeKey === keyCode) return let objA = { roll: 1024-SPEED } if (genPortOne) {objA = {y: -SPEED}} handlePublish(objA) activeCodeKey.value = keyCode break case 'KeyS': if (activeCodeKey.value === keyCode) return handlePublish({ x: -SPEED }) if (activeCodeKey === keyCode) return let objS = { pitch: 1024-SPEED } if (genPortOne) {objS = {x: -SPEED}} handlePublish(objS) activeCodeKey.value = keyCode break case 'KeyD': if (activeCodeKey.value === keyCode) return handlePublish({ y: SPEED }) if (activeCodeKey === keyCode) return let objD = { roll: 1024+SPEED } if (genPortOne) {objD = {y: SPEED}} handlePublish(objD) activeCodeKey.value = keyCode break case 'ArrowUp': @@ -75,21 +123,23 @@ handlePublish({ h: -HEIGHT }) activeCodeKey.value = keyCode break case 'KeyQ': if (activeCodeKey.value === keyCode) return handlePublish({ w: -W_SPEED }) activeCodeKey.value = keyCode break case 'KeyE': if (activeCodeKey.value === keyCode) return handlePublish({ w: W_SPEED }) activeCodeKey.value = keyCode break default: break } } const handlePayloadTurn = (params) => { handleClearInterval() if (!this.myInterval) { postPayloadCommands(this.sn, params) } this.myInterval = setInterval(() => { postPayloadCommands(this.sn, params) }, 500) } function handleClearInterval() { clearInterval(myInterval) myInterval = undefined
