Merge branch 'main' of http://123.132.248.154:10000/gitY/LinYeFangHuo

src/packages/components/Uav/Uav/FlightControl/index.vue

@@ -324,6 +324,7 @@
   const airPortStoreVal = airPortStore();
   const uav = airPortStoreVal.getUAV;
   const live_info = airPortStoreVal.getLiveInfo;
+  const typeId = airPortStoreVal.getTypeId;
 
   const bid = buildGUID();
   const selectName = ref('');
@@ -443,6 +444,10 @@
         flight_safety_advance_check: 1,
       };
       airPortStoreVal.setFlightId(data.flight_id);
+      if (typeId == 'Dock 1') {
+        delete data.rth_mode;
+        delete data.flight_safety_advance_check;
+      }
       // 一键起飞
       const querys = {
         bid: bid,
@@ -608,26 +613,75 @@
     }
   };
   const getDRCFlightQuery = (type, value, seq) => {
-    let data = {
-      roll: 1024,
-      pitch: 1024,
-      throttle: 1024,
-      yaw: 1024,
-      gimbal_pitch: 1024,
-    };
-    if (value == 'up') {
-      data[type] = 1684;
-    } else {
-      data[type] = 364;
+    let querys;
+    if (typeId == 'Dock 3' || typeId == 'Dock 2') {
+      let data = {
+        roll: 1024,
+        pitch: 1024,
+        throttle: 1024,
+        yaw: 1024,
+        gimbal_pitch: 1024,
+      };
+      if (value == 'up') {
+        data[type] = 1684;
+      } else {
+        data[type] = 364;
+      }
+      querys = {
+        seq: seq.value,
+        method: 'stick_control',
+        data: data,
+        bid: buildGUID(),
+        tid: buildGUID(),
+        timestamp: new Date().getTime(),
+      };
+    } else if (typeId == 'Dock 1') {
+      let data = {
+        seq: seq.value,
+        x: 0,
+        y: 0,
+        h: 0,
+        w: 0,
+      };
+      if (value == 'up') {
+        switch (type) {
+          case 'roll':
+            data.y = 17;
+            break;
+          case 'pitch':
+            data.x = 17;
+            break;
+          case 'throttle':
+            data.h = 5;
+            break;
+          case 'yaw':
+            data.w = 90;
+            break;
+        }
+      } else {
+        switch (type) {
+          case 'roll':
+            data.y = -17;
+            break;
+          case 'pitch':
+            data.x = -17;
+            break;
+          case 'throttle':
+            data.h = -4;
+            break;
+          case 'yaw':
+            data.w = -90;
+            break;
+        }
+      }
+      querys = {
+        method: 'drone_control',
+        data: data,
+        bid: buildGUID(),
+        tid: buildGUID(),
+        timestamp: new Date().getTime(),
+      };
     }
-    const querys = {
-      seq: seq.value,
-      method: 'stick_control',
-      data: data,
-      bid: buildGUID(),
-      tid: buildGUID(),
-      timestamp: new Date().getTime(),
-    };
     return querys;
   };
   // 云台方向调整
@@ -748,17 +802,29 @@
     timer = window.setInterval(() => {
       drcSeq.value = drcSeq.value + 1;
       let drcQuerys;
-      drcQuerys = {
-        bid: buildGUID(),
-        tid: buildGUID(),
-        timestamp: new Date().getTime(),
-        method: 'heart_beat',
-        data: {
+      if (typeId == 'Dock 3' || typeId == 'Dock 2') {
+        drcQuerys = {
+          bid: buildGUID(),
+          tid: buildGUID(),
           timestamp: new Date().getTime(),
-        },
-        seq: drcSeq.value,
-      };
-
+          method: 'heart_beat',
+          data: {
+            timestamp: new Date().getTime(),
+          },
+          seq: drcSeq.value,
+        };
+      } else if (typeId == 'Dock 1') {
+        drcQuerys = {
+          bid: buildGUID(),
+          tid: buildGUID(),
+          timestamp: new Date().getTime(),
+          method: 'heart_beat',
+          data: {
+            timestamp: new Date().getTime(),
+            seq: drcSeq.value,
+          },
+        };
+      }
       drcDownTopic(drcQuerys);
     }, 5000);
     // 订阅drc链路状态通知
@@ -783,7 +849,7 @@
     services_replyTopic();
   };
   let player;
-  const liveCode = ref('7');
+  const liveCode = ref(uav.sn);
   const playVideo = () => {
     player = TCPlayer('player-container-id-live', {
       sources: [

src/packages/components/Uav/Uav/Patrol/index.vue

@@ -28,7 +28,12 @@
   import { useChartEditStore } from '@/store/modules/chartEditStore/chartEditStore';
   import { EventBus } from '@/utils/eventBus';
   import { uuid, buildGUID } from '@/utils/uuid';
-  import { servicesTopic, services_replyTopic, errorName } from '@/utils/debugging/remote';
+  import {
+    servicesTopic,
+    services_replyTopic,
+    errorName,
+    cameraCode,
+  } from '@/utils/debugging/remote';
   import {
     getClient,
     createConnection,
@@ -56,6 +61,7 @@
   const deliveryData = ref();
   // 无人机调用信息
   const droneData = ref();
+  const typeId = airPortStoreVal.getTypeId;
 
   const clickBtn = (val) => {
     if (!droneData.value) {
@@ -87,6 +93,10 @@
         flight_safety_advance_check: 1,
       };
       airPortStoreVal.setFlightId(data.flight_id);
+      if (typeId == 'Dock 1') {
+        delete data.rth_mode;
+        delete data.flight_safety_advance_check;
+      }
       // 一键起飞
       createConfirm({
         iconType: 'warning',
@@ -191,9 +201,22 @@
         lng: data.lng,
         lat: data.lat,
       }).then((res) => {
+        if (res.length == 0) {
+          createMessage.warning('附近没有无人机，请稍后再试');
+          return;
+        }
         airPortStoreVal.setAirPort('sn', res[0].droneportsn);
-        airPortStoreVal.setUAV('sn', res[0].Sn);
         airPortStoreVal.setGateway(res[0].GateWay);
+        airPortStoreVal.setAirPort('video_id', res[0].droneportsn + '/165-0-7/normal-0');
+        airPortStoreVal.setTypeId(res[0].droneporttype);
+
+        airPortStoreVal.setUAV('sn', res[0].Sn);
+        airPortStoreVal.setUAV('camera_index', cameraCode(res[0].uavtype));
+        airPortStoreVal.setUAV(
+          'video_id',
+          res[0].Sn + '/' + cameraCode(res[0].uavtype) + '/normal-0',
+        );
+
         applyDroneControl({ dronePortSn: res[0].droneportsn }).then((res) => {
           console.log(res);
           droneData.value = res;

src/store/modules/airport.ts

@@ -7,13 +7,13 @@ export const airPortStore = defineStore({
       sn: null,
       camera_index: '165-0-7',
       video_index: 'normal-0',
-      video_id: '8UUXN5400A079H/165-0-7/normal-0',
+      video_id: null,
     },
     uav: {
       sn: null,
-      camera_index: '99-0-0',
+      camera_index: null,
       video_index: 'normal-0',
-      video_id: '1581F8HGX254V00A0BUY/99-0-0/normal-0',
+      video_id: null,
     },
     liveInfo: {
       rtmp: 'rtmp://175.27.168.120:6019/live/',
@@ -27,6 +27,7 @@ export const airPortStore = defineStore({
     project: null,
     taskId: null,
     flightId: null,
+    typeId: null,
   }),
   getters: {
     getAirport(state) {
@@ -50,6 +51,9 @@ export const airPortStore = defineStore({
     getFlightId(state) {
       return state.flightId;
     },
+    getTypeId(state) {
+      return state.typeId;
+    },
   },
   actions: {
     setAirPort(item: any, value: any) {
@@ -70,5 +74,8 @@ export const airPortStore = defineStore({
     setFlightId(value: any) {
       this.flightId = value;
     },
+    setTypeId(value: any) {
+      this.typeId = value;
+    },
   },
 });

src/store/modules/chartEditStore/chartEditStore.ts

@@ -493,28 +493,75 @@ export const useChartEditStore = defineStore({
         }
 
         const index: number = this.fetchTargetIndex();
+        const targetData = this.getComponentList[index];
         if (index !== -1) {
-          // 下移排除最底层, 上移排除最顶层
-          if ((isDown && index === 0) || (!isDown && index === length - 1)) {
+          if (targetData.isGroup) {
+            const groupIndex = targetData.groupList.findIndex(
+              (item) => item.id === this.getTargetChart.selectId[0],
+            );
+            // 分组
+            if (groupIndex === -1) {
+              // 下移排除最底层, 上移排除最顶层
+              if ((isDown && index === 0) || (!isDown && index === length - 1)) {
+                loadingFinish();
+                return;
+              }
+              // 互换位置
+              const swapIndex = isDown ? index - 1 : index + 1;
+              const targetItem = this.getComponentList[index];
+              const swapItem = this.getComponentList[swapIndex];
+
+              // 历史记录
+              if (isHistory) {
+                chartHistoryStore.createLayerHistory(
+                  [targetItem],
+                  isDown ? HistoryActionTypeEnum.DOWN : HistoryActionTypeEnum.UP,
+                );
+              }
+              this.updateComponentList(index, swapItem);
+              this.updateComponentList(swapIndex, targetItem);
+              loadingFinish();
+              return;
+            } else {
+              // 分组里面的单组件
+              const groupLength = targetData.groupList.length;
+              // 下移排除最底层, 上移排除最顶层
+              if ((!isDown && groupIndex === 0) || (isDown && groupIndex === groupLength - 1)) {
+                loadingFinish();
+                return;
+              }
+              // 互换位置
+              const swapIndex = isDown ? groupIndex + 1 : groupIndex - 1;
+              const targetItem = targetData.groupList[groupIndex];
+              const swapItem = targetData.groupList[swapIndex];
+              targetData.groupList[groupIndex] = swapItem;
+              targetData.groupList[swapIndex] = targetItem;
+              this.componentList[index] = targetData;
+              return;
+            }
+          } else {
+            // 下移排除最底层, 上移排除最顶层
+            if ((isDown && index === 0) || (!isDown && index === length - 1)) {
+              loadingFinish();
+              return;
+            }
+            // 互换位置
+            const swapIndex = isDown ? index - 1 : index + 1;
+            const targetItem = this.getComponentList[index];
+            const swapItem = this.getComponentList[swapIndex];
+
+            // 历史记录
+            if (isHistory) {
+              chartHistoryStore.createLayerHistory(
+                [targetItem],
+                isDown ? HistoryActionTypeEnum.DOWN : HistoryActionTypeEnum.UP,
+              );
+            }
+            this.updateComponentList(index, swapItem);
+            this.updateComponentList(swapIndex, targetItem);
             loadingFinish();
             return;
           }
-          // 互换位置
-          const swapIndex = isDown ? index - 1 : index + 1;
-          const targetItem = this.getComponentList[index];
-          const swapItem = this.getComponentList[swapIndex];
-
-          // 历史记录
-          if (isHistory) {
-            chartHistoryStore.createLayerHistory(
-              [targetItem],
-              isDown ? HistoryActionTypeEnum.DOWN : HistoryActionTypeEnum.UP,
-            );
-          }
-          this.updateComponentList(index, swapItem);
-          this.updateComponentList(swapIndex, targetItem);
-          loadingFinish();
-          return;
         }
       } catch (value) {
         loadingError();
@@ -1015,7 +1062,6 @@ export const useChartEditStore = defineStore({
       try {
         // 暂不支持多选
         if (this.getTargetChart.selectId.length > 1) return;
-
         loadingStart();
         const index: number = this.fetchTargetIndex();
         if (index !== -1) {

src/utils/debugging/remote.ts

@@ -33,10 +33,19 @@ export const errorName = (code) => {
     return '错误码' + code;
   }
 };
+export const cameraCode = (code) => {
+  if (code == 'M3TD') {
+    return '81-0-0';
+  } else if (code == 'M4TD') {
+    return '99-0-0';
+  } else if (code == 'M30') {
+    return '52-0-0';
+  }
+};
 export const servicesTopic = (data) => {
   console.log(data);
   console.log(airPortStoreVal.getGateway);
-  
+
   // 发送消息
   clientPublish('thing/product/' + airPortStoreVal.getGateway + '/services', data);
 };