forked from drone/command-center-dashboard
src/hooks/controlDrone/useManualControl.js
@@ -36,11 +36,18 @@ } export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController,paramsRef) { const activeCodeKey = ref(null) let activeCodeKey = null let genPortOne = true //是一代机场 const mqttHooks = useMqtt(mqttState,deviceTopicInfo) let mqttHooks = useMqtt(mqttState,deviceTopicInfo) let seq = 0 let throttledPtz = null const keysPressed = [ {key: 'KeyQ', value: false}, {key: 'KeyW', value: false}, {key: 'KeyE', value: false}, {key: 'KeyA', value: false}, {key: 'KeyS', value: false}, {key: 'KeyD', value: false}, ] function handlePublish(params) { const body = { @@ -51,7 +58,7 @@ myInterval = setInterval(() => { body.data.seq = seq++ seq++ window.console.log('keyCode>>>>', activeCodeKey.value, body) window.console.log('keyCode>>>>', activeCodeKey, body) mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 }) }, 50) } @@ -71,84 +78,141 @@ const HEIGHT = genPortOne ? 5 : 500; // check const W_SPEED = genPortOne ? 20 : 500 // 机头角速度 let arrList = [] if (genPortOne) { arrList = [ { Key: 'KeyQ', category: 'w', value: -W_SPEED },{ Key: 'KeyW',category: 'x', value: SPEED }, { Key: 'KeyE', category: 'w', value: W_SPEED},{ Key: 'KeyA', category: 'y', value: -SPEED}, { Key: 'KeyS', category: 'x', value: -SPEED},{ Key: 'KeyD', category: 'y', value: SPEED} ] } else { arrList = [ { Key: 'KeyQ', category: 'yaw', value: 1024-W_SPEED },{ Key: 'KeyW',category: 'pitch', value: 1024+SPEED }, { Key: 'KeyE', category: 'yaw', value: 1024+W_SPEED},{ Key: 'KeyA', category: 'roll', value: 1024-SPEED}, { Key: 'KeyS', category: 'pitch', value: 1024-SPEED},{ Key: 'KeyD', category: 'roll', value: 1024+SPEED} ] } let resultObj = [] let resultArr = [] // 遍历被选中得数组 if (keyCode === 'assemblyKeys') { keysPressed.map(key => { if (key.value) { let result = arrList.filter(item =>item.Key===key.key) resultObj.push(result[0]) } }) // 相同属性值进行计算 resultArr = resultObj.reduce((acc, item) => { // 如果累加器中已经有这个 category，则累加 value if (acc[item.category]) { // acc[item.category] += item.value; acc[item.category] = genPortOne ? 0 : 1024; } else { // 否则，初始化这个 category 的 value acc[item.category] = item.value; } return acc; }, {}); } seq = 0 switch (keyCode) { case 'assemblyKeys': // 针对Q W E A S D 组合键 if (activeCodeKey === keyCode) return handlePublish(resultArr) activeCodeKey = keyCode break case 'KeyQ': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objQ = { yaw: 1024-W_SPEED } if (genPortOne) {objQ = {w: -W_SPEED}} handlePublish(objQ) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyW': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objW = { pitch: 1024+SPEED } if (genPortOne) {objW = {x: SPEED}} handlePublish(objW) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyE': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objE = { yaw: 1024+W_SPEED } if (genPortOne) {objE = {w: W_SPEED}} handlePublish(objE) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyA': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objA = { roll: 1024-SPEED } if (genPortOne) {objA = {y: -SPEED}} handlePublish(objA) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyS': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objS = { pitch: 1024-SPEED } if (genPortOne) {objS = {x: -SPEED}} handlePublish(objS) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyD': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objD = { roll: 1024+SPEED } if (genPortOne) {objD = {y: SPEED}} handlePublish(objD) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'KeyZ': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objZ = { throttle: 1024-HEIGHT } if (genPortOne) {objZ = {h: -HEIGHT}} handlePublish(objZ) activeCodeKey.value = keyCode activeCodeKey = keyCode break // case 'ArrowDown': case 'KeyC': if (activeCodeKey.value === keyCode) return if (activeCodeKey === keyCode) return let objC = { throttle: 1024+HEIGHT } if (genPortOne) {objC = {h: HEIGHT}} handlePublish(objC) activeCodeKey.value = keyCode activeCodeKey = keyCode break case 'ArrowUp': ptzThrottle[0]() if (activeCodeKey === keyCode) return clearInterval(myInterval) ptzControl('up') myInterval = setInterval(()=>ptzControl('up'), 200) activeCodeKey = keyCode break case 'ArrowDown': ptzThrottle[1]() if (activeCodeKey === keyCode) return clearInterval(myInterval) ptzControl('down') myInterval = setInterval(()=>ptzControl('down'), 200) activeCodeKey = keyCode break case 'ArrowLeft': ptzThrottle[2]() if (activeCodeKey === keyCode) return clearInterval(myInterval) ptzControl('left') myInterval = setInterval(()=>ptzControl('left'), 200) activeCodeKey = keyCode break case 'ArrowRight': ptzThrottle[3]() if (activeCodeKey === keyCode) return clearInterval(myInterval) ptzControl('right') myInterval = setInterval(()=>ptzControl('right'), 200) activeCodeKey = keyCode break default: break } } // 云台控制节流list const ptzThrottle = ['up','down','left','right'].map(key => throttle(()=>ptzControl(key), 500)) // 云台上下左右 function ptzControl(key) { @@ -175,7 +239,8 @@ } function resetControlState() { activeCodeKey.value = null keysPressed.map(item => item.value = false) activeCodeKey = null seq = 0 handleClearInterval() } @@ -185,7 +250,16 @@ } function onKeydown(e) { handleKeyup(e.code) e.preventDefault() keysPressed.forEach(item => { if(e.code === item.key) item.value = true }) let result = keysPressed.filter(item=>item.value===true) if (result && result.length >= 2) { handleKeyup('assemblyKeys') } else { handleKeyup(e.code) } } function startKeyboardManualControl() { @@ -212,6 +286,9 @@ ) onUnmounted(() => { deviceTopicInfo.subTopic = '' deviceTopicInfo.pubTopic = '' mqttHooks = null closeKeyboardManualControl() })
