From f27ca082eb0a839449dd50c49007b58e5ed6946f Mon Sep 17 00:00:00 2001
From: 罗广辉 <guanghui.luo@foxmail.com>
Date: Thu, 19 Jun 2025 19:08:01 +0800
Subject: [PATCH] feat: 服务名修改
---
src/components/g-map/DroneControlPanel.vue | 195 +++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 181 insertions(+), 14 deletions(-)
diff --git a/src/components/g-map/DroneControlPanel.vue b/src/components/g-map/DroneControlPanel.vue
index 24731e6..a0bf699 100644
--- a/src/components/g-map/DroneControlPanel.vue
+++ b/src/components/g-map/DroneControlPanel.vue
@@ -13,53 +13,57 @@
<Button :ghost="!flightController" size="small" @click="onClickFightControl">
{{ flightController ? '退出控制' : '进入控制' }}
</Button>
+
+<!-- <Button size="small" @click="flyByPoints">-->
+<!-- 图斑飞行-->
+<!-- </Button>-->
</div>
</div>
<div class="row">
<div class="drone-control-direction">
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_Q)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_Q)" @mouseup="onMouseUp">
<template #icon>
<UndoOutlined/>
</template>
<span class="word">Q</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_W)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_W)" @mouseup="onMouseUp">
<template #icon>
<UpOutlined/>
</template>
<span class="word">W</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_E)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_E)" @mouseup="onMouseUp">
<template #icon>
<RedoOutlined/>
</template>
<span class="word">E</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_UP)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_UP)" @mouseup="onMouseUp">
<template #icon>
<ArrowUpOutlined/>
</template>
</Button>
<br/>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_A)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_A)" @mouseup="onMouseUp">
<template #icon>
<LeftOutlined/>
</template>
<span class="word">A</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_S)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_S)" @mouseup="onMouseUp">
<template #icon>
<DownOutlined/>
</template>
<span class="word">S</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_D)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_D)" @mouseup="onMouseUp">
<template #icon>
<RightOutlined/>
</template>
<span class="word">D</span>
</Button>
- <Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_DOWN)" @onmouseup="onMouseUp">
+ <Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_DOWN)" @mouseup="onMouseUp">
<template #icon>
<ArrowDownOutlined/>
</template>
@@ -129,6 +133,34 @@
<div>
<span class="form-label">返回原点高度(m):</span>
<a-input-number v-model:value="takeoffToPointPopoverData.rthAltitude"/>
+ </div>
+ <div>
+ <span class="form-label">指点飞行高度(m):</span>
+ <a-input-number :min="2" :max="8000" v-model:value="takeoffToPointPopoverData.commanderFlightHeight"/>
+ </div>
+ <div>
+ <span class="form-label">返航模式:</span>
+ <a-select
+ v-model:value="takeoffToPointPopoverData.rthMode"
+ style="width: 120px"
+ :options="RthModeOptions"
+ ></a-select>
+ </div>
+ <div>
+ <span class="form-label">指点飞行模式:</span>
+ <a-select
+ v-model:value="takeoffToPointPopoverData.commanderFlightMode"
+ style="width: 120px"
+ :options="CommanderFlightModeOptions"
+ ></a-select>
+ </div>
+ <div>
+ <span class="form-label">指点飞行失控动作:</span>
+ <a-select
+ v-model:value="takeoffToPointPopoverData.commanderModeLostAction"
+ style="width: 120px"
+ :options="CommanderModeLostActionOptions"
+ ></a-select>
</div>
<div>
<span class="form-label">失控操作:</span>
@@ -304,6 +336,9 @@
} from '/@/api/drone-control/drone'
import { useDroneControl } from './use-drone-control'
import {
+ RthModeOptions,
+ CommanderModeLostActionOptions,
+ CommanderFlightModeOptions,
GimbalResetMode,
GimbalResetModeOptions,
LostControlActionInCommandFLightOptions,
@@ -313,13 +348,19 @@
import DroneControlInfoPanel from './DroneControlInfoPanel.vue'
import { noDebugCmdList as baseCmdList, DeviceCmdItem, DeviceCmd } from '/@/types/device-cmd'
import { useDockControl } from './use-dock-control'
-
+import { flyByArea, Point } from '/@/api/wayline'
+import { parseJsonFile } from '/@/utils/geo-utils'
+import { cesiumOperation } from '/@/hooks/use-cesium-tsa'
+import * as Cesium from 'cesium'
+import { start } from 'repl'
const props = defineProps<{
sn: string,
deviceInfo: DeviceInfoType,
payloads: null | PayloadInfo[],
modelValue: Boolean,
}>()
+
+const cesiumFunc = cesiumOperation()
const store = useMyStore()
const clientId = computed(() => {
@@ -340,11 +381,19 @@
cmd: cmdItem.cmdKey,
action: cmdItem.action
}, false)
- if (result && flightController.value) {
+ // if (result && flightController.value) {
+ // message.success('返航成功')
+ // exitFlightCOntrol()
+ // } else {
+ // message.warn('请先进入控制！')
+ // }
+ // cmdItem.loading = false
+ if (result) {
message.success('返航成功')
+ }
+ // 退出飞行控制
+ if (result && flightController.value) {
exitFlightCOntrol()
- } else {
- message.warn('请先进入控制！')
}
cmdItem.loading = false
}
@@ -411,7 +460,11 @@
maxSpeed: MAX_SPEED,
rthAltitude: 100 as null | number,
rcLostAction: LostControlActionInCommandFLight.RETURN_HOME,
- exitWaylineWhenRcLost: WaylineLostControlActionInCommandFlight.EXEC_LOST_ACTION
+ exitWaylineWhenRcLost: WaylineLostControlActionInCommandFlight.EXEC_LOST_ACTION,
+ rthMode: 0 as number,
+ commanderModeLostAction: 1 as number,
+ commanderFlightMode: 0 as number,
+ commanderFlightHeight: 100 as number
})
function onShowTakeoffToPointPopover () {
@@ -444,7 +497,11 @@
rth_altitude: takeoffToPointPopoverData.rthAltitude,
max_speed: takeoffToPointPopoverData.maxSpeed,
rc_lost_action: takeoffToPointPopoverData.rcLostAction,
- exit_wayline_when_rc_lost: takeoffToPointPopoverData.exitWaylineWhenRcLost
+ exit_wayline_when_rc_lost: takeoffToPointPopoverData.exitWaylineWhenRcLost,
+ rth_mode: takeoffToPointPopoverData.rthMode,
+ commander_mode_lost_action: takeoffToPointPopoverData.commanderModeLostAction,
+ commander_flight_mode: takeoffToPointPopoverData.commanderFlightMode,
+ commander_flight_height: takeoffToPointPopoverData.commanderFlightHeight
})
} catch (error) {
}
@@ -474,6 +531,116 @@
enterFlightControl()
}
+// 根据图斑飞行
+async function flyByPoints () {
+ // 半径m
+ const radius = 7000
+ const dockPoint:Point = reactive({
+ lon: props.deviceInfo.dock.basic_osd.longitude,
+ lat: props.deviceInfo.dock.basic_osd.latitude
+ })
+ const deviceSn = props.deviceInfo.dock.basic_osd.sub_device?.device_sn
+ const jsonPath = 'src/main/resources/jkj(1).json'
+ const sn = props.sn
+
+ console.log(payloadSelectInfo, '-------------')
+ const payloadIndex = payloadSelectInfo.payloadIndex
+ // const jsonData = await parseJsonFile('../src/assets/jsonData/jkj(1).json')
+
+ // const features = jsonData.features
+ // const list = []
+
+ // features.forEach(feature => {
+ // const areaList = []
+ // feature.geometry.coordinates[0].forEach(areaPoint => {
+ // console.log('areaPoint:', areaPoint)
+ // const point = {
+ // lon: areaPoint[0],
+ // lat: areaPoint[1]
+ // }
+ // areaList.push(point)
+ // })
+ // list.push(areaList)
+ // })
+
+ flyByArea(sn, dockPoint, jsonPath, radius, deviceSn, payloadIndex).then(res => {
+ const targetPoint = res.data || []
+ // 机场位置
+ const startPoint = {
+ lon: props.deviceInfo.dock.basic_osd.longitude,
+ lat: props.deviceInfo.dock.basic_osd.latitude
+ }
+ targetPoint.unshift(startPoint)
+ console.log('targetPoint====', targetPoint)
+ // 获取到点之后在图上绘点
+ targetPoint.forEach((point: { lon: number; lat: number }, index: number) => {
+ console.log(point)
+ const setting = {
+ longitude: point.lon,
+ latitude: point.lat,
+ point: {
+ pixelSize: 8,
+ outlineWidth: 2,
+ color: Cesium.Color.RED,
+ outlineColor: Cesium.Color.BLACK,
+ },
+ label: {
+ text: '位置' + (index + 1),
+ outlineWidth: 20,
+ font: '14px sans-serif',
+ heightReference: 80,
+ pixelOffset: new Cesium.Cartesian2(0, -35),
+ fillColor: Cesium.Color.BLACK
+ },
+ id: 'target' + index,
+ }
+ cesiumFunc.addPoint(setting)
+ // 根据点画连线
+ let polylineSetting = {}
+ if (index === (targetPoint.length - 1)) {
+ polylineSetting = {
+ polyline: {
+ positions: Cesium.Cartesian3.fromDegreesArrayHeights([
+ point.lon,
+ point.lat,
+ 0,
+ targetPoint[0].lon,
+ targetPoint[0].lat,
+ 0
+ ]),
+ width: 10,
+ arcType: Cesium.ArcType.NONE,
+ material: new Cesium.PolylineArrowMaterialProperty(
+ Cesium.Color.RED
+ ),
+ },
+ id: 'fxTarget' + index
+ }
+ } else {
+ polylineSetting = {
+ polyline: {
+ positions: Cesium.Cartesian3.fromDegreesArrayHeights([
+ point.lon,
+ point.lat,
+ 0,
+ targetPoint[index + 1].lon,
+ targetPoint[index + 1].lat,
+ 0
+ ]),
+ width: 10,
+ arcType: Cesium.ArcType.NONE,
+ material: new Cesium.PolylineArrowMaterialProperty(
+ Cesium.Color.RED
+ ),
+ },
+ id: 'fxTarget' + index
+ }
+ }
+ cesiumFunc.addPolyline(polylineSetting)
+ })
+ })
+}
+
// 进入飞行控制
async function enterFlightControl () {
if (!clientId.value) {
--
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