From bd152b06ef36dce4e31d621cbd28fd1c17a34dba Mon Sep 17 00:00:00 2001
From: 罗广辉 <guanghui.luo@foxmail.com>
Date: Sat, 19 Apr 2025 08:54:37 +0800
Subject: [PATCH] feat: 抽出ws消息
---
src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue | 117 +++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 95 insertions(+), 22 deletions(-)
diff --git a/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue b/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
index d78a55a..840de42 100644
--- a/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
+++ b/src/components/CurrentTaskDetails/ControlPanel/ControlPanel.vue
@@ -68,7 +68,7 @@
</div>
<!-- 指南针-->
<div class="compass">
- <ControlComPass />
+ <ControlComPass :options="compassOptions" />
</div>
<div class="ptzControlBox">
@@ -88,6 +88,7 @@
:style="item.style"
class="ptzControlItem"
@mousedown="onMouseDown(item.key)"
+ @mouseup="onMouseUp"
></div>
<div
@@ -115,17 +116,17 @@
</div>
<div class="divider"></div>
- <div v-for="arr in list4" class="info">
+ <div v-for="arr in baseInfo" class="info">
<div v-for="item in arr" class="infoItem">
<div class="infoName">{{ item.name }}</div>
- <div class="infoValue">{{ item.value }}</div>
+ <div class="infoValue">{{ item.value + (item.unit || '') }}</div>
</div>
</div>
</div>
</div>
</template>
<script setup>
-import ControlComPass from '../ControlComPass/ControlComPass.vue'
+import ControlComPass from '@/components/CurrentTaskDetails/ControlPanel/ControlComPass/ControlComPass.vue'
import { KeyCode, useManualControl } from '@/hooks/controlDrone/useManualControl'
import { droneController, exitController, postDrc, returnHome, returnHomeCancel } from '@/api/drc'
import { ElMessage } from 'element-plus'
@@ -143,17 +144,29 @@
RefreshLeft,
RefreshRight,
} from '@element-plus/icons-vue'
-
+import _ from 'lodash'
import BaseControl from '@/components/CurrentTaskDetails/ControlPanel/BaseControl.vue'
import EventBus from '@/event-bus'
-import { getPayloadControlApi, ptzControlApi } from '@/api/payload'
+import { getPayloadControlApi } from '@/api/payload'
+import { directionMap } from '@/const/drc'
-const deviceOsdInfo = inject('deviceOsdInfo')
+const wsInfo = inject('wsInfo')
+const device_osd_host = computed(() => wsInfo?.value?.device_osd?.data?.host || {})
+const dock_osd_host = computed(() => wsInfo?.value?.dock_osd?.data?.host || {})
const taskDetails = inject('taskDetails')
const dockSn = inject('dockSn')
const droneSn = inject('droneSn')
-const store = useStore()
+const trueAltitude = inject('trueAltitude')
+
+const compassOptions = computed(() => {
+ return {
+ pitchAngle: pitchAngle.value.angle,
+ trueAltitude: trueAltitude.value,
+ yawAngle: yawAngle.value.angle,
+ }
+})
+
let mqttState = null
const client_id = ref('')
const valueTime = ref('00:00:00')
@@ -182,18 +195,78 @@
{ name: '左', key: KeyCode.ARROW_LEFT, operate: 'left', style: { left: '-70%' } },
]
-const list4 = [
- [
- { name: '焦距倍数', value: '0' },
- { name: '俯仰角度', value: '0.0°' },
- { name: '横向角度', value: '0.0°' },
- ],
- [
- { name: '储存', value: '64.5G' },
- { name: '方向', value: '正北' },
- { name: '方向', value: '正北' },
- ],
-]
+const baseInfo = computed(() => {
+ const usedStorage = dock_osd_host.value?.storage?.used || 0
+ const zoom_factor = device_osd_host.value?.cameras?.[0]?.zoom_factor || 0
+ const usedStorageGB = _.round(usedStorage / 1024 / 1024, 2)
+ return [
+ [
+ { name: '焦距倍数', value: zoom_factor },
+ { name: '俯仰角度', value: pitchAngle.value.angle, unit: '°' },
+ { name: '横向角度', value: yawAngle.value.angle, unit: '°' },
+ ],
+ [
+ { name: '储存', value: usedStorageGB, unit: 'G' },
+ { name: '方向', value: pitchAngle.value.direction },
+ { name: '方向', value: yawAngle.value.direction },
+ ],
+ ]
+})
+
+const pitchAngle = computed(() => {
+ const { payloads } = device_osd_host?.value || {}
+ const gimbal_pitch = payloads?.[0]?.gimbal_pitch || 0
+ let direction = ''
+ if (gimbal_pitch > -2 && gimbal_pitch < 2) {
+ direction = '正前'
+ } else if (gimbal_pitch >= 2 && gimbal_pitch < 90) {
+ direction = '斜上'
+ } else if (gimbal_pitch === 90) {
+ direction = '正上'
+ } else if (gimbal_pitch <= -2 && gimbal_pitch > -90) {
+ direction = '斜下'
+ } else if (gimbal_pitch === -90 || gimbal_pitch < -90) {
+ direction = '正下'
+ }
+ return {
+ angle: _.round(gimbal_pitch || 0, 1),
+ direction,
+ }
+})
+
+const yawAngle = computed(() => {
+ let { payloads, attitude_head } = device_osd_host?.value || {}
+ const gimbal_yaw = payloads?.[0]?.gimbal_yaw || 0
+ attitude_head = attitude_head || 0
+ let yaw = ''
+ if (gimbal_yaw > 180) {
+ yaw = gimbal_yaw
+ } else {
+ yaw = gimbal_yaw - attitude_head
+ }
+ let result = 0
+ if (yaw < 0) {
+ result = yaw + 360
+ }
+ if (yaw > 0) {
+ result = yaw
+ }
+ if ((yaw > -2 && yaw < 2) || parseInt(attitude_head) === parseInt(gimbal_yaw)) {
+ result = attitude_head < 0 ? 180 + (180 + attitude_head) : attitude_head
+ }
+ const roundResult = Math.round(result);
+ let direction = '';
+ for (const item of directionMap) {
+ if (roundResult >= item.min && roundResult <= item.max) {
+ direction = item.value;
+ break;
+ }
+ }
+ return {
+ angle: _.round(result, 1),
+ direction,
+ }
+})
const deviceTopicInfo = ref({
pubTopic: '',
@@ -308,7 +381,7 @@
// 返航或取消返航
const returnOrCancelReturn = () => {
- if (deviceOsdInfo.value?.data?.host?.mode_code === 9) {
+ if (device_osd_host?.value?.mode_code === 9) {
cancelBackDock()
} else {
onBackDock()
@@ -325,7 +398,7 @@
watch(
() => workspace_id.value,
async () => {
- if (workspace_id.value) {
+ if (workspace_id.value && mqttState === null && client_id.value === '') {
await createConnect()
// 使用控制
manualControl = useManualControl(mqttState, deviceTopicInfo.value, flightController, paramsRef)
--
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