抢夺控制权优化
parent
5820971d5c
commit
5a7ec0e1f0
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@ -30,12 +30,14 @@
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<a-button @click="emits('clickFlyTo')">指点飞行</a-button>
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<!-- <a-button>智能环绕</a-button> -->
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<a-button @click="returnVoyage">一键返航</a-button>
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<a-button @click="obtain" style="background-color: #1b71e8; border: none"
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>获取飞行器控制权</a-button
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>
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<a-button @click="enterDRC" style="background-color: #24d365; border: none"
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>进入飞行控制</a-button
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>
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<a-button @click="obtain" style="background-color: #1b71e8; border: none">
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<template #icon v-if="flightGrab"><CheckOutlined /></template>
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获取飞行器控制权
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</a-button>
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<a-button @click="enterDRC" style="background-color: #24d365; border: none">
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<template #icon v-if="modeEnter"><CheckOutlined /></template>
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进入飞行控制
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</a-button>
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<a-button @click="exitDRC" style="background-color: #e3150e; border: none"
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>退出飞行控制</a-button
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>
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@ -84,7 +86,7 @@
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destroySeizeConnection,
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connection,
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} from '@/utils/mqtt';
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import { CloseOutlined } from '@ant-design/icons-vue';
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import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue';
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import { vDrag } from '@/utils/drag';
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import { drcDownTopicReize, eventsTopicSubscribeReize } from '@/utils/debugging/events';
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import {
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@ -127,7 +129,7 @@
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const airportVal: any = ref({
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mode_code: 0,
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});
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const bid = buildGUID();
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//修改redis用户锁
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const changeRedisUser = (val: boolean) => {
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const querys = redisUser.value;
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@ -158,7 +160,6 @@
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emits('clickTakeOff');
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changeRedisUser(true);
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};
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// 获取
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const obtain = () => {
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// if (!getClient()) {
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@ -168,11 +169,15 @@
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createMessage.success('当前有用户正在操作，请稍后再试');
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return;
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}
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if (flightGrab.value) {
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createMessage.warning('已经获取了飞行器控制权');
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return;
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}
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createMessage.info('正在获取飞行器控制权，请稍候');
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changeRedisUser(true);
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// 飞行控制权抢夺
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servicesTopic({
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bid: buildGUID(),
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bid: bid,
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method: 'flight_authority_grab',
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tid: buildGUID(),
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timestamp: new Date().getTime(),
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@ -180,7 +185,7 @@
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});
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// 负载控制权抢夺
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servicesTopic({
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bid: buildGUID(),
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bid: bid,
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method: 'payload_authority_grab',
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tid: buildGUID(),
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timestamp: new Date().getTime(),
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@ -191,8 +196,13 @@
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services_replyTopic();
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};
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// 一键返航
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const returnBtn = ref(false);
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const returnVoyage = () => {
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// 老的
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if (returnBtn.value) {
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createMessage.warning('正在返航或已返航，请勿重复操作');
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return;
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}
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returnBtn.value = true;
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servicesTopic({
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bid: buildGUID(),
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method: 'return_home',
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@ -200,7 +210,6 @@
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timestamp: new Date().getTime(),
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data: {},
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});
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// 新的servicesTopicReize
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};
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const seq = ref(1);
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const changeDRC = (type, value) => {
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@ -243,7 +252,7 @@
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const { protocol, host, port, endpoint } = connection;
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const connectUrl = `${protocol}://${host}:${port}${endpoint}`;
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const querys = {
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bid: buildGUID(),
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bid: bid,
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data: {
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hsi_frequency: 10,
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mqtt_broker: {
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@ -289,7 +298,7 @@
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const exitDRC = () => {
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createMessage.info('正在退出飞行控制，请稍后');
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const querys = {
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bid: buildGUID(),
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bid: bid,
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data: {},
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tid: buildGUID(),
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timestamp: new Date().getTime(),
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@ -311,7 +320,7 @@
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if (rs.data.mode_code || rs.data.mode_code == 0) {
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airportVal.value.mode_code = rs.data.mode_code;
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}
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if (rs.method == 'flight_authority_grab') {
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if (rs.method == 'flight_authority_grab' && rs.bid == bid) {
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if (rs.data.result == 0) {
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flightGrab.value = true;
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createMessage.success('飞行控制权抢夺成功');
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@ -320,7 +329,7 @@
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createMessage.error('飞行控制权抢夺失败，' + errorName(rs.data.result));
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}
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}
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if (rs.method == 'drc_mode_enter') {
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if (rs.method == 'drc_mode_enter' && rs.bid == bid) {
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if (rs.data.result == 0) {
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modeEnter.value = true;
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createMessage.success('进入指令飞行控制模式成功');
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@ -329,10 +338,11 @@
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createMessage.error('进入指令飞行控制模式失败，' + errorName(rs.data.result));
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}
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}
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if (rs.method == 'drc_mode_exit') {
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if (rs.method == 'drc_mode_exit' && rs.bid == bid) {
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if (rs.data.result == 0) {
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modeEnter.value = false;
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createMessage.success('退出指令飞行控制模式成功');
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changeRedisUser(false);
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} else {
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createMessage.error('退出指令飞行控制模式失败，' + errorName(rs.data.result));
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}
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@ -342,8 +352,10 @@
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if (rs.data.result == 0) {
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createMessage.success('一键返航成功');
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monitorDRC.value = false;
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returnBtn.value = true;
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} else {
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createMessage.error('一键返航失败，' + errorName(rs.data.result));
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returnBtn.value = false;
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}
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}
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if (rs.method === 'takeoff_to_point') {
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@ -354,7 +366,6 @@
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}
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}
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if (rs.method === 'drc_status_notify' && monitorDRC.value) {
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console.log('drc_status_notify', rs.data);
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if (rs.data.result == 0) {
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if (rs.data.drc_state == 0) {
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drc_eart_beat();
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@ -17,7 +17,10 @@
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</div>
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<div class="content">
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<div class="content-button">
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<a-button @click="obtain">获取相机控制权</a-button>
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<a-button @click="obtain">
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<template #icon v-if="grabBtn"><CheckOutlined /></template>
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获取相机控制权
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</a-button>
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<a-button @click="singleShot">单拍</a-button>
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</div>
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<div class="direction-controller">
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@ -64,7 +67,7 @@
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destroySeizeConnection,
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connection,
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} from '@/utils/mqtt';
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import { CloseOutlined } from '@ant-design/icons-vue';
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import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue';
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import { vDrag } from '@/utils/drag';
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import { buildGUID } from '@/utils/uuid';
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import { servicesTopic, services_replyTopic, errorName } from '@/utils/debugging/remote';
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@ -187,7 +190,7 @@
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cameraZoom();
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},
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);
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const bid = buildGUID();
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// 变焦
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const cameraZoom = () => {
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if (!flightGrab.value) {
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@ -234,6 +237,7 @@
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}
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});
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};
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const grabBtn = ref(false);
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const obtain = () => {
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// if (!getClient()) {
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// createConnection();
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@ -242,10 +246,14 @@
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createMessage.success('当前有用户正在操作，请稍后再试');
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return;
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}
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if (grabBtn.value) {
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createMessage.warning('已经获取了飞行器控制权');
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return;
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}
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changeRedisUser(true);
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// 飞行控制权抢夺
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servicesTopic({
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bid: buildGUID(),
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bid: bid,
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method: 'flight_authority_grab',
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tid: buildGUID(),
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timestamp: new Date().getTime(),
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@ -253,7 +261,7 @@
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});
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// 负载控制权抢夺
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servicesTopic({
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bid: buildGUID(),
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bid: bid,
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method: 'payload_authority_grab',
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tid: buildGUID(),
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timestamp: new Date().getTime(),
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@ -329,12 +337,14 @@
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createMessage.error('拍照失败，' + errorName(rs.data.result));
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}
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}
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if (rs.method == 'flight_authority_grab') {
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if (rs.method == 'flight_authority_grab' && rs.bid == bid) {
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if (rs.data.result == 0) {
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flightGrab.value = true;
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grabBtn.value = true;
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createMessage.success('相机控制权获取成功');
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} else {
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flightGrab.value = false;
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grabBtn.value = false;
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createMessage.error('相机控制权获取失败，' + errorName(rs.data.result));
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}
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}
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