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/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue | 40 +++++++++++++++++++++++++---------------
1 files changed, 25 insertions(+), 15 deletions(-)
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)
}
}
)
--
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