From 5a7ec0e1f09e00a05b6692f42e53b39b86ba91b8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=88=98=E5=A6=8D?= <1455167345@qq.com> Date: Thu, 10 Jul 2025 17:20:04 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8A=A2=E5=A4=BA=E6=8E=A7=E5=88=B6=E6=9D=83?= =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../flightoperation/src/FlightControl.vue | 49 ++++++++++++------- .../flightoperation/src/LoadControl.vue | 22 ++++++--- 2 files changed, 46 insertions(+), 25 deletions(-) diff --git a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue index 2883395..1c73d4b 100644 --- a/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue +++ b/src/views/demo/workmanagement/flightoperation/src/FlightControl.vue @@ -30,12 +30,14 @@ 指点飞行 一键返航 - 获取飞行器控制权 - 进入飞行控制 + + + 获取飞行器控制权 + + + + 进入飞行控制 + 退出飞行控制 @@ -84,7 +86,7 @@ destroySeizeConnection, connection, } from '@/utils/mqtt'; - import { CloseOutlined } from '@ant-design/icons-vue'; + import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue'; import { vDrag } from '@/utils/drag'; import { drcDownTopicReize, eventsTopicSubscribeReize } from '@/utils/debugging/events'; import { @@ -127,7 +129,7 @@ const airportVal: any = ref({ mode_code: 0, }); - + const bid = buildGUID(); //修改redis用户锁 const changeRedisUser = (val: boolean) => { const querys = redisUser.value; @@ -158,7 +160,6 @@ emits('clickTakeOff'); changeRedisUser(true); }; - // 获取 const obtain = () => { // if (!getClient()) { @@ -168,11 +169,15 @@ createMessage.success('当前有用户正在操作，请稍后再试'); return; } + if (flightGrab.value) { + createMessage.warning('已经获取了飞行器控制权'); + return; + } createMessage.info('正在获取飞行器控制权，请稍候'); changeRedisUser(true); // 飞行控制权抢夺 servicesTopic({ - bid: buildGUID(), + bid: bid, method: 'flight_authority_grab', tid: buildGUID(), timestamp: new Date().getTime(), @@ -180,7 +185,7 @@ }); // 负载控制权抢夺 servicesTopic({ - bid: buildGUID(), + bid: bid, method: 'payload_authority_grab', tid: buildGUID(), timestamp: new Date().getTime(), @@ -191,8 +196,13 @@ services_replyTopic(); }; // 一键返航 + const returnBtn = ref(false); const returnVoyage = () => { - // 老的 + if (returnBtn.value) { + createMessage.warning('正在返航或已返航，请勿重复操作'); + return; + } + returnBtn.value = true; servicesTopic({ bid: buildGUID(), method: 'return_home', @@ -200,7 +210,6 @@ timestamp: new Date().getTime(), data: {}, }); - // 新的servicesTopicReize }; const seq = ref(1); const changeDRC = (type, value) => { @@ -243,7 +252,7 @@ const { protocol, host, port, endpoint } = connection; const connectUrl = `${protocol}://${host}:${port}${endpoint}`; const querys = { - bid: buildGUID(), + bid: bid, data: { hsi_frequency: 10, mqtt_broker: { @@ -289,7 +298,7 @@ const exitDRC = () => { createMessage.info('正在退出飞行控制，请稍后'); const querys = { - bid: buildGUID(), + bid: bid, data: {}, tid: buildGUID(), timestamp: new Date().getTime(), @@ -311,7 +320,7 @@ if (rs.data.mode_code || rs.data.mode_code == 0) { airportVal.value.mode_code = rs.data.mode_code; } - if (rs.method == 'flight_authority_grab') { + if (rs.method == 'flight_authority_grab' && rs.bid == bid) { if (rs.data.result == 0) { flightGrab.value = true; createMessage.success('飞行控制权抢夺成功'); @@ -320,7 +329,7 @@ createMessage.error('飞行控制权抢夺失败，' + errorName(rs.data.result)); } } - if (rs.method == 'drc_mode_enter') { + if (rs.method == 'drc_mode_enter' && rs.bid == bid) { if (rs.data.result == 0) { modeEnter.value = true; createMessage.success('进入指令飞行控制模式成功'); @@ -329,10 +338,11 @@ createMessage.error('进入指令飞行控制模式失败，' + errorName(rs.data.result)); } } - if (rs.method == 'drc_mode_exit') { + if (rs.method == 'drc_mode_exit' && rs.bid == bid) { if (rs.data.result == 0) { modeEnter.value = false; createMessage.success('退出指令飞行控制模式成功'); + changeRedisUser(false); } else { createMessage.error('退出指令飞行控制模式失败，' + errorName(rs.data.result)); } @@ -342,8 +352,10 @@ if (rs.data.result == 0) { createMessage.success('一键返航成功'); monitorDRC.value = false; + returnBtn.value = true; } else { createMessage.error('一键返航失败，' + errorName(rs.data.result)); + returnBtn.value = false; } } if (rs.method === 'takeoff_to_point') { @@ -354,7 +366,6 @@ } } if (rs.method === 'drc_status_notify' && monitorDRC.value) { - console.log('drc_status_notify', rs.data); if (rs.data.result == 0) { if (rs.data.drc_state == 0) { drc_eart_beat(); diff --git a/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue b/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue index 1d617ac..cfae880 100644 --- a/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue +++ b/src/views/demo/workmanagement/flightoperation/src/LoadControl.vue @@ -17,7 +17,10 @@
- 获取相机控制权 + + + 获取相机控制权 + 单拍
@@ -64,7 +67,7 @@ destroySeizeConnection, connection, } from '@/utils/mqtt'; - import { CloseOutlined } from '@ant-design/icons-vue'; + import { CloseOutlined, CheckOutlined } from '@ant-design/icons-vue'; import { vDrag } from '@/utils/drag'; import { buildGUID } from '@/utils/uuid'; import { servicesTopic, services_replyTopic, errorName } from '@/utils/debugging/remote'; @@ -187,7 +190,7 @@ cameraZoom(); }, ); - + const bid = buildGUID(); // 变焦 const cameraZoom = () => { if (!flightGrab.value) { @@ -234,6 +237,7 @@ } }); }; + const grabBtn = ref(false); const obtain = () => { // if (!getClient()) { // createConnection(); @@ -242,10 +246,14 @@ createMessage.success('当前有用户正在操作，请稍后再试'); return; } + if (grabBtn.value) { + createMessage.warning('已经获取了飞行器控制权'); + return; + } changeRedisUser(true); // 飞行控制权抢夺 servicesTopic({ - bid: buildGUID(), + bid: bid, method: 'flight_authority_grab', tid: buildGUID(), timestamp: new Date().getTime(), @@ -253,7 +261,7 @@ }); // 负载控制权抢夺 servicesTopic({ - bid: buildGUID(), + bid: bid, method: 'payload_authority_grab', tid: buildGUID(), timestamp: new Date().getTime(), @@ -329,12 +337,14 @@ createMessage.error('拍照失败，' + errorName(rs.data.result)); } } - if (rs.method == 'flight_authority_grab') { + if (rs.method == 'flight_authority_grab' && rs.bid == bid) { if (rs.data.result == 0) { flightGrab.value = true; + grabBtn.value = true; createMessage.success('相机控制权获取成功'); } else { flightGrab.value = false; + grabBtn.value = false; createMessage.error('相机控制权获取失败，' + errorName(rs.data.result)); } }