飞行控制测试

src/utils/debugging/events.ts

@@ -10,24 +10,24 @@ export const return_home_status = {
   sent: '已下发',
   timeout: '超时',
 };
-export const eventsTopic = (data) => {
+export const eventsTopicReize = (data) => {
   // 发送消息
   clientReizePublish('thing/product/8UUXN5400A079H/events', data);
 };
-export const events_replyTopic = () => {
+export const events_replyTopicReize = () => {
   // 订阅消息
   clientReizeSubscribe('thing/product/8UUXN5400A079H/events_reply');
 };
 
-export const servicesTopic = (data) => {
+export const servicesTopicReize = (data) => {
   // 发送消息
   clientReizePublish('thing/product/8UUXN5400A079H/services', data);
 };
-export const services_replyTopic = () => {
+export const services_replyTopicReize = () => {
   // 订阅消息
   clientReizeSubscribe('thing/product/8UUXN5400A079H/services_reply');
 };
-export const drcDownTopic = (data) => {
+export const drcDownTopicReize = (data) => {
   // 发送消息thing/product/{gateway_sn}/drc/down
   clientReizePublish('thing/product/8UUXN5400A079H/drc/down', data);
 };

src/utils/mqtt.ts

@@ -49,16 +49,16 @@ const createConnection = (callback?) => {
     const connectUrl = `${protocol}://${host}:${port}${endpoint}`;
     client = mqtt.connect(connectUrl, options);
     client.on('connect', () => {
-      console.log('✅ 已连接');
+      // console.log('✅ 已连接');
       if(callback){
         callback()
       }
     });
     client.on('close', () => {
-      console.log('❌ 连接已关闭');
+      // console.log('❌ 连接已关闭');
     });
     client.on('error', (err) => {
-      console.error('❌ 出错了:', err);
+      // console.error('❌ 出错了:', err);
     });
     if (client.on) {
     }
@@ -127,7 +127,7 @@ const getConnectStatus = () => {
 // unsubscribe 事件 取消订阅
 
 // 抢夺负载权、飞行控制权的时候使用
-const client_seize: any = {
+let client_seize: any = {
   connected: false,
 };
 const createSeizeConnection = () => {
@@ -145,7 +145,7 @@ const createSeizeConnection = () => {
 };
 const getReizeClient = () => {
   if (!client_seize || !client_seize.connected) {
-    getReizeClient();
+    createSeizeConnection();
   }
   return client_seize;
 };

src/views/demo/workmanagement/flightoperation/src/FlightControl.vue

@@ -8,11 +8,13 @@
     </div>
     <div class="content">
       <div class="content-button">
-        <a-button @click="obtain">获取飞行器控制权</a-button>
         <a-button @click="emits('clickTakeOff')">一键起飞</a-button>
         <a-button>指点飞行</a-button>
         <!-- <a-button>智能环绕</a-button> -->
         <a-button @click="returnVoyage">一键返航</a-button>
+        <a-button @click="obtain">获取飞行器控制权</a-button>
+        <a-button @click="enterDRC">进入飞行控制</a-button>
+        <a-button @click="exitDRC">退出飞行控制</a-button>
       </div>
       <div class="content-info">
         <div class="info-item">
@@ -40,12 +42,14 @@
   import { vDrag } from '@/utils/drag';
   import { getReizeClient, createSeizeConnection, clientReizePublish } from '@/utils/mqtt';
   import {
-    eventsTopic,
-    events_replyTopic,
-    drcDownTopic,
-    servicesTopic,
+    eventsTopicReize,
+    events_replyTopicReize,
+    drcDownTopicReize,
+    servicesTopicReize,
+    services_replyTopicReize,
     return_home_status,
   } from '@/utils/debugging/events';
+  import { servicesTopic } from '@/utils/debugging/remote';
   import { buildGUID } from '@/utils/uuid';
   import { useMessage } from '@/hooks/web/useMessage';
 
@@ -90,7 +94,7 @@
     }
     setTimeout(() => {
       // 飞行控制权抢夺
-      eventsTopic({
+      servicesTopicReize({
         bid: buildGUID(),
         method: 'flight_authority_grab',
         tid: buildGUID(),
@@ -98,7 +102,7 @@
         data: {},
       });
       // 负载控制权抢夺
-      eventsTopic({
+      servicesTopicReize({
         bid: buildGUID(),
         method: 'payload_authority_grab',
         tid: buildGUID(),
@@ -107,20 +111,33 @@
           payload_index: '99-0-0',
         },
       });
-      events_replyTopic();
+      events_replyTopicReize();
+      services_replyTopicReize();
       // // 接收消息
       getReizeClient().on('message', (topic, message) => {
         const rs = JSON.parse(message);
         console.log(rs);
         // 一键返航
         if (rs.method === 'return_home') {
-          createMessage.info(return_home_status[rs.data.output.status]);
+          if (rs.data.result == 0) {
+            createMessage.success('一键返航成功');
+          } else {
+            createMessage.error('一键返航失败，状态码' + rs.data.result);
+          }
+        }
+        if (rs.method === 'takeoff_to_point') {
+          if (rs.data.result == 0) {
+            createMessage.success('一键起飞成功');
+          } else {
+            createMessage.error('一键起飞失败，状态码' + rs.data.result);
+          }
         }
       });
     }, 1000);
   };
   // 一键返航
   const returnVoyage = () => {
+    // 老的
     servicesTopic({
       bid: buildGUID(),
       method: 'return_home',
@@ -128,21 +145,79 @@
       timestamp: new Date().getTime(),
       data: {},
     });
+    // 新的servicesTopicReize
   };
+  const seq = ref(1);
   const changeDRC = (type, value) => {
+    seq.value = seq.value + 1;
     if (value == 'up') {
       data[type] = data[type] + 20;
     } else {
       data[type] = data[type] - 20;
     }
     const querys = {
-      seq: 1,
+      seq: seq.value,
       method: 'stick_control',
       data: data,
     };
-    drcDownTopic(querys);
+    console.log(querys);
+    drcDownTopicReize(querys);
   };
-  onMounted(() => {});
+  const enterDRC = () => {
+    // http://175.27.168.120:6012/players/srs_player.html?schema=http&port=6012&api=6012
+    const querys = {
+      bid: buildGUID(),
+      data: {
+        hsi_frequency: 10,
+        mqtt_broker: {
+          address: 'http://175.27.168.120:6010',
+          client_id: 'mqtt_client_1581F8HGX254V00A0BUY_seize',
+          enable_tls: false,
+          expire_time: 3600,
+          password: '',
+          username: 'sdhc',
+        },
+        osd_frequency: 5,
+      },
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      method: 'drc_mode_enter',
+    };
+    console.log(querys);
+    servicesTopicReize(querys);
+  };
+  const exitDRC = () => {
+    const querys = {
+      bid: buildGUID(),
+      data: {},
+      tid: buildGUID(),
+      timestamp: new Date().getTime(),
+      method: 'drc_mode_exit',
+    };
+    servicesTopicReize(querys);
+  };
+  onMounted(() => {
+    // // 接收消息
+    getReizeClient().on('message', (topic, message) => {
+      const rs = JSON.parse(message);
+      if (rs.method == 'drc_mode_enter') {
+        console.log(rs);
+        if (rs.data.result == 0) {
+          createMessage.success('进入指令飞行控制模式成功');
+        } else {
+          createMessage.error('进入指令飞行控制模式失败，状态码' + rs.data.result);
+        }
+      }
+      if (rs.method == 'drc_mode_exit') {
+        console.log(rs);
+        if (rs.data.result == 0) {
+          createMessage.success('退出指令飞行控制模式成功');
+        } else {
+          createMessage.error('退出指令飞行控制模式失败，状态码' + rs.data.result);
+        }
+      }
+    });
+  });
 </script>
 <style lang="less" scoped>
   .flight-control {

src/views/demo/workmanagement/flightoperation/src/LoadControl.vue

@@ -47,7 +47,12 @@
   import { CloseOutlined } from '@ant-design/icons-vue';
   import { vDrag } from '@/utils/drag';
   import { buildGUID } from '@/utils/uuid';
-  import { eventsTopic, events_replyTopic, drcDownTopic } from '@/utils/debugging/events';
+  import {
+    eventsTopicReize,
+    events_replyTopicReize,
+    drcDownTopicReize,
+    servicesTopicReize,
+  } from '@/utils/debugging/events';
 
   const emits = defineEmits(['changeLoadControl']);
   const props = defineProps({
@@ -90,7 +95,7 @@
     }
     setTimeout(() => {
       // 飞行控制权抢夺
-      eventsTopic({
+      servicesTopicReize({
         bid: buildGUID(),
         method: 'flight_authority_grab',
         tid: buildGUID(),
@@ -98,7 +103,7 @@
         data: {},
       });
       // 负载控制权抢夺
-      eventsTopic({
+      servicesTopicReize({
         bid: buildGUID(),
         method: 'payload_authority_grab',
         tid: buildGUID(),
@@ -107,13 +112,13 @@
           payload_index: '99-0-0',
         },
       });
-      events_replyTopic();
+      events_replyTopicReize();
     }, 1000);
   };
   // 单拍
   const singleShot = () => {
     // 开始拍照
-    eventsTopic({
+    eventsTopicReize({
       bid: buildGUID(),
       method: 'camera_photo_take',
       tid: buildGUID(),
@@ -135,14 +140,16 @@
       method: 'stick_control',
       data: drcVal,
     };
-    drcDownTopic(querys);
+    drcDownTopicReize(querys);
   };
   onMounted(() => {
     // // 接收消息
-    // getReizeClient().on('message', (topic, message) => {
-    //   const rs = JSON.parse(message);
-    //   console.log(rs);
-    // });
+    getReizeClient().on('message', (topic, message) => {
+      const rs = JSON.parse(message);
+      if (rs.method == 'takeoff_to_point') {
+        console.log(rs);
+      }
+    });
   });
 </script>
 <style lang="less" scoped>

src/views/demo/workmanagement/flightoperation/src/TakeOffForm.vue

@@ -93,7 +93,8 @@
   import { CopyOutlined, EditOutlined } from '@ant-design/icons-vue';
   import { timestampToFormattedDate } from '@/utils/index';
   import { buildGUID, uuid } from '@/utils/uuid';
-  import { servicesTopic, services_replyTopic } from '@/utils/debugging/events';
+  import { servicesTopicReize, services_replyTopicReize } from '@/utils/debugging/events';
+  import { servicesTopic, services_replyTopic } from '@/utils/debugging/remote';
   import { vDrag } from '@/utils/drag';
   import { CloseOutlined } from '@ant-design/icons-vue';
 
@@ -115,11 +116,11 @@
     commander_mode_lost_action: 1,
     commander_flight_height: 115.0,
     flight_safety_advance_check: 1,
-    simulate_mission: {
-      is_enable: 1, // 是否开启模拟任务{"0":"不开启","1":"开启"}
-      latitude: 35.143567, // 模拟器纬度
-      longitude: 118.305623, // 模拟器经度
-    },
+    // simulate_mission: {
+    //   is_enable: 1, // 是否开启模拟任务{"0":"不开启","1":"开启"}
+    //   latitude: 35.143567, // 模拟器纬度
+    //   longitude: 118.305623, // 模拟器经度
+    // },
   });
   const uavInformation = ref({
     sub_device: {
@@ -185,7 +186,12 @@
       method: 'takeoff_to_point',
     };
     console.log(querys);
+    // 新的
+    // servicesTopicReize(querys);
+    // services_replyTopicReize();
+    // 老的
     servicesTopic(querys);
+    services_replyTopic();
     setTimeout(() => {
       emits('changeTakeOffForm');
     }, 1000);