From 8f436e8f6ff26083e5f5c07b39eb1581772a32b7 Mon Sep 17 00:00:00 2001
From: 罗广辉 <guanghui.luo@foxmail.com>
Date: Thu, 17 Apr 2025 11:07:53 +0800
Subject: [PATCH] feat: 无人机控制调整
---
src/hooks/controlDrone/useManualControl.js | 16 ++++----
src/api/drc.js | 4 +-
src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue | 40 ++++++++++++-------
src/const/drc.js | 1
src/api/payload.js | 3 +
src/components/CurrentTaskDetails/TaskDetailsLeft.vue | 1
src/websocket/index.js | 2 +
src/components/CurrentTaskDetails/CurrentTaskDetails.vue | 21 ++++++----
8 files changed, 53 insertions(+), 35 deletions(-)
diff --git a/src/api/drc.js b/src/api/drc.js
index e618d8e..fba2361 100644
--- a/src/api/drc.js
+++ b/src/api/drc.js
@@ -44,7 +44,7 @@
// 一键返航
export async function returnHome(sn) {
return request({
- url: `/dp/home/${sn}/drc/returnHome`,
+ url: `/drone-device-core/dp/home/${sn}/drc/returnHome`,
method: 'post',
})
}
@@ -52,7 +52,7 @@
// 取消返航
export async function returnHomeCancel(sn) {
return request({
- url: `/dp/home/${sn}/drc/returnHomeCancel`,
+ url: `/drone-device-core/dp/home/${sn}/drc/returnHomeCancel`,
method: 'post',
})
}
diff --git a/src/api/payload.js b/src/api/payload.js
index 06cc937..ed91d52 100644
--- a/src/api/payload.js
+++ b/src/api/payload.js
@@ -23,10 +23,11 @@
return await request.post(`${API_PREFIX}/devices/${sn}/payload/commands`, body, config)
}
+
// 拍照和录像
export async function callPhotoAndVideoCmd(sn, type) {
return await request({
- url:`/droneAirport/liveStreamApi/${sn}/payload/photoAndVideoCmd/${type}`,
+ url:`/drone-device-core/droneAirport/liveStreamApi/${sn}/payload/photoAndVideoCmd/${type}`,
method:'get',
})
}
diff --git a/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue b/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
index d882049..e60ce07 100644
--- a/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
+++ b/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
@@ -147,9 +147,19 @@
const deviceOsdInfo = inject('deviceOsdInfo')
const taskDetails = inject('taskDetails')
+const dockSn = inject('dockSn')
+const droneSn = inject('droneSn')
+
+
const store = useStore()
+let mqttState = null
+const client_id = ref('')
+const valueTime = ref('00:00:00')
+let timer = null
+let totalSeconds = 0
+
+
const workspace_id = computed(() => taskDetails?.value?.workspace_id)
-const dock_sn = computed(() => taskDetails.value.device_sns[0])
const list1 = [
{ key: KeyCode.KEY_Q, text: 'Q', icon: RefreshLeft },
{ key: KeyCode.KEY_W, text: 'W', icon: ArrowUp },
@@ -162,6 +172,7 @@
]
const speed = ref(5)
+provide('speed',speed)
const list5 = [
{ name: '上', style: { top: '-70%' }, imgStyle: { top: '20%', left: '50%' } },
@@ -183,21 +194,15 @@
],
]
-let mqttState = null
-const client_id = ref('')
-const valueTime = ref('00:00:00')
-let timer = null
-let totalSeconds = 0
+
const deviceTopicInfo = ref({
- sn: deviceOsdInfo.value?.data?.sn,
pubTopic: '',
subTopic: '',
})
const flightController = ref(false)
// 控制对象
let manualControl = {}
-const sn = computed(() => deviceOsdInfo?.value?.data?.sn)
const isAutoControl = inject('isAutoControl')
const timeStart = () => {
@@ -222,7 +227,7 @@
// 按下操作
function onMouseDown(type) {
- manualControl?.handleKeyup(type, { sn: sn.value, speed: speed.value })
+ manualControl?.handleKeyup(type)
}
// 弹起操作
@@ -232,7 +237,7 @@
// 取消手动控制
function cancelControl() {
- exitController({ client_id: client_id.value, dock_sn: dock_sn.value })
+ exitController({ client_id: client_id.value, dock_sn: dockSn.value })
.then(res => {
flightController.value = false
deviceTopicInfo.value.subTopic = ''
@@ -245,8 +250,8 @@
// 手动控制
function control() {
if (!client_id.value) return ElMessage.error('无人机不在空中，不能进入指挥飞行模式。')
- if (!dock_sn.value) return ElMessage.error('系统错误，未获取到dock_sn')
- droneController({ client_id: client_id.value, dock_sn: dock_sn.value }).then(res => {
+ if (!dockSn.value) return ElMessage.error('系统错误，未获取到dock_sn')
+ droneController({ client_id: client_id.value, dock_sn: dockSn.value }).then(res => {
flightController.value = true
const { data } = res.data
if (data.sub && data.sub?.length > 0) {
@@ -262,14 +267,14 @@
// 返航
function onBackDock() {
- returnHome(dock_sn.value).then(res => {
+ returnHome(dockSn?.value).then(res => {
ElMessage.success('返航操作成功')
})
}
// 取消返航
function cancelBackDock() {
- returnHomeCancel({ client_id: this.clientId, dock_sn: this.sn }).then(res => {
+ returnHomeCancel(dockSn?.value).then(res => {
ElMessage.success('取消返航成功')
})
}
@@ -303,13 +308,18 @@
}
}
+const paramsRef = computed(()=>({
+ droneSn:droneSn.value,
+ speed:speed.value,
+}))
+
watch(
() => workspace_id.value,
async () => {
if (workspace_id.value) {
await createConnect()
// 使用控制
- manualControl = useManualControl(mqttState, deviceTopicInfo.value, flightController)
+ manualControl = useManualControl(mqttState, deviceTopicInfo.value, flightController,paramsRef)
}
}
)
diff --git a/src/components/CurrentTaskDetails/CurrentTaskDetails.vue b/src/components/CurrentTaskDetails/CurrentTaskDetails.vue
index 79e4a97..8dd53e3 100644
--- a/src/components/CurrentTaskDetails/CurrentTaskDetails.vue
+++ b/src/components/CurrentTaskDetails/CurrentTaskDetails.vue
@@ -18,8 +18,8 @@
<TaskDetailsRight v-if="isAutoControl" />
<template v-else>
<TaskDetailsHead />
+ <TaskDetailsLeft />
</template>
- <TaskDetailsLeft />
<!-- 控制面板，里面有方法需要立即执行，不可用v-if -->
@@ -59,8 +59,12 @@
const deviceOsdInfo = ref({})
provide('taskDetails', taskDetails)
provide('deviceOsdInfo', deviceOsdInfo)
-provide('dockSn', taskDetails?.value?.device_sns?.[0])
-provide('droneSn', deviceOsdInfo?.value?.data?.sn)
+
+const dockSn = computed(() => taskDetails?.value?.device_sns?.[0])
+const droneSn = computed(() => deviceOsdInfo?.value?.data?.sn)
+
+provide('dockSn', dockSn)
+provide('droneSn', droneSn)
// 机巢直播
@@ -81,6 +85,7 @@
// 无人机直播画质切换
const changeLineQuality = async () => {
+ if (droneLiveUrl.value) return droneLiveUrl.value
const res = await liveStart(droneSn, lineQuality.value)
droneLiveUrl.value = res.data.data.rtcs_url
return droneLiveUrl.value
@@ -115,7 +120,7 @@
switch (payload.biz_code) {
case EBizCode.DeviceOsd: {
deviceOsdInfo.value = payload
- // console.log(deviceOsdInfo.value,'osd信息')
+ console.log(deviceOsdInfo.value,'device_osd信息')
setCurrentLiveUrl()
break
}
@@ -141,10 +146,6 @@
}
)
-const removeEvent = () => {
- connectWs?.close()
- deviceOsdInfo.value = {}
-}
onMounted(() => {
getTaskDetails()
@@ -152,8 +153,10 @@
})
onBeforeUnmount(() => {
+ connectWs?.close()
+ deviceOsdInfo.value = {}
+ connectWs = null
EventBus.off('CurrentTaskDetails-timeStop', changeLineQuality)
- removeEvent()
})
</script>
diff --git a/src/components/CurrentTaskDetails/TaskDetailsLeft.vue b/src/components/CurrentTaskDetails/TaskDetailsLeft.vue
index 8d2e516..ce9f85d 100644
--- a/src/components/CurrentTaskDetails/TaskDetailsLeft.vue
+++ b/src/components/CurrentTaskDetails/TaskDetailsLeft.vue
@@ -59,6 +59,7 @@
const type = isRecording.value ? 'video_stop' : 'video_start'
const msg = isRecording.value ? '停止录像' : '开始录像'
const emitType = isRecording.value ? 'controlPanel-timeStop' : 'controlPanel-timeStart'
+
callPhotoAndVideoCmd(droneSn.value, type).then(res => {
ElMessage.success(msg)
EventBus.emit(emitType)
diff --git a/src/const/drc.js b/src/const/drc.js
index e6a37e8..1c601b5 100644
--- a/src/const/drc.js
+++ b/src/const/drc.js
@@ -1,6 +1,7 @@
export const DRC_METHOD = {
HEART_BEAT: 'heart_beat',
DRONE_CONTROL: 'drone_control', // 飞行控制-虚拟摇杆
+ DRONE_CONTROL2: 'stick_control', // 2代及以上飞行控制-摇杆
DRONE_EMERGENCY_STOP: 'drone_emergency_stop', // 急停
OSD_INFO_PUSH: 'osd_info_push', // 高频osd信息上报
HSI_INFO_PUSH: 'hsi_info_push', // 避障信息上报
diff --git a/src/hooks/controlDrone/useManualControl.js b/src/hooks/controlDrone/useManualControl.js
index 2910d6f..a2e0b97 100644
--- a/src/hooks/controlDrone/useManualControl.js
+++ b/src/hooks/controlDrone/useManualControl.js
@@ -34,15 +34,15 @@
KEY_M: 'KeyM',
}
-export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController) {
+export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController,paramsRef) {
const activeCodeKey = ref(null)
-
+ let genPortOne = true //是一代机场
const mqttHooks = useMqtt(mqttState,deviceTopicInfo)
let seq = 0
function handlePublish(params) {
const body = {
- method: DRC_METHOD.DRONE_CONTROL,
+ method: genPortOne ? DRC_METHOD.DRONE_CONTROL : DRC_METHOD.DRONE_CONTROL2,
data: params,
}
handleClearInterval()
@@ -54,18 +54,18 @@
}, 50)
}
- function handleKeyup(keyCode,params) {
- const {sn,speed} = params
- let genPortOne = false //是一代机场
+ function handleKeyup(keyCode) {
+ const {droneSn,speed} = paramsRef.value
+
if (!deviceTopicInfo.pubTopic) {
ElMessage.error('请确保已经建立DRC链路')
return
}
- if (sn === '4TADKCM0010016' || sn === 'BA0BA1C3D38157A49E1B16574FA474F7') {
+ if (droneSn.value === '4TADKCM0010016' || droneSn.value === 'BA0BA1C3D38157A49E1B16574FA474F7') {
genPortOne = true
}
- const SPEED = genPortOne ? (speed || 5) : 500 // check
+ const SPEED = genPortOne ? (speed.value || 5) : 500 // check
const HEIGHT = genPortOne ? 5 : 500; // check
const W_SPEED = genPortOne ? 20 : 500 // 机头角速度
diff --git a/src/websocket/index.js b/src/websocket/index.js
index da0a2e0..ffebd8c 100644
--- a/src/websocket/index.js
+++ b/src/websocket/index.js
@@ -67,7 +67,9 @@
}
close() {
+ console.log('socket关闭')
this._socket?.close()
+ this._socket = null
}
}
--
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