From 2800fa4f32f3900509cb4d6eefaf2bfaf54efdd7 Mon Sep 17 00:00:00 2001
From: 罗广辉 <guanghui.luo@foxmail.com>
Date: Mon, 21 Apr 2025 18:29:09 +0800
Subject: [PATCH] fix: 天气显示
---
src/hooks/controlDrone/useManualControl.js | 160 ++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 133 insertions(+), 27 deletions(-)
diff --git a/src/hooks/controlDrone/useManualControl.js b/src/hooks/controlDrone/useManualControl.js
index 2910d6f..62085ce 100644
--- a/src/hooks/controlDrone/useManualControl.js
+++ b/src/hooks/controlDrone/useManualControl.js
@@ -1,7 +1,8 @@
import { DRC_METHOD } from '@/const/drc.js'
import { useMqtt } from '@/hooks/controlDrone/useMqtt'
import { ElMessage } from 'element-plus'
-import { postPayloadCommands } from '@/api/payload'
+import { postPayloadCommands, ptzControlApi } from '@/api/payload'
+import { throttle } from 'lodash'
let myInterval
@@ -34,99 +35,191 @@
KEY_M: 'KeyM',
}
-export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController) {
- const activeCodeKey = ref(null)
-
- const mqttHooks = useMqtt(mqttState,deviceTopicInfo)
+export function useManualControl(mqttState,deviceTopicInfo, isCurrentFlightController,paramsRef) {
+ let activeCodeKey = null
+ let genPortOne = true //是一代机场
+ let mqttHooks = useMqtt(mqttState,deviceTopicInfo)
let seq = 0
+ 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 = {
- method: DRC_METHOD.DRONE_CONTROL,
+ method: genPortOne ? DRC_METHOD.DRONE_CONTROL : DRC_METHOD.DRONE_CONTROL2,
data: params,
}
handleClearInterval()
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)
}
- 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
+
+ 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 === 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 === keyCode) return
let objW = { pitch: 1024+SPEED }
if (genPortOne) {objW = {x: SPEED}}
handlePublish(objW)
- activeCodeKey.value = keyCode
+ activeCodeKey = keyCode
break
case 'KeyE':
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 === keyCode) return
let objA = { roll: 1024-SPEED }
if (genPortOne) {objA = {y: -SPEED}}
handlePublish(objA)
- activeCodeKey.value = keyCode
+ activeCodeKey = keyCode
break
case 'KeyS':
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 === keyCode) return
let objD = { roll: 1024+SPEED }
if (genPortOne) {objD = {y: SPEED}}
handlePublish(objD)
- activeCodeKey.value = keyCode
+ activeCodeKey = keyCode
+ break
+ case 'KeyZ':
+ if (activeCodeKey === keyCode) return
+ let objZ = { throttle: 1024-HEIGHT }
+ if (genPortOne) {objZ = {h: -HEIGHT}}
+ handlePublish(objZ)
+ activeCodeKey = keyCode
+ break
+ // case 'ArrowDown':
+ case 'KeyC':
+ if (activeCodeKey === keyCode) return
+ let objC = { throttle: 1024+HEIGHT }
+ if (genPortOne) {objC = {h: HEIGHT}}
+ handlePublish(objC)
+ activeCodeKey = keyCode
break
case 'ArrowUp':
- if (activeCodeKey.value === keyCode) return
- handlePublish({ h: HEIGHT })
- activeCodeKey.value = keyCode
+ if (activeCodeKey === keyCode) return
+ clearInterval(myInterval)
+ ptzControl('up')
+ myInterval = setInterval(()=>ptzControl('up'), 200)
+ activeCodeKey = keyCode
break
case 'ArrowDown':
- if (activeCodeKey.value === keyCode) return
- handlePublish({ h: -HEIGHT })
- activeCodeKey.value = keyCode
+ if (activeCodeKey === keyCode) return
+ clearInterval(myInterval)
+ ptzControl('down')
+ myInterval = setInterval(()=>ptzControl('down'), 200)
+ activeCodeKey = keyCode
break
-
+ case 'ArrowLeft':
+ if (activeCodeKey === keyCode) return
+ clearInterval(myInterval)
+ ptzControl('left')
+ myInterval = setInterval(()=>ptzControl('left'), 200)
+ activeCodeKey = keyCode
+ break
+ case 'ArrowRight':
+ if (activeCodeKey === keyCode) return
+ clearInterval(myInterval)
+ ptzControl('right')
+ myInterval = setInterval(()=>ptzControl('right'), 200)
+ activeCodeKey = keyCode
+ break
default:
break
}
+ }
+
+ // 云台上下左右
+ function ptzControl(key) {
+ const {dockSn} = paramsRef.value
+ ptzControlApi(key, { sn: dockSn }).then(res => {
+
+ })
}
const handlePayloadTurn = (params) => {
@@ -146,7 +239,8 @@
}
function resetControlState() {
- activeCodeKey.value = null
+ keysPressed.map(item => item.value = false)
+ activeCodeKey = null
seq = 0
handleClearInterval()
}
@@ -156,7 +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() {
@@ -183,6 +286,9 @@
)
onUnmounted(() => {
+ deviceTopicInfo.subTopic = ''
+ deviceTopicInfo.pubTopic = ''
+ mqttHooks = null
closeKeyboardManualControl()
})
--
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