sean.zhou
2 years ago
45 changed files with 3048 additions and 178 deletions
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import request, { IWorkspaceResponse } from '/@/api/http/request' |
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import { ELocalStorageKey } from '/@/types' |
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// DRC 链路
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const DRC_API_PREFIX = '/control/api/v1' |
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const workspaceId: string = localStorage.getItem(ELocalStorageKey.WorkspaceId) || '' |
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export interface PostDrcBody { |
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client_id?: string // token过期时，用于续期则必填
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expire_sec?: number // 过期时间，单位秒，默认3600
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} |
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export interface DrcParams { |
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address: string |
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username: string |
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password: string |
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client_id: string |
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expire_time: number // 过期时间
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enable_tls: boolean // 是否开启tls
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} |
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// 获取 mqtt 连接认证
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export async function postDrc (body: PostDrcBody): Promise<IWorkspaceResponse<DrcParams>> { |
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const resp = await request.post(`${DRC_API_PREFIX}/workspaces/${workspaceId}/drc/connect`, body) |
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return resp.data |
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} |
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export interface DrcEnterBody { |
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client_id: string |
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dock_sn: string |
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expire_sec?: number // 过期时间，单位秒，默认3600
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device_info?: { |
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osd_frequency?: number |
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hsi_frequency?: number |
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} |
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} |
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export interface DrcEnterResp { |
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sub: string[] // 需要订阅接收的topic
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pub: string[] // 推送的topic地址
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} |
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// 进入飞行控制 （建立drc连接&获取云控控制权）
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export async function postDrcEnter (body: DrcEnterBody): Promise<IWorkspaceResponse<DrcEnterResp>> { |
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const resp = await request.post(`${DRC_API_PREFIX}/workspaces/${workspaceId}/drc/enter`, body) |
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return resp.data |
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} |
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export interface DrcExitBody { |
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client_id: string |
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dock_sn: string |
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} |
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// 退出飞行控制 （退出drc连接&退出云控控制权）
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export async function postDrcExit (body: DrcExitBody): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${DRC_API_PREFIX}/workspaces/${workspaceId}/drc/exit`, body) |
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return resp.data |
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} |
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@ -0,0 +1,58 @@
@@ -0,0 +1,58 @@
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import request, { IWorkspaceResponse } from '/@/api/http/request' |
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// import { ELocalStorageKey } from '/@/types'
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const API_PREFIX = '/control/api/v1' |
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// const workspaceId: string = localStorage.getItem(ELocalStorageKey.WorkspaceId) || '
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// 获取飞行控制权
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export async function postFlightAuth (sn: string): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${API_PREFIX}/devices/${sn}/authority/flight`) |
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return resp.data |
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} |
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export enum WaylineLostControlActionInCommandFlight { |
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CONTINUE = 0, |
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EXEC_LOST_ACTION = 1 |
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} |
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export enum LostControlActionInCommandFLight { |
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HOVER = 0, // 悬停
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Land = 1, // 着陆
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RETURN_HOME = 2, // 返航
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} |
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export interface PointBody { |
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latitude: number; |
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longitude: number; |
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height: number; |
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} |
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export interface PostFlyToPointBody { |
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max_speed: number, |
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points: PointBody[] |
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} |
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// 飞向目标点
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export async function postFlyToPoint (sn: string, body: PostFlyToPointBody): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${API_PREFIX}/devices/${sn}/jobs/fly-to-point`, body) |
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return resp.data |
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} |
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// 停止飞向目标点
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export async function deleteFlyToPoint (sn: string): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.delete(`${API_PREFIX}/devices/${sn}/jobs/fly-to-point`) |
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return resp.data |
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} |
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export interface PostTakeoffToPointBody{ |
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target_height: number; |
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target_latitude: number; |
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target_longitude: number; |
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security_takeoff_height: number; // 安全起飞高
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max_speed: number; // flyto过程中能达到的最大速度, 单位m/s 跟飞机档位有关
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rc_lost_action: LostControlActionInCommandFLight; // 失控行为
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rth_altitude: number; // 返航高度
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exit_wayline_when_rc_lost: WaylineLostControlActionInCommandFlight |
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} |
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// 一键起飞
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export async function postTakeoffToPoint (sn: string, body: PostTakeoffToPointBody): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${API_PREFIX}/devices/${sn}/jobs/takeoff-to-point`, body) |
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return resp.data |
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} |
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import request, { IWorkspaceResponse } from '/@/api/http/request' |
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import { CameraType, CameraMode } from '/@/types/live-stream' |
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import { GimbalResetMode } from '/@/types/drone-control' |
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// import { ELocalStorageKey } from '/@/types'
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const API_PREFIX = '/control/api/v1' |
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// const workspaceId: string = localStorage.getItem(ELocalStorageKey.WorkspaceId) || '
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export interface PostPayloadAuthBody { |
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payload_index: string |
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} |
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// 获取负载控制权
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export async function postPayloadAuth (sn: string, body: PostPayloadAuthBody): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${API_PREFIX}/devices/${sn}/authority/payload`, body) |
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return resp.data |
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} |
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// TODO: 画面拖动控制
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export enum PayloadCommandsEnum { |
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CameraModeSwitch = 'camera_mode_switch', |
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CameraPhotoTake = 'camera_photo_take', |
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CameraRecordingStart = 'camera_recording_start', |
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CameraRecordingStop = 'camera_recording_stop', |
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CameraFocalLengthSet = 'camera_focal_length_set', |
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GimbalReset = 'gimbal_reset', |
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CameraAim = 'camera_aim' |
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} |
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export interface PostCameraModeBody { |
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payload_index: string |
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camera_mode: CameraMode |
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} |
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export interface PostCameraPhotoBody { |
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payload_index: string |
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} |
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export interface PostCameraRecordingBody { |
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payload_index: string |
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} |
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export interface DeleteCameraRecordingParams { |
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payload_index: string |
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} |
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export interface PostCameraFocalLengthBody { |
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payload_index: string, |
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camera_type: CameraType, |
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zoom_factor: number |
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} |
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export interface PostGimbalResetBody{ |
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payload_index: string, |
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reset_mode: GimbalResetMode, |
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} |
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export interface PostCameraAimBody{ |
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payload_index: string, |
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camera_type: CameraType, |
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locked: boolean, |
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x: number, |
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y: number, |
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} |
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export type PostPayloadCommandsBody = { |
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cmd: PayloadCommandsEnum.CameraModeSwitch, |
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data: PostCameraModeBody |
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} | { |
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cmd: PayloadCommandsEnum.CameraPhotoTake, |
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data: PostCameraPhotoBody |
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} | { |
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cmd: PayloadCommandsEnum.CameraRecordingStart, |
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data: PostCameraRecordingBody |
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} | { |
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cmd: PayloadCommandsEnum.CameraRecordingStop, |
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data: DeleteCameraRecordingParams |
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} | { |
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cmd: PayloadCommandsEnum.CameraFocalLengthSet, |
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data: PostCameraFocalLengthBody |
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} | { |
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cmd: PayloadCommandsEnum.GimbalReset, |
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data: PostGimbalResetBody |
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} | { |
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cmd: PayloadCommandsEnum.CameraAim, |
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data: PostCameraAimBody |
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} |
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// 发送负载名称
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export async function postPayloadCommands (sn: string, body: PostPayloadCommandsBody): Promise<IWorkspaceResponse<null>> { |
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const resp = await request.post(`${API_PREFIX}/devices/${sn}/payload/commands`, body) |
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return resp.data |
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} |
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@@ -0,0 +1,34 @@
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<template> |
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<div class="drone-control-info-wrap"> |
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<a-textarea v-model:value="info" placeholder="drc info" :rows="5" disabled/> |
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</div> |
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</template> |
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<script lang="ts" setup> |
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import { ref, defineProps, watch } from 'vue' |
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const props = defineProps<{ |
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message?: string, |
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}>() |
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const info = ref('') |
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watch(() => props.message, message => { |
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info.value = message || '' |
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}, { |
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immediate: true |
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}) |
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// const emit = defineEmits(['cancel', 'confirm']) |
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</script> |
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<style lang="scss" scoped> |
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.drone-control-info-wrap { |
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&::v-deep{ |
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textarea.ant-input { |
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background-color: #000; |
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color: #fff; |
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white-space: pre-wrap; |
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} |
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} |
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} |
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</style> |
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<template> |
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<div class="drone-control-wrapper"> |
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<div class="drone-control-header">Drone Flight Control</div> |
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<div class="drone-control-box"> |
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<div class="box"> |
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<div class="row"> |
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<div class="drone-control"><Button :ghost="!flightController" size="small" @click="onClickFightControl">{{ flightController ? 'Exit Remote Control' : 'Enter Remote Control'}}</Button></div> |
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</div> |
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<div class="row"> |
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<div class="drone-control-direction"> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_Q)" @onmouseup="onMouseUp"> |
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<template #icon><UndoOutlined /></template><span class="word">Q</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_W)" @onmouseup="onMouseUp"> |
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<template #icon><UpOutlined/></template><span class="word">W</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_E)" @onmouseup="onMouseUp"> |
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<template #icon><RedoOutlined /></template><span class="word">E</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_UP)" @onmouseup="onMouseUp"> |
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<template #icon><ArrowUpOutlined /></template> |
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</Button> |
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<br /> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_A)" @onmouseup="onMouseUp"> |
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<template #icon><LeftOutlined/></template><span class="word">A</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_S)" @onmouseup="onMouseUp"> |
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<template #icon><DownOutlined/></template><span class="word">S</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_D)" @onmouseup="onMouseUp"> |
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<template #icon><RightOutlined/></template><span class="word">D</span> |
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</Button> |
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<Button size="small" ghost @mousedown="onMouseDown(KeyCode.ARROW_DOWN)" @onmouseup="onMouseUp"> |
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<template #icon><ArrowDownOutlined /></template> |
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</Button> |
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</div> |
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<Button type="primary" size="small" danger ghost @click="handleEmergencyStop" > |
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<template #icon><PauseCircleOutlined/></template><span>Break</span> |
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</Button> |
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</div> |
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<div class="row"> |
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<DroneControlPopover |
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:visible="flyToPointPopoverData.visible" |
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:loading="flyToPointPopoverData.loading" |
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@confirm="($event) => onFlyToConfirm(true)" |
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@cancel="($event) =>onFlyToConfirm(false)" |
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> |
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<template #formContent> |
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<div class="form-content"> |
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<div> |
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<span class="form-label">latitude:</span> |
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<a-input-number v-model:value="flyToPointPopoverData.latitude"/> |
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</div> |
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<div> |
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<span class="form-label">longitude:</span> |
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<a-input-number v-model:value="flyToPointPopoverData.longitude"/> |
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</div> |
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<div> |
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<span class="form-label">height(m):</span> |
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<a-input-number v-model:value="flyToPointPopoverData.height"/> |
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</div> |
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</div> |
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</template> |
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<Button size="small" ghost @click="onShowFlyToPopover" > |
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<span>Fly to</span> |
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</Button> |
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</DroneControlPopover> |
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<Button size="small" ghost @click="onStopFlyToPoint" > |
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<span>Stop Fly to</span> |
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</Button> |
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<DroneControlPopover |
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:visible="takeoffToPointPopoverData.visible" |
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:loading="takeoffToPointPopoverData.loading" |
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@confirm="($event) => onTakeoffToPointConfirm(true)" |
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@cancel="($event) =>onTakeoffToPointConfirm(false)" |
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> |
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<template #formContent> |
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<div class="form-content"> |
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<div> |
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<span class="form-label">latitude:</span> |
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<a-input-number v-model:value="takeoffToPointPopoverData.latitude"/> |
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</div> |
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<div> |
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<span class="form-label">longitude:</span> |
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<a-input-number v-model:value="takeoffToPointPopoverData.longitude"/> |
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</div> |
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<div> |
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<span class="form-label">height(m):</span> |
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<a-input-number v-model:value="takeoffToPointPopoverData.height"/> |
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</div> |
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<div> |
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<span class="form-label">Safe Takeoff Altitude(m):</span> |
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<a-input-number v-model:value="takeoffToPointPopoverData.securityTakeoffHeight"/> |
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</div> |
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<div> |
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<span class="form-label">Return-to-Home Altitude(m):</span> |
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<a-input-number v-model:value="takeoffToPointPopoverData.rthAltitude"/> |
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</div> |
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<div> |
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<span class="form-label">Lost Action:</span> |
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<a-select |
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v-model:value="takeoffToPointPopoverData.rcLostAction" |
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style="width: 120px" |
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:options="LostControlActionInCommandFLightOptions" |
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></a-select> |
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</div> |
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<div> |
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<span class="form-label">Wayline Lost Action:</span> |
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<a-select |
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v-model:value="takeoffToPointPopoverData.exitWaylineWhenRcLost" |
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style="width: 120px" |
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:options="WaylineLostControlActionInCommandFlightOptions" |
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></a-select> |
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</div> |
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</div> |
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</template> |
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<Button size="small" ghost @click="onShowTakeoffToPointPopover" > |
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<span>Take off</span> |
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</Button> |
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</DroneControlPopover> |
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<Button :loading="cmdItem.loading" size="small" ghost @click="sendControlCmd(cmdItem, index)"> |
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{{ cmdItem.operateText }} |
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</Button> |
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</div> |
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</div> |
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<div class="box"> |
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<div class="row"> |
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<Select v-model:value="payloadSelectInfo.value" style="width: 110px; marginRight: 5px" :options="payloadSelectInfo.options" @change="handlePayloadChange"/> |
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<div class="drone-control"> |
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<Button type="primary" size="small" @click="onAuthPayload">Payload Control</Button> |
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</div> |
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</div> |
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<div class="row"> |
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<DroneControlPopover |
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:visible="gimbalResetPopoverData.visible" |
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:loading="gimbalResetPopoverData.loading" |
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@confirm="($event) => onGimbalResetConfirm(true)" |
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@cancel="($event) =>onGimbalResetConfirm(false)" |
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> |
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<template #formContent> |
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<div class="form-content"> |
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<div> |
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<span class="form-label">reset mode:</span> |
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<a-select |
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v-model:value="gimbalResetPopoverData.resetMode" |
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style="width: 180px" |
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:options="GimbalResetModeOptions" |
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></a-select> |
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</div> |
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</div> |
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</template> |
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<Button size="small" ghost @click="onShowGimbalResetPopover"> |
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<span>Gimbal Reset</span> |
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</Button> |
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</DroneControlPopover> |
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<Button size="small" ghost @click="onSwitchCameraMode"> |
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<span>Camera Mode Switch</span> |
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</Button> |
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</div> |
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<div class="row"> |
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<Button size="small" ghost @click="onStartCameraRecording"> |
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<span>Start Recording</span> |
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</Button> |
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<Button size="small" ghost @click="onStopCameraRecording"> |
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<span>Stop Recording</span> |
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</Button> |
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</div> |
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<div class="row"> |
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<Button size="small" ghost @click="onTakeCameraPhoto"> |
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<span>Take Photo</span> |
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</Button> |
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<DroneControlPopover |
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:visible="zoomFactorPopoverData.visible" |
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:loading="zoomFactorPopoverData.loading" |
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@confirm="($event) => onZoomFactorConfirm(true)" |
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@cancel="($event) =>onZoomFactorConfirm(false)" |
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> |
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<template #formContent> |
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<div class="form-content"> |
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<div> |
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<span class="form-label">camera type:</span> |
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<a-select |
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v-model:value="zoomFactorPopoverData.cameraType" |
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style="width: 120px" |
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:options="ZoomCameraTypeOptions" |
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></a-select> |
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</div> |
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<div> |
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<span class="form-label">zoom factor:</span> |
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<a-input-number v-model:value="zoomFactorPopoverData.zoomFactor" :min="2" :max="200" /> |
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</div> |
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</div> |
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</template> |
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<Button size="small" ghost @click="($event) => onShowZoomFactorPopover()"> |
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<span class="word" @click=";">Zoom</span> |
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</Button> |
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</DroneControlPopover> |
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<DroneControlPopover |
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:visible="cameraAimPopoverData.visible" |
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:loading="cameraAimPopoverData.loading" |
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@confirm="($event) => onCameraAimConfirm(true)" |
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@cancel="($event) =>onCameraAimConfirm(false)" |
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> |
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<template #formContent> |
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<div class="form-content"> |
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<div> |
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<span class="form-label">camera type:</span> |
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<a-select |
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v-model:value="cameraAimPopoverData.cameraType" |
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style="width: 120px" |
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:options="CameraTypeOptions" |
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></a-select> |
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</div> |
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<div> |
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<span class="form-label">locked:</span> |
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<a-switch v-model:checked="cameraAimPopoverData.locked"/> |
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</div> |
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<div> |
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<span class="form-label">x:</span> |
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<a-input-number v-model:value="cameraAimPopoverData.x" :min="0" :max="1"/> |
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</div> |
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<div> |
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<span class="form-label">y:</span> |
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<a-input-number v-model:value="cameraAimPopoverData.y" :min="0" :max="1"/> |
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</div> |
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</div> |
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</template> |
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<Button size="small" ghost @click="($event) => onShowCameraAimPopover()"> |
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<span class="word" @click=";">AIM</span> |
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</Button> |
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</DroneControlPopover> |
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</div> |
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</div> |
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</div> |
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<!-- 信息提示 --> |
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<DroneControlInfoPanel :message="drcInfo"></DroneControlInfoPanel> |
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</div> |
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</template> |
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|
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<script setup lang="ts"> |
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import { defineProps, reactive, ref, watch, computed, onMounted, watchEffect } from 'vue' |
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import { Select, message, Button } from 'ant-design-vue' |
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import { PayloadInfo, DeviceInfoType, ControlSource, DeviceOsdCamera, DrcStateEnum } from '/@/types/device' |
||||
import { useMyStore } from '/@/store' |
||||
import { postDrcEnter, postDrcExit } from '/@/api/drc' |
||||
import { useMqtt, DeviceTopicInfo } from './use-mqtt' |
||||
import { DownOutlined, UpOutlined, LeftOutlined, RightOutlined, PauseCircleOutlined, UndoOutlined, RedoOutlined, ArrowUpOutlined, ArrowDownOutlined } from '@ant-design/icons-vue' |
||||
import { useManualControl, KeyCode } from './use-manual-control' |
||||
import { usePayloadControl } from './use-payload-control' |
||||
import { CameraMode, CameraType, CameraTypeOptions, ZoomCameraTypeOptions, CameraListItem } from '/@/types/live-stream' |
||||
import { useDroneControlWsEvent } from './use-drone-control-ws-event' |
||||
import { useDroneControlMqttEvent } from './use-drone-control-mqtt-event' |
||||
import { postFlightAuth, LostControlActionInCommandFLight, WaylineLostControlActionInCommandFlight } from '/@/api/drone-control/drone' |
||||
import { useDroneControl } from './use-drone-control' |
||||
import { GimbalResetMode, GimbalResetModeOptions, LostControlActionInCommandFLightOptions, WaylineLostControlActionInCommandFlightOptions } from '/@/types/drone-control' |
||||
import DroneControlPopover from './DroneControlPopover.vue' |
||||
import DroneControlInfoPanel from './DroneControlInfoPanel.vue' |
||||
import { noDebugCmdList as baseCmdList, DeviceCmdItem, DeviceCmd } from '/@/types/device-cmd' |
||||
import { useDockControl } from './use-dock-control' |
||||
|
||||
const props = defineProps<{ |
||||
sn: string, |
||||
deviceInfo: DeviceInfoType, |
||||
payloads: null | PayloadInfo[] |
||||
}>() |
||||
|
||||
const store = useMyStore() |
||||
const clientId = computed(() => { |
||||
return store.state.clientId |
||||
}) |
||||
|
||||
const initCmdList = baseCmdList.find(item => item.cmdKey === DeviceCmd.ReturnHome) |
||||
const cmdItem = ref(initCmdList) |
||||
|
||||
const { |
||||
sendDockControlCmd |
||||
} = useDockControl() |
||||
|
||||
async function sendControlCmd (cmdItem: DeviceCmdItem, index: number) { |
||||
cmdItem.loading = true |
||||
const result = await sendDockControlCmd({ |
||||
sn: props.sn, |
||||
cmd: cmdItem.cmdKey, |
||||
action: cmdItem.action |
||||
}, false) |
||||
if (result && flightController.value) { |
||||
exitFlightCOntrol() |
||||
} |
||||
cmdItem.loading = false |
||||
} |
||||
|
||||
const { flyToPoint, stopFlyToPoint, takeoffToPoint } = useDroneControl() |
||||
const MAX_SPEED = 14 |
||||
|
||||
const flyToPointPopoverData = reactive({ |
||||
visible: false, |
||||
loading: false, |
||||
latitude: null as null | number, |
||||
longitude: null as null | number, |
||||
height: null as null | number, |
||||
maxSpeed: MAX_SPEED, |
||||
}) |
||||
|
||||
function onShowFlyToPopover () { |
||||
flyToPointPopoverData.visible = !flyToPointPopoverData.visible |
||||
flyToPointPopoverData.loading = false |
||||
flyToPointPopoverData.latitude = null |
||||
flyToPointPopoverData.longitude = null |
||||
flyToPointPopoverData.height = null |
||||
} |
||||
|
||||
async function onFlyToConfirm (confirm: boolean) { |
||||
if (confirm) { |
||||
if (!flyToPointPopoverData.height || !flyToPointPopoverData.latitude || !flyToPointPopoverData.longitude) { |
||||
message.error('Input error') |
||||
return |
||||
} |
||||
try { |
||||
await flyToPoint(props.sn, { |
||||
max_speed: flyToPointPopoverData.maxSpeed, |
||||
points: [ |
||||
{ |
||||
latitude: flyToPointPopoverData.latitude, |
||||
longitude: flyToPointPopoverData.longitude, |
||||
height: flyToPointPopoverData.height |
||||
} |
||||
] |
||||
}) |
||||
} catch (error) { |
||||
} |
||||
} |
||||
flyToPointPopoverData.visible = false |
||||
} |
||||
|
||||
async function onStopFlyToPoint () { |
||||
await stopFlyToPoint(props.sn) |
||||
} |
||||
|
||||
const takeoffToPointPopoverData = reactive({ |
||||
visible: false, |
||||
loading: false, |
||||
latitude: null as null | number, |
||||
longitude: null as null | number, |
||||
height: null as null | number, |
||||
securityTakeoffHeight: null as null | number, |
||||
maxSpeed: MAX_SPEED, |
||||
rthAltitude: null as null | number, |
||||
rcLostAction: LostControlActionInCommandFLight.RETURN_HOME, |
||||
exitWaylineWhenRcLost: WaylineLostControlActionInCommandFlight.RETURN_HOME |
||||
}) |
||||
|
||||
function onShowTakeoffToPointPopover () { |
||||
takeoffToPointPopoverData.visible = !takeoffToPointPopoverData.visible |
||||
takeoffToPointPopoverData.loading = false |
||||
takeoffToPointPopoverData.latitude = null |
||||
takeoffToPointPopoverData.longitude = null |
||||
takeoffToPointPopoverData.securityTakeoffHeight = null |
||||
takeoffToPointPopoverData.rthAltitude = null |
||||
takeoffToPointPopoverData.rcLostAction = LostControlActionInCommandFLight.RETURN_HOME |
||||
takeoffToPointPopoverData.exitWaylineWhenRcLost = WaylineLostControlActionInCommandFlight.RETURN_HOME |
||||
} |
||||
|
||||
async function onTakeoffToPointConfirm (confirm: boolean) { |
||||
if (confirm) { |
||||
if (!takeoffToPointPopoverData.height || |
||||
!takeoffToPointPopoverData.latitude || |
||||
!takeoffToPointPopoverData.longitude || |
||||
!takeoffToPointPopoverData.securityTakeoffHeight || |
||||
!takeoffToPointPopoverData.rthAltitude) { |
||||
message.error('Input error') |
||||
return |
||||
} |
||||
try { |
||||
await takeoffToPoint(props.sn, { |
||||
target_latitude: takeoffToPointPopoverData.latitude, |
||||
target_longitude: takeoffToPointPopoverData.longitude, |
||||
target_height: takeoffToPointPopoverData.height, |
||||
security_takeoff_height: takeoffToPointPopoverData.securityTakeoffHeight, |
||||
rth_altitude: takeoffToPointPopoverData.rthAltitude, |
||||
max_speed: takeoffToPointPopoverData.maxSpeed, |
||||
rc_lost_action: takeoffToPointPopoverData.rcLostAction, |
||||
exit_wayline_when_rc_lost: takeoffToPointPopoverData.exitWaylineWhenRcLost |
||||
}) |
||||
} catch (error) { |
||||
} |
||||
} |
||||
takeoffToPointPopoverData.visible = false |
||||
} |
||||
|
||||
const deviceTopicInfo: DeviceTopicInfo = reactive({ |
||||
sn: props.sn, |
||||
pubTopic: '', |
||||
subTopic: '' |
||||
}) |
||||
|
||||
useMqtt(deviceTopicInfo) |
||||
|
||||
// 飞行控制 |
||||
const drcState = computed(() => { |
||||
return store.state.deviceState?.dockInfo[props.sn]?.link_osd?.drc_state === DrcStateEnum.CONNECTED |
||||
}) |
||||
const flightController = ref(drcState.value) |
||||
|
||||
async function onClickFightControl () { |
||||
if (flightController.value) { |
||||
exitFlightCOntrol() |
||||
return |
||||
} |
||||
enterFlightControl() |
||||
} |
||||
|
||||
// 进入飞行控制 |
||||
async function enterFlightControl () { |
||||
try { |
||||
const { code, data } = await postDrcEnter({ |
||||
client_id: clientId.value, |
||||
dock_sn: props.sn, |
||||
}) |
||||
if (code === 0) { |
||||
flightController.value = true |
||||
if (data.sub && data.sub.length > 0) { |
||||
deviceTopicInfo.subTopic = data.sub[0] |
||||
} |
||||
if (data.pub && data.pub.length > 0) { |
||||
deviceTopicInfo.pubTopic = data.pub[0] |
||||
} |
||||
// 获取飞行控制权 |
||||
if (droneControlSource.value !== ControlSource.A) { |
||||
await postFlightAuth(props.sn) |
||||
} |
||||
message.success('Get flight control successfully') |
||||
} |
||||
} catch (error: any) { |
||||
} |
||||
} |
||||
|
||||
// 退出飞行控制 |
||||
async function exitFlightCOntrol () { |
||||
try { |
||||
const { code } = await postDrcExit({ |
||||
client_id: clientId.value, |
||||
dock_sn: props.sn, |
||||
}) |
||||
if (code === 0) { |
||||
flightController.value = false |
||||
deviceTopicInfo.subTopic = '' |
||||
deviceTopicInfo.pubTopic = '' |
||||
message.success('Exit flight control') |
||||
} |
||||
} catch (error: any) { |
||||
} |
||||
} |
||||
|
||||
// drc mqtt message |
||||
const { drcInfo } = useDroneControlMqttEvent(props.sn) |
||||
|
||||
const { |
||||
handleKeyup, |
||||
handleEmergencyStop, |
||||
resetControlState, |
||||
} = useManualControl(deviceTopicInfo, flightController) |
||||
|
||||
function onMouseDown (type: KeyCode) { |
||||
handleKeyup(type) |
||||
} |
||||
|
||||
function onMouseUp () { |
||||
resetControlState() |
||||
} |
||||
|
||||
// 负载控制 |
||||
const payloadSelectInfo = { |
||||
value: null as any, |
||||
controlSource: undefined as undefined | ControlSource, |
||||
options: [] as any, |
||||
payloadIndex: '' as string, |
||||
camera: undefined as undefined | DeviceOsdCamera // 当前负载osd信息 |
||||
} |
||||
|
||||
const handlePayloadChange = (value: string) => { |
||||
const payload = props.payloads?.find(item => item.payload_sn === value) |
||||
if (payload) { |
||||
payloadSelectInfo.payloadIndex = payload.payload_index || '' |
||||
payloadSelectInfo.controlSource = payload.control_source |
||||
payloadSelectInfo.camera = undefined |
||||
} |
||||
} |
||||
|
||||
// function getCurrentCamera (cameraList: CameraListItem[], cameraIndex?: string):CameraListItem | null { |
||||
// let camera = null |
||||
// cameraList.forEach(item => { |
||||
// if (item.camera_index === cameraIndex) { |
||||
// camera = item |
||||
// } |
||||
// }) |
||||
// return camera |
||||
// } |
||||
|
||||
// const currentCamera = computed(() => { |
||||
// return getCurrentCamera(props.deviceInfo.dock.basic_osd.live_capacity?.device_list[0]?.camera_list as CameraListItem[], camera_index) |
||||
// }) |
||||
// 更新负载信息 |
||||
watch(() => props.payloads, (payloads) => { |
||||
if (payloads && payloads.length > 0) { |
||||
payloadSelectInfo.value = payloads[0].payload_sn |
||||
payloadSelectInfo.controlSource = payloads[0].control_source || ControlSource.B |
||||
payloadSelectInfo.payloadIndex = payloads[0].payload_index || '' |
||||
payloadSelectInfo.options = payloads.map(item => ({ label: item.payload_name, value: item.payload_sn })) |
||||
payloadSelectInfo.camera = undefined |
||||
} else { |
||||
payloadSelectInfo.value = null |
||||
payloadSelectInfo.controlSource = undefined |
||||
payloadSelectInfo.options = [] |
||||
payloadSelectInfo.payloadIndex = '' |
||||
payloadSelectInfo.camera = undefined |
||||
} |
||||
}, { |
||||
immediate: true, |
||||
deep: true |
||||
}) |
||||
watch(() => props.deviceInfo.device, (droneOsd) => { |
||||
if (droneOsd && droneOsd.cameras) { |
||||
payloadSelectInfo.camera = droneOsd.cameras.find(item => item.payload_index === payloadSelectInfo.payloadIndex) |
||||
} else { |
||||
payloadSelectInfo.camera = undefined |
||||
} |
||||
}, { |
||||
immediate: true, |
||||
deep: true |
||||
}) |
||||
|
||||
// ws 消息通知 |
||||
const { droneControlSource, payloadControlSource } = useDroneControlWsEvent(props.sn, payloadSelectInfo.value) |
||||
watch(() => payloadControlSource, (controlSource) => { |
||||
payloadSelectInfo.controlSource = controlSource.value |
||||
}, { |
||||
immediate: true, |
||||
deep: true |
||||
}) |
||||
const { |
||||
checkPayloadAuth, |
||||
authPayload, |
||||
resetGimbal, |
||||
switchCameraMode, |
||||
takeCameraPhoto, |
||||
startCameraRecording, |
||||
stopCameraRecording, |
||||
changeCameraFocalLength, |
||||
cameraAim, |
||||
} = usePayloadControl() |
||||
|
||||
async function onAuthPayload () { |
||||
const result = await authPayload(props.sn, payloadSelectInfo.payloadIndex) |
||||
if (result) { |
||||
payloadControlSource.value = ControlSource.A |
||||
} |
||||
} |
||||
|
||||
const gimbalResetPopoverData = reactive({ |
||||
visible: false, |
||||
loading: false, |
||||
resetMode: null as null | GimbalResetMode, |
||||
}) |
||||
|
||||
function onShowGimbalResetPopover () { |
||||
gimbalResetPopoverData.visible = !gimbalResetPopoverData.visible |
||||
gimbalResetPopoverData.loading = false |
||||
gimbalResetPopoverData.resetMode = null |
||||
} |
||||
|
||||
async function onGimbalResetConfirm (confirm: boolean) { |
||||
if (confirm) { |
||||
if (gimbalResetPopoverData.resetMode === null) { |
||||
message.error('Please select reset mode') |
||||
return |
||||
} |
||||
gimbalResetPopoverData.loading = true |
||||
try { |
||||
await resetGimbal(props.sn, { |
||||
payload_index: payloadSelectInfo.payloadIndex, |
||||
reset_mode: gimbalResetPopoverData.resetMode |
||||
}) |
||||
} catch (err) { |
||||
} |
||||
} |
||||
gimbalResetPopoverData.visible = false |
||||
} |
||||
|
||||
async function onSwitchCameraMode () { |
||||
if (!checkPayloadAuth(payloadSelectInfo.controlSource)) { |
||||
return |
||||
} |
||||
const currentCameraMode = payloadSelectInfo.camera?.camera_mode |
||||
await switchCameraMode(props.sn, { |
||||
payload_index: payloadSelectInfo.payloadIndex, |
||||
camera_mode: currentCameraMode === CameraMode.Photo ? CameraMode.Video : CameraMode.Photo |
||||
}) |
||||
} |
||||
|
||||
async function onTakeCameraPhoto () { |
||||
if (!checkPayloadAuth(payloadSelectInfo.controlSource)) { |
||||
return |
||||
} |
||||
await takeCameraPhoto(props.sn, payloadSelectInfo.payloadIndex) |
||||
} |
||||
|
||||
async function onStartCameraRecording () { |
||||
if (!checkPayloadAuth(payloadSelectInfo.controlSource)) { |
||||
return |
||||
} |
||||
await startCameraRecording(props.sn, payloadSelectInfo.payloadIndex) |
||||
} |
||||
|
||||
async function onStopCameraRecording () { |
||||
if (!checkPayloadAuth(payloadSelectInfo.controlSource)) { |
||||
return |
||||
} |
||||
await stopCameraRecording(props.sn, payloadSelectInfo.payloadIndex) |
||||
} |
||||
|
||||
const zoomFactorPopoverData = reactive({ |
||||
visible: false, |
||||
loading: false, |
||||
cameraType: null as null | CameraType, |
||||
zoomFactor: null as null | number, |
||||
}) |
||||
|
||||
function onShowZoomFactorPopover () { |
||||
zoomFactorPopoverData.visible = !zoomFactorPopoverData.visible |
||||
zoomFactorPopoverData.loading = false |
||||
zoomFactorPopoverData.cameraType = null |
||||
zoomFactorPopoverData.zoomFactor = null |
||||
} |
||||
|
||||
async function onZoomFactorConfirm (confirm: boolean) { |
||||
if (confirm) { |
||||
if (!zoomFactorPopoverData.zoomFactor || zoomFactorPopoverData.cameraType === null) { |
||||
message.error('Please input Zoom Factor') |
||||
return |
||||
} |
||||
zoomFactorPopoverData.loading = true |
||||
try { |
||||
await changeCameraFocalLength(props.sn, { |
||||
payload_index: payloadSelectInfo.payloadIndex, |
||||
camera_type: zoomFactorPopoverData.cameraType, |
||||
zoom_factor: zoomFactorPopoverData.zoomFactor |
||||
}) |
||||
} catch (err) { |
||||
} |
||||
} |
||||
zoomFactorPopoverData.visible = false |
||||
} |
||||
|
||||
const cameraAimPopoverData = reactive({ |
||||
visible: false, |
||||
loading: false, |
||||
cameraType: null as null | CameraType, |
||||
locked: false, |
||||
x: null as null | number, |
||||
y: null as null | number, |
||||
}) |
||||
|
||||
function onShowCameraAimPopover () { |
||||
cameraAimPopoverData.visible = !cameraAimPopoverData.visible |
||||
cameraAimPopoverData.loading = false |
||||
cameraAimPopoverData.cameraType = null |
||||
cameraAimPopoverData.locked = false |
||||
cameraAimPopoverData.x = null |
||||
cameraAimPopoverData.y = null |
||||
} |
||||
|
||||
async function onCameraAimConfirm (confirm: boolean) { |
||||
if (confirm) { |
||||
if (cameraAimPopoverData.cameraType === null || cameraAimPopoverData.x === null || cameraAimPopoverData.y === null) { |
||||
message.error('Input error') |
||||
return |
||||
} |
||||
try { |
||||
await cameraAim(props.sn, { |
||||
payload_index: payloadSelectInfo.payloadIndex, |
||||
camera_type: cameraAimPopoverData.cameraType, |
||||
locked: cameraAimPopoverData.locked, |
||||
x: cameraAimPopoverData.x, |
||||
y: cameraAimPopoverData.y, |
||||
}) |
||||
} catch (error) { |
||||
} |
||||
} |
||||
cameraAimPopoverData.visible = false |
||||
} |
||||
</script> |
||||
|
||||
<style lang='scss' scoped> |
||||
.drone-control-wrapper{ |
||||
// border-bottom: 1px solid #515151; |
||||
|
||||
.drone-control-header{ |
||||
font-size: 14px; |
||||
font-weight: 600; |
||||
padding: 10px 10px 0px; |
||||
} |
||||
|
||||
.drone-control-box { |
||||
display: flex; |
||||
flex-wrap: 1; |
||||
.box { |
||||
width: 50%; |
||||
padding: 5px; |
||||
border: 0.5px solid rgba(255,255,255,0.3); |
||||
|
||||
.row { |
||||
display: flex; |
||||
flex-wrap: wrap; |
||||
padding: 2px; |
||||
|
||||
+ .row{ |
||||
margin-bottom: 6px; |
||||
} |
||||
|
||||
&::v-deep{ |
||||
.ant-btn{ |
||||
font-size: 12px; |
||||
padding: 0px 4px; |
||||
margin-right: 5px; |
||||
} |
||||
} |
||||
} |
||||
|
||||
.drone-control{ |
||||
&::v-deep{ |
||||
|
||||
.ant-select-single:not(.ant-select-customize-input) .ant-select-selector{ |
||||
padding: 0 2px; |
||||
} |
||||
} |
||||
} |
||||
|
||||
.drone-control-direction{ |
||||
margin-right: 10px; |
||||
|
||||
.ant-btn { |
||||
// padding: 0px 1px; |
||||
margin-right: 0; |
||||
} |
||||
|
||||
.word{ |
||||
width: 12px; |
||||
margin-left: 2px; |
||||
font-size: 12px; |
||||
color: #aaa; |
||||
} |
||||
} |
||||
} |
||||
} |
||||
} |
||||
</style> |
||||
@ -0,0 +1,115 @@
@@ -0,0 +1,115 @@
|
||||
<template> |
||||
<a-popover :visible="state.sVisible" |
||||
trigger="click" |
||||
v-bind="$attrs" |
||||
:overlay-class-name="overlayClassName" |
||||
placement="bottom" |
||||
@visibleChange=";" |
||||
v-on="$attrs"> |
||||
<template #content> |
||||
<div class="title-content"> |
||||
</div> |
||||
<slot name="formContent" /> |
||||
<div class="uranus-popconfirm-btns"> |
||||
<a-button size="sm" |
||||
@click="onCancel"> |
||||
{{ cancelText || 'cancel'}} |
||||
</a-button> |
||||
<a-button size="sm" |
||||
:loading="loading" |
||||
type="primary" |
||||
class="confirm-btn" |
||||
@click="onConfirm"> |
||||
{{ okText || 'ok' }} |
||||
</a-button> |
||||
</div> |
||||
</template> |
||||
<template v-if="$slots.default"> |
||||
<slot></slot> |
||||
</template> |
||||
</a-popover> |
||||
</template> |
||||
|
||||
<script lang="ts" setup> |
||||
import { defineProps, defineEmits, reactive, watch, computed } from 'vue' |
||||
|
||||
const props = defineProps<{ |
||||
visible?: boolean, |
||||
loading?: Boolean, |
||||
disabled?: Boolean, |
||||
title?: String, |
||||
okText?: String, |
||||
cancelText?: String, |
||||
width?: Number, |
||||
}>() |
||||
|
||||
const emit = defineEmits(['cancel', 'confirm']) |
||||
|
||||
const state = reactive({ |
||||
sVisible: false, |
||||
loading: false, |
||||
}) |
||||
|
||||
watch(() => props.visible, (val) => { |
||||
state.sVisible = val || false |
||||
}) |
||||
|
||||
const loading = computed(() => { |
||||
return props.loading |
||||
}) |
||||
const okLabel = computed(() => { |
||||
return props.loading ? '' : '确定' |
||||
}) |
||||
|
||||
const overlayClassName = computed(() => { |
||||
const classList = ['drone-control-popconfirm'] |
||||
return classList.join(' ') |
||||
}) |
||||
|
||||
function onConfirm (e: Event) { |
||||
if (props.disabled) { |
||||
return |
||||
} |
||||
emit('confirm', e) |
||||
} |
||||
|
||||
function onCancel (e: Event) { |
||||
state.sVisible = false |
||||
emit('cancel', e) |
||||
} |
||||
|
||||
</script> |
||||
|
||||
<style lang="scss"> |
||||
.drone-control-popconfirm { |
||||
min-width: 300px; |
||||
|
||||
.uranus-popconfirm-btns{ |
||||
display: flex; |
||||
padding: 10px 0px; |
||||
justify-content: flex-end; |
||||
|
||||
.confirm-btn{ |
||||
margin-left: 10px; |
||||
} |
||||
} |
||||
|
||||
.form-content{ |
||||
display: flex; |
||||
flex-direction: column; |
||||
|
||||
> div { |
||||
display: flex; |
||||
margin-bottom: 5px; |
||||
|
||||
.form-label { |
||||
flex: 1 0 60px; |
||||
margin-right: 10px; |
||||
} |
||||
|
||||
> div { |
||||
} |
||||
} |
||||
} |
||||
} |
||||
</style> |
||||
@ -0,0 +1,71 @@
@@ -0,0 +1,71 @@
|
||||
|
||||
import { |
||||
ref, |
||||
watch, |
||||
computed, |
||||
onUnmounted, |
||||
} from 'vue' |
||||
import { useMyStore } from '/@/store' |
||||
import { postDrc } from '/@/api/drc' |
||||
import { |
||||
UranusMqtt, |
||||
} from '/@/mqtt' |
||||
|
||||
type StatusOptions = { |
||||
status: 'close'; |
||||
event?: CloseEvent; |
||||
} | { |
||||
status: 'open'; |
||||
retryCount: number; |
||||
} | { |
||||
status: 'pending'; |
||||
} |
||||
|
||||
export function useConnectMqtt () { |
||||
const store = useMyStore() |
||||
const dockOsdVisible = computed(() => { |
||||
return store.state.osdVisible && store.state.osdVisible.visible && store.state.osdVisible.is_dock |
||||
}) |
||||
const mqttState = ref<UranusMqtt | null>(null) |
||||
|
||||
// 监听已打开的设备小窗 窗口数量
|
||||
watch(() => dockOsdVisible.value, async (val) => { |
||||
// 1.打开小窗
|
||||
// 2.设备拥有飞行控制权
|
||||
// 3.请求建立mqtt连接的认证信息
|
||||
if (val) { |
||||
if (mqttState.value) return |
||||
const result = await postDrc({}) |
||||
if (result?.code === 0) { |
||||
const { address, client_id, username, password, expire_time } = result.data |
||||
// @TODO: 校验 expire_time
|
||||
mqttState.value = new UranusMqtt(address, { |
||||
clientId: client_id, |
||||
username, |
||||
password, |
||||
}) |
||||
mqttState.value?.initMqtt() |
||||
mqttState.value?.on('onStatus', (statusOptions: StatusOptions) => { |
||||
// @TODO: 异常case
|
||||
}) |
||||
|
||||
store.commit('SET_MQTT_STATE', mqttState.value) |
||||
store.commit('SET_CLIENT_ID', client_id) |
||||
} |
||||
// @TODO: 认证失败case
|
||||
return |
||||
} |
||||
// 关闭所有小窗后
|
||||
// 1.销毁mqtt连接重置mqtt状态
|
||||
if (mqttState?.value) { |
||||
mqttState.value?.destroyed() |
||||
mqttState.value = null |
||||
store.commit('SET_MQTT_STATE', null) |
||||
store.commit('SET_CLIENT_ID', '') |
||||
} |
||||
}, { immediate: true }) |
||||
|
||||
onUnmounted(() => { |
||||
mqttState.value?.destroyed() |
||||
}) |
||||
} |
||||
@ -0,0 +1,61 @@
@@ -0,0 +1,61 @@
|
||||
import { ref, onMounted, onBeforeUnmount } from 'vue' |
||||
import EventBus from '/@/event-bus/' |
||||
import { |
||||
DRC_METHOD, |
||||
DRCHsiInfo, |
||||
DRCOsdInfo, |
||||
DRCDelayTimeInfo, |
||||
} from '/@/types/drc' |
||||
|
||||
export function useDroneControlMqttEvent (sn: string) { |
||||
const drcInfo = ref('') |
||||
const hsiInfo = ref('') |
||||
const osdInfo = ref('') |
||||
const delayInfo = ref('') |
||||
|
||||
function handleHsiInfo (data: DRCHsiInfo) { |
||||
hsiInfo.value = `method: ${DRC_METHOD.HSI_INFO_PUSH}\r\n ${JSON.stringify(data)}\r\n ` |
||||
} |
||||
|
||||
function handleOsdInfo (data: DRCOsdInfo) { |
||||
osdInfo.value = `method: ${DRC_METHOD.OSD_INFO_PUSH}\r\n ${JSON.stringify(data)}\r\n ` |
||||
} |
||||
|
||||
function handleDelayTimeInfo (data: DRCDelayTimeInfo) { |
||||
delayInfo.value = `method: ${DRC_METHOD.DELAY_TIME_INFO_PUSH}\r\n ${JSON.stringify(data)}\r\n ` |
||||
} |
||||
|
||||
function handleDroneControlMqttEvent (payload: any) { |
||||
if (!payload || !payload.method) { |
||||
return |
||||
} |
||||
|
||||
switch (payload.method) { |
||||
case DRC_METHOD.HSI_INFO_PUSH: { |
||||
handleHsiInfo(payload.data) |
||||
break |
||||
} |
||||
case DRC_METHOD.OSD_INFO_PUSH: { |
||||
handleOsdInfo(payload.data) |
||||
break |
||||
} |
||||
case DRC_METHOD.DELAY_TIME_INFO_PUSH: { |
||||
handleDelayTimeInfo(payload.data) |
||||
break |
||||
} |
||||
} |
||||
drcInfo.value = hsiInfo.value + osdInfo.value + delayInfo.value |
||||
} |
||||
|
||||
onMounted(() => { |
||||
EventBus.on('droneControlMqttInfo', handleDroneControlMqttEvent) |
||||
}) |
||||
|
||||
onBeforeUnmount(() => { |
||||
EventBus.off('droneControlMqttInfo', handleDroneControlMqttEvent) |
||||
}) |
||||
|
||||
return { |
||||
drcInfo: drcInfo |
||||
} |
||||
} |
||||
@ -0,0 +1,97 @@
@@ -0,0 +1,97 @@
|
||||
import { message, notification } from 'ant-design-vue' |
||||
import { ref, onMounted, onBeforeUnmount } from 'vue' |
||||
import EventBus from '/@/event-bus/' |
||||
import { EBizCode } from '/@/types' |
||||
import { ControlSource } from '/@/types/device' |
||||
import { ControlSourceChangeType, ControlSourceChangeInfo, FlyToPointMessage, TakeoffToPointMessage, DrcModeExitNotifyMessage, DrcStatusNotifyMessage } from '/@/types/drone-control' |
||||
|
||||
export interface UseDroneControlWsEventParams { |
||||
} |
||||
|
||||
export function useDroneControlWsEvent (sn: string, payloadSn: string, funcs?: UseDroneControlWsEventParams) { |
||||
const droneControlSource = ref(ControlSource.A) |
||||
const payloadControlSource = ref(ControlSource.B) |
||||
function onControlSourceChange (data: ControlSourceChangeInfo) { |
||||
if (data.type === ControlSourceChangeType.Flight && data.sn === sn) { |
||||
droneControlSource.value = data.control_source |
||||
message.info(`Flight control is changed to ${droneControlSource.value}`) |
||||
return |
||||
} |
||||
if (data.type === ControlSourceChangeType.Payload && data.sn === payloadSn) { |
||||
payloadControlSource.value = data.control_source |
||||
message.info(`Payload control is changed to ${ payloadControlSource.value }.`) |
||||
return |
||||
} |
||||
} |
||||
|
||||
function handleProgress(key: string, message: string, error: number) { |
||||
if (error !== 0) { |
||||
notification.error({ |
||||
key: key, |
||||
message: key + 'Error code:' + error, |
||||
description: message, |
||||
duration: null |
||||
}) |
||||
} else { |
||||
notification.info({ |
||||
key: key, |
||||
message: key, |
||||
description: message, |
||||
duration: 30 |
||||
}) |
||||
} |
||||
} |
||||
|
||||
function handleDroneControlWsEvent (payload: any) { |
||||
if (!payload) { |
||||
return |
||||
} |
||||
|
||||
switch (payload.biz_code) { |
||||
case EBizCode.ControlSourceChange: { |
||||
onControlSourceChange(payload.data) |
||||
break |
||||
} |
||||
case EBizCode.FlyToPointProgress: { |
||||
const { sn: deviceSn, result, message: msg } = payload.data as FlyToPointMessage |
||||
if (deviceSn !== sn) return |
||||
handleProgress(EBizCode.FlyToPointProgress, `device(sn: ${deviceSn}) ${msg}`, result) |
||||
break |
||||
} |
||||
case EBizCode.TakeoffToPointProgress: { |
||||
const { sn: deviceSn, result, message: msg } = payload.data as TakeoffToPointMessage |
||||
if (deviceSn !== sn) return |
||||
handleProgress(EBizCode.TakeoffToPointProgress, `device(sn: ${deviceSn}) ${msg}`, result) |
||||
break |
||||
} |
||||
case EBizCode.JoystickInvalidNotify: { |
||||
const { sn: deviceSn, result, message: msg } = payload.data as DrcModeExitNotifyMessage |
||||
if (deviceSn !== sn) return |
||||
handleProgress(EBizCode.JoystickInvalidNotify, `device(sn: ${deviceSn}) ${msg}`, result) |
||||
break |
||||
} |
||||
case EBizCode.DrcStatusNotify: { |
||||
const { sn: deviceSn, result, message: msg } = payload.data as DrcStatusNotifyMessage |
||||
if (deviceSn !== sn) return |
||||
// handleProgress(EBizCode.DrcStatusNotify, `device(sn: ${deviceSn}) ${msg}`, result)
|
||||
|
||||
break |
||||
} |
||||
} |
||||
// eslint-disable-next-line no-unused-expressions
|
||||
// console.log('payload.biz_code', payload.data)
|
||||
} |
||||
|
||||
onMounted(() => { |
||||
EventBus.on('droneControlWs', handleDroneControlWsEvent) |
||||
}) |
||||
|
||||
onBeforeUnmount(() => { |
||||
EventBus.off('droneControlWs', handleDroneControlWsEvent) |
||||
}) |
||||
|
||||
return { |
||||
droneControlSource: droneControlSource, |
||||
payloadControlSource: payloadControlSource |
||||
} |
||||
} |
||||
@ -0,0 +1,40 @@
@@ -0,0 +1,40 @@
|
||||
import { ref } from 'vue' |
||||
import { postFlyToPoint, PostFlyToPointBody, deleteFlyToPoint, postTakeoffToPoint, PostTakeoffToPointBody } from '/@/api/drone-control/drone' |
||||
import { message } from 'ant-design-vue' |
||||
|
||||
export function useDroneControl () { |
||||
const droneControlPanelVisible = ref(false) |
||||
|
||||
function setDroneControlPanelVisible (visible: boolean) { |
||||
droneControlPanelVisible.value = visible |
||||
} |
||||
|
||||
async function flyToPoint (sn: string, body: PostFlyToPointBody) { |
||||
const { code } = await postFlyToPoint(sn, body) |
||||
if (code === 0) { |
||||
message.success('Fly to') |
||||
} |
||||
} |
||||
|
||||
async function stopFlyToPoint (sn: string) { |
||||
const { code } = await deleteFlyToPoint(sn) |
||||
if (code === 0) { |
||||
message.success('Stop fly to') |
||||
} |
||||
} |
||||
|
||||
async function takeoffToPoint (sn: string, body: PostTakeoffToPointBody) { |
||||
const { code } = await postTakeoffToPoint(sn, body) |
||||
if (code === 0) { |
||||
message.success('Take off successfully') |
||||
} |
||||
} |
||||
|
||||
return { |
||||
droneControlPanelVisible, |
||||
setDroneControlPanelVisible, |
||||
flyToPoint, |
||||
stopFlyToPoint, |
||||
takeoffToPoint |
||||
} |
||||
} |
||||
@ -0,0 +1,162 @@
@@ -0,0 +1,162 @@
|
||||
import { |
||||
ref, |
||||
onUnmounted, |
||||
watch, |
||||
Ref, |
||||
} from 'vue' |
||||
import { message } from 'ant-design-vue' |
||||
import { |
||||
DRC_METHOD, |
||||
DroneControlProtocol, |
||||
} from '/@/types/drc' |
||||
import { |
||||
useMqtt, |
||||
DeviceTopicInfo |
||||
} from './use-mqtt' |
||||
|
||||
let myInterval: any |
||||
|
||||
export enum KeyCode { |
||||
KEY_W = 'KeyW', |
||||
KEY_A = 'KeyA', |
||||
KEY_S = 'KeyS', |
||||
KEY_D = 'KeyD', |
||||
KEY_Q = 'KeyQ', |
||||
KEY_E = 'KeyE', |
||||
ARROW_UP = 'ArrowUp', |
||||
ARROW_DOWN = 'ArrowDown', |
||||
} |
||||
|
||||
export function useManualControl (deviceTopicInfo: DeviceTopicInfo, isCurrentFlightController: Ref<boolean>) { |
||||
const activeCodeKey = ref(null) as Ref<KeyCode | null> |
||||
const mqttHooks = useMqtt(deviceTopicInfo) |
||||
|
||||
function handlePublish (params: DroneControlProtocol) { |
||||
const body = { |
||||
method: DRC_METHOD.DRONE_CONTROL, |
||||
data: params, |
||||
} |
||||
handleClearInterval() |
||||
myInterval = setInterval(() => { |
||||
window.console.log('keyCode>>>>', activeCodeKey.value, body) |
||||
body.data.seq = new Date().getTime() |
||||
mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 }) |
||||
}, 50) |
||||
} |
||||
|
||||
function handleKeyup (keyCode: KeyCode) { |
||||
if (!deviceTopicInfo.pubTopic) { |
||||
message.error('请确保已经建立DRC链路') |
||||
return |
||||
} |
||||
const SPEED = 5 // check
|
||||
const HEIGHT = 5 // check
|
||||
const W_SPEED = 20 // 机头角速度
|
||||
switch (keyCode) { |
||||
case 'KeyA': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ y: -SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'KeyW': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ x: SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'KeyS': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ x: -SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'KeyD': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ y: SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'ArrowUp': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ h: HEIGHT }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'ArrowDown': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ h: -HEIGHT }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'KeyQ': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ w: -W_SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
case 'KeyE': |
||||
if (activeCodeKey.value === keyCode) return |
||||
handlePublish({ w: W_SPEED }) |
||||
activeCodeKey.value = keyCode |
||||
break |
||||
default: |
||||
break |
||||
} |
||||
} |
||||
|
||||
function handleClearInterval () { |
||||
clearInterval(myInterval) |
||||
myInterval = undefined |
||||
} |
||||
|
||||
function resetControlState () { |
||||
activeCodeKey.value = null |
||||
handleClearInterval() |
||||
} |
||||
|
||||
function onKeyup () { |
||||
resetControlState() |
||||
} |
||||
|
||||
function onKeydown (e: KeyboardEvent) { |
||||
handleKeyup(e.code as KeyCode) |
||||
} |
||||
|
||||
function startKeyboardManualControl () { |
||||
window.addEventListener('keydown', onKeydown) |
||||
window.addEventListener('keyup', onKeyup) |
||||
} |
||||
|
||||
function closeKeyboardManualControl () { |
||||
resetControlState() |
||||
window.removeEventListener('keydown', onKeydown) |
||||
window.removeEventListener('keyup', onKeyup) |
||||
} |
||||
|
||||
watch(() => isCurrentFlightController.value, (val) => { |
||||
if (val && deviceTopicInfo.pubTopic) { |
||||
startKeyboardManualControl() |
||||
} else { |
||||
closeKeyboardManualControl() |
||||
} |
||||
}, { immediate: true }) |
||||
|
||||
onUnmounted(() => { |
||||
closeKeyboardManualControl() |
||||
}) |
||||
|
||||
function handleEmergencyStop () { |
||||
if (!deviceTopicInfo.pubTopic) { |
||||
message.error('请确保已经建立DRC链路') |
||||
return |
||||
} |
||||
const body = { |
||||
method: DRC_METHOD.DRONE_EMERGENCY_STOP, |
||||
data: {} |
||||
} |
||||
resetControlState() |
||||
window.console.log('handleEmergencyStop>>>>', deviceTopicInfo.pubTopic, body) |
||||
mqttHooks?.publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 1 }) |
||||
} |
||||
|
||||
return { |
||||
activeCodeKey, |
||||
handleKeyup, |
||||
handleEmergencyStop, |
||||
resetControlState, |
||||
} |
||||
} |
||||
@ -0,0 +1,132 @@
@@ -0,0 +1,132 @@
|
||||
import { |
||||
ref, |
||||
reactive, |
||||
computed, |
||||
watch, |
||||
onUnmounted, |
||||
} from 'vue' |
||||
import { |
||||
IClientPublishOptions, |
||||
IPublishPacket, |
||||
} from '/@/mqtt' |
||||
import { useMyStore } from '/@/store' |
||||
import { |
||||
DRC_METHOD, |
||||
} from '/@/types/drc' |
||||
import EventBus from '/@/event-bus' |
||||
|
||||
export interface DeviceTopicInfo{ |
||||
sn: string |
||||
pubTopic: string |
||||
subTopic: string |
||||
} |
||||
|
||||
type MessageMqtt = (topic: string, payload: Buffer, packet: IPublishPacket) => void | Promise<void> |
||||
|
||||
export function useMqtt (deviceTopicInfo: DeviceTopicInfo) { |
||||
let cacheSubscribeArr: { |
||||
topic: string; |
||||
callback?: MessageMqtt; |
||||
}[] = [] |
||||
|
||||
const store = useMyStore() |
||||
|
||||
const mqttState = computed(() => { |
||||
return store.state.mqttState |
||||
}) |
||||
|
||||
function publishMqtt (topic: string, body: object, ots?: IClientPublishOptions) { |
||||
// const buffer = Buffer.from(JSON.stringify(body))
|
||||
mqttState.value?.publishMqtt(topic, JSON.stringify(body), ots) |
||||
} |
||||
|
||||
function subscribeMqtt (topic: string, handleMessageMqtt?: MessageMqtt) { |
||||
mqttState.value?.subscribeMqtt(topic) |
||||
const handler = handleMessageMqtt || onMessageMqtt |
||||
mqttState.value?.on('onMessageMqtt', handler) |
||||
cacheSubscribeArr.push({ |
||||
topic, |
||||
callback: handler, |
||||
}) |
||||
} |
||||
|
||||
function onMessageMqtt (message: any) { |
||||
if (cacheSubscribeArr.findIndex(item => item.topic === message?.topic) !== -1) { |
||||
const payloadStr = new TextDecoder('utf-8').decode(message?.payload) |
||||
const payloadObj = JSON.parse(payloadStr) |
||||
switch (payloadObj?.method) { |
||||
case DRC_METHOD.HEART_BEAT: |
||||
break |
||||
case DRC_METHOD.DELAY_TIME_INFO_PUSH: |
||||
case DRC_METHOD.HSI_INFO_PUSH: |
||||
case DRC_METHOD.OSD_INFO_PUSH: |
||||
EventBus.emit('droneControlMqttInfo', payloadObj) |
||||
break |
||||
default: |
||||
break |
||||
} |
||||
} |
||||
} |
||||
|
||||
function unsubscribeDrc () { |
||||
// 销毁已订阅事件
|
||||
cacheSubscribeArr.forEach(item => { |
||||
mqttState.value?.off('onMessageMqtt', item.callback) |
||||
mqttState.value?.unsubscribeMqtt(item.topic) |
||||
}) |
||||
cacheSubscribeArr = [] |
||||
} |
||||
|
||||
// 心跳
|
||||
const heartBeatSeq = ref(0) |
||||
const state = reactive({ |
||||
heartState: new Map<string, { |
||||
pingInterval: any; |
||||
}>(), |
||||
}) |
||||
|
||||
// 监听云控控制权
|
||||
watch(() => deviceTopicInfo, (val, oldVal) => { |
||||
if (val.subTopic !== '') { |
||||
// 1.订阅topic
|
||||
subscribeMqtt(deviceTopicInfo.subTopic) |
||||
// 2.发心跳
|
||||
publishDrcPing(deviceTopicInfo.sn) |
||||
} else { |
||||
clearInterval(state.heartState.get(deviceTopicInfo.sn)?.pingInterval) |
||||
state.heartState.delete(deviceTopicInfo.sn) |
||||
heartBeatSeq.value = 0 |
||||
} |
||||
}, { immediate: true, deep: true }) |
||||
|
||||
function publishDrcPing (sn: string) { |
||||
const body = { |
||||
method: DRC_METHOD.HEART_BEAT, |
||||
data: { |
||||
ts: new Date().getTime(), |
||||
seq: heartBeatSeq.value, |
||||
}, |
||||
} |
||||
const pingInterval = setInterval(() => { |
||||
if (!mqttState.value) return |
||||
heartBeatSeq.value += 1 |
||||
body.data.ts = new Date().getTime() |
||||
body.data.seq = heartBeatSeq.value |
||||
publishMqtt(deviceTopicInfo.pubTopic, body, { qos: 0 }) |
||||
}, 1000) |
||||
state.heartState.set(sn, { |
||||
pingInterval, |
||||
}) |
||||
} |
||||
|
||||
onUnmounted(() => { |
||||
unsubscribeDrc() |
||||
heartBeatSeq.value = 0 |
||||
}) |
||||
|
||||
return { |
||||
mqttState, |
||||
publishMqtt, |
||||
subscribeMqtt, |
||||
} |
||||
} |
||||
@ -0,0 +1,120 @@
@@ -0,0 +1,120 @@
|
||||
import { message } from 'ant-design-vue' |
||||
import { |
||||
postPayloadAuth, |
||||
postPayloadCommands, |
||||
PayloadCommandsEnum, |
||||
PostCameraModeBody, |
||||
PostCameraFocalLengthBody, |
||||
PostGimbalResetBody, |
||||
PostCameraAimBody, |
||||
} from '/@/api/drone-control/payload' |
||||
import { ControlSource } from '/@/types/device' |
||||
|
||||
export function usePayloadControl () { |
||||
function checkPayloadAuth (controlSource?: ControlSource) { |
||||
if (controlSource !== ControlSource.A) { |
||||
message.error('Get Payload Control first') |
||||
return false |
||||
} |
||||
return true |
||||
} |
||||
|
||||
async function authPayload (sn: string, payloadIndx: string) { |
||||
const { code } = await postPayloadAuth(sn, { |
||||
payload_index: payloadIndx |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Get Payload Control successfully') |
||||
return true |
||||
} |
||||
return false |
||||
} |
||||
|
||||
async function resetGimbal (sn: string, data: PostGimbalResetBody) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.GimbalReset, |
||||
data: data |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Gimbal Reset successfully') |
||||
} |
||||
} |
||||
|
||||
async function switchCameraMode (sn: string, data: PostCameraModeBody) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraModeSwitch, |
||||
data: data |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Camera Mode Switch successfully') |
||||
} |
||||
} |
||||
|
||||
async function takeCameraPhoto (sn: string, payloadIndx: string) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraPhotoTake, |
||||
data: { |
||||
payload_index: payloadIndx |
||||
} |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Take Photo successfully') |
||||
} |
||||
} |
||||
|
||||
async function startCameraRecording (sn: string, payloadIndx: string) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraRecordingStart, |
||||
data: { |
||||
payload_index: payloadIndx |
||||
} |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Start Recording successfully') |
||||
} |
||||
} |
||||
|
||||
async function stopCameraRecording (sn: string, payloadIndx: string) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraRecordingStop, |
||||
data: { |
||||
payload_index: payloadIndx |
||||
} |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Stop Recording successfully') |
||||
} |
||||
} |
||||
|
||||
async function changeCameraFocalLength (sn: string, data: PostCameraFocalLengthBody) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraFocalLengthSet, |
||||
data: data, |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Zoom successfully') |
||||
} |
||||
} |
||||
|
||||
async function cameraAim (sn: string, data: PostCameraAimBody) { |
||||
const { code } = await postPayloadCommands(sn, { |
||||
cmd: PayloadCommandsEnum.CameraAim, |
||||
data: data, |
||||
}) |
||||
if (code === 0) { |
||||
message.success('Zoom Aim successfully') |
||||
} |
||||
} |
||||
|
||||
return { |
||||
checkPayloadAuth, |
||||
authPayload, |
||||
resetGimbal, |
||||
switchCameraMode, |
||||
takeCameraPhoto, |
||||
startCameraRecording, |
||||
stopCameraRecording, |
||||
changeCameraFocalLength, |
||||
cameraAim, |
||||
} |
||||
} |
||||
@ -0,0 +1,12 @@
@@ -0,0 +1,12 @@
|
||||
|
||||
import { |
||||
IClientOptions, |
||||
} from 'mqtt' |
||||
|
||||
export const OPTIONS: IClientOptions = { |
||||
clean: true, // true: 清除会话, false: 保留会话
|
||||
connectTimeout: 10000, // mqtt 超时时间
|
||||
resubscribe: true, // 断开重连后，再次订阅原订阅
|
||||
reconnectPeriod: 10000, // 重连间隔时间： 5s
|
||||
keepalive: 1, // 心跳间隔时间：1s
|
||||
} |
||||
@ -0,0 +1,117 @@
@@ -0,0 +1,117 @@
|
||||
import EventEmitter from 'eventemitter3' |
||||
import { |
||||
OPTIONS, |
||||
} from './config' |
||||
import { |
||||
connect, |
||||
MqttClient, |
||||
IClientPublishOptions, |
||||
IPublishPacket, |
||||
Packet, |
||||
ISubscriptionGrant, |
||||
IClientOptions, |
||||
} from 'mqtt/dist/mqtt.min' |
||||
|
||||
export class UranusMqtt extends EventEmitter { |
||||
_url: string |
||||
_options?: IClientOptions |
||||
_client: MqttClient | null |
||||
_hasInit: boolean |
||||
|
||||
constructor (url?: string, options?: IClientOptions) { |
||||
super() |
||||
this._url = url || '' |
||||
this._options = options |
||||
this._client = null |
||||
this._hasInit = false |
||||
} |
||||
|
||||
initMqtt = () => { |
||||
// 仅初始化一次
|
||||
if (this._hasInit) return |
||||
// 建立连接
|
||||
this._client = connect(this._url, { |
||||
...OPTIONS, |
||||
...this._options, |
||||
}) |
||||
this._hasInit = true |
||||
if (this._client) { |
||||
this._client.on('reconnect', this._onReconnect) |
||||
|
||||
// 消息监听
|
||||
this._client.on('message', this._onMessage) |
||||
|
||||
// 连接关闭
|
||||
this._client.on('close', this._onClose) |
||||
|
||||
// 连接异常
|
||||
this._client.on('error', this._onError) |
||||
} |
||||
} |
||||
|
||||
// 发布
|
||||
publishMqtt = (topic: string, body: string | Buffer, opts?: IClientPublishOptions) => { |
||||
if (!this._client?.connected) { |
||||
this.initMqtt() |
||||
} |
||||
this._client?.publish(topic, body, opts || {}, (error?: Error, packet?: Packet) => { |
||||
if (error) { |
||||
window.console.error('mqtt publish error,', error, packet) |
||||
} |
||||
}) |
||||
} |
||||
|
||||
// 订阅
|
||||
subscribeMqtt = (topic: string) => { |
||||
if (!this._client?.connected) { |
||||
this.initMqtt() |
||||
} |
||||
window.console.log('subscribeMqtt>>>>>', topic) |
||||
this._client?.subscribe(topic, (error: Error, granted: ISubscriptionGrant[]) => { |
||||
window.console.log('mqtt subscribe,', error, granted) |
||||
}) |
||||
} |
||||
|
||||
// 取消订阅
|
||||
unsubscribeMqtt = (topic: string) => { |
||||
window.console.log('mqtt unsubscribeMqtt,', topic) |
||||
this._client?.unsubscribe(topic) |
||||
} |
||||
|
||||
// 关闭 mqtt 客户端
|
||||
destroyed = () => { |
||||
window.console.log('mqtt destroyed') |
||||
this._client?.end() |
||||
} |
||||
|
||||
_onReconnect = () => { |
||||
if (this._client) { window.console.error('mqtt reconnect,') } |
||||
} |
||||
|
||||
_onMessage = (topic: string, payload: Buffer, packet: IPublishPacket) => { |
||||
this.emit('onMessageMqtt', { topic, payload, packet }) |
||||
} |
||||
|
||||
_onClose = () => { |
||||
// 连接异常关闭会自动重连
|
||||
window.console.error('mqtt close,') |
||||
this.emit('onStatus', { |
||||
status: 'close', |
||||
}) |
||||
} |
||||
|
||||
_onError = (error: Error) => { |
||||
// 连接错误会自动重连
|
||||
window.console.error('mqtt error,', error) |
||||
this.emit('onStatus', { |
||||
status: 'error', |
||||
data: error, |
||||
}) |
||||
} |
||||
} |
||||
|
||||
export { |
||||
IClientOptions, |
||||
IPublishPacket, |
||||
IClientPublishOptions, |
||||
} |
||||
@ -0,0 +1,4 @@
@@ -0,0 +1,4 @@
|
||||
declare module 'mqtt/dist/mqtt.min' { |
||||
import MQTT from 'mqtt' |
||||
export = MQTT |
||||
} |
||||
@ -0,0 +1,71 @@
@@ -0,0 +1,71 @@
|
||||
export enum DRC_METHOD { |
||||
HEART_BEAT = 'heart_beat', |
||||
DRONE_CONTROL = 'drone_control', // 飞行控制-虚拟摇杆
|
||||
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
|
||||
DELAY_TIME_INFO_PUSH = 'delay_info_push', // 图传链路延时信息上报
|
||||
} |
||||
|
||||
// 手动控制
|
||||
export interface DroneControlProtocol { |
||||
x?: number; // 水平方向速度，正值为A指令 负值为D指令 单位：m/s
|
||||
y?: number; // 前进后退方向速度，正值为W指令 负值为S指令 单位：m/s
|
||||
h?: number;// 上下高度值，正值为上升指令 负值为下降指令 单位：m
|
||||
w?: number; // 机头角速度，正值为顺时针，负值为逆时针 单位：degree/s （web端暂无此设计）
|
||||
step_x?: number; // 水平方向步长
|
||||
step_y?: number; // 前后方向步长
|
||||
step_h?: number; // 高度方向步长
|
||||
step_w?: number; // 机头转向步长
|
||||
seq?: number; // 从0计时
|
||||
freq?: number; // 指令发送频率
|
||||
delay_time?: number; // 指令从发送到设备端接收可容忍的时间 发送频率+链路传输时长
|
||||
} |
||||
|
||||
// 低延时osd
|
||||
export interface DRCOsdInfo { |
||||
attitude_head: number;// 飞机姿态head角，单位：度
|
||||
latitude: number;// 飞机经纬度
|
||||
longitude: number; |
||||
altitude: number; |
||||
speed_x: number; |
||||
speed_y: number; |
||||
speed_z: number; |
||||
gimbal_pitch: number;// 云台pitch角
|
||||
gimbal_roll: number;// 云台roll角
|
||||
gimbal_yaw: number;// 云台yaw角
|
||||
} |
||||
|
||||
// 态势感知-HSI
|
||||
export interface DRCHsiInfo { |
||||
up_distance: number;// 上方的障碍物距离，单位：mm
|
||||
down_distance: number;// 下方的障碍物距离，单位：mm
|
||||
around_distances: number[]; // 水平方向观察点,分布在[0,360)区间，表示障碍物与飞机距离，单位为mm。 0对应机头方向正前方，顺时针分布，例如0度为机头正前方，90度为飞机正右方
|
||||
up_enable: boolean; // 上视避障开关状态，true：已开启 false：已关闭
|
||||
up_work: boolean; // 上视避障工作状态，true：正常工作 false：异常或离线
|
||||
down_enable: boolean; // 下视避障开关状态，true：已开启 false：已关闭
|
||||
down_work: boolean; // 下视避障工作状态，true：正常工作 false：异常或离线
|
||||
left_enable: boolean; // 左视避障开关状态，true：已开启 false：已关闭
|
||||
left_work: boolean; // 左视避障工作状态，true：正常工作 false：异常或离线
|
||||
right_enable: boolean; // 右视避障开关状态，true：已开启 false：已关闭
|
||||
right_work: boolean; // 右视避障工作状态，true：正常工作 false：异常或离线
|
||||
front_enable: boolean; // 前视避障开关状态，true：已开启 false：已关闭
|
||||
front_work: boolean; // 前视避障工作状态，true：正常工作 false：异常或离线
|
||||
back_enable: boolean; // 后视避障开关状态，true：已开启 false：已关闭
|
||||
back_work: boolean; // 后视避障工作状态，true：正常工作 false：异常或离线
|
||||
vertical_enable: boolean; // 垂直方向综合开关状态，当本协议中上、下视开关状态均为true时，输出true：已开启，否则输出false：已关闭
|
||||
vertical_work: boolean; // 垂直方向避障工作状态，当本协议中上、下视工作均为true时，输出true：正常工作，否则输出false：异常或离线
|
||||
horizontal_enable: boolean; // 水平方向综合开关状态，当本协议中前、后、左、右、开关状态均为true时，输出true：已开启，否则输出false：已关闭
|
||||
horizontal_work: boolean; // 水平方向避障工作综合状态，当本协议中前、后、左、右视工作均为true时，输出true：正常工作，否则输出false：异常或离线
|
||||
} |
||||
|
||||
export interface LiveViewDelayItem { |
||||
video_id: string; |
||||
liveview_delay_time: number; |
||||
} |
||||
|
||||
// 链路时延信息
|
||||
export interface DRCDelayTimeInfo { |
||||
sdr_cmd_delay: number; // sdr链路命令延时，单位：ms
|
||||
liveview_delay_list: LiveViewDelayItem[]; |
||||
} |
||||
@ -0,0 +1,68 @@
@@ -0,0 +1,68 @@
|
||||
import { ControlSource } from './device' |
||||
import { LostControlActionInCommandFLight, WaylineLostControlActionInCommandFlight } from '/@/api/drone-control/drone' |
||||
|
||||
export enum ControlSourceChangeType { |
||||
Flight = 1, |
||||
Payload = 2, |
||||
} |
||||
|
||||
// 控制权变化消息
|
||||
export interface ControlSourceChangeInfo { |
||||
sn: string, |
||||
type: ControlSourceChangeType, |
||||
control_source: ControlSource |
||||
} |
||||
|
||||
// 飞向目标点结果
|
||||
export interface FlyToPointMessage { |
||||
sn: string, |
||||
result: number, |
||||
message: string, |
||||
} |
||||
|
||||
// 一键起飞结果
|
||||
export interface TakeoffToPointMessage { |
||||
sn: string, |
||||
result: number, |
||||
message: string, |
||||
} |
||||
|
||||
// 设备端退出drc模式
|
||||
export interface DrcModeExitNotifyMessage { |
||||
sn: string, |
||||
result: number, |
||||
message: string, |
||||
} |
||||
|
||||
// 飞行控制模式状态
|
||||
export interface DrcStatusNotifyMessage { |
||||
sn: string, |
||||
result: number, |
||||
message: string, |
||||
} |
||||
|
||||
export const WaylineLostControlActionInCommandFlightOptions = [ |
||||
{ label: 'Continue', value: WaylineLostControlActionInCommandFlight.CONTINUE }, |
||||
{ label: 'Execute Lost Action', value: WaylineLostControlActionInCommandFlight.EXEC_LOST_ACTION } |
||||
] |
||||
|
||||
export const LostControlActionInCommandFLightOptions = [ |
||||
{ label: 'Return Home', value: LostControlActionInCommandFLight.RETURN_HOME }, |
||||
{ label: 'Hover', value: LostControlActionInCommandFLight.HOVER }, |
||||
{ label: 'Landing', value: LostControlActionInCommandFLight.Land } |
||||
] |
||||
|
||||
// 云台重置模式
|
||||
export enum GimbalResetMode { |
||||
Recenter = 0, |
||||
Down = 1, |
||||
RecenterGimbalPan = 2, |
||||
PitchDown = 3, |
||||
} |
||||
|
||||
export const GimbalResetModeOptions = [ |
||||
{ label: 'Gimbal Recenter', value: GimbalResetMode.Recenter }, |
||||
{ label: 'Gimbal down', value: GimbalResetMode.Down }, |
||||
{ label: 'Recenter Gimbal Pan', value: GimbalResetMode.RecenterGimbalPan }, |
||||
{ label: 'Gimbal Pitch Down', value: GimbalResetMode.PitchDown } |
||||
] |
||||
Loading…
Reference in new issue