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

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

@@ -30,12 +30,14 @@
           <a-button @click="emits('clickFlyTo')">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" style="background-color: #1b71e8; border: none"
-            >获取飞行器控制权</a-button
-          >
-          <a-button @click="enterDRC" style="background-color: #24d365; border: none"
-            >进入飞行控制</a-button
-          >
+          <a-button @click="obtain" style="background-color: #1b71e8; border: none">
+            <template #icon v-if="flightGrab"><CheckOutlined /></template>
+            获取飞行器控制权
+          </a-button>
+          <a-button @click="enterDRC" style="background-color: #24d365; border: none">
+            <template #icon v-if="modeEnter"><CheckOutlined /></template>
+            进入飞行控制
+          </a-button>
           <a-button @click="exitDRC" style="background-color: #e3150e; border: none"
             >退出飞行控制</a-button
           >
@@ -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();

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

@@ -17,7 +17,10 @@
       </div>
       <div class="content">
         <div class="content-button">
-          <a-button @click="obtain">获取相机控制权</a-button>
+          <a-button @click="obtain">
+            <template #icon v-if="grabBtn"><CheckOutlined /></template>
+            获取相机控制权
+          </a-button>
           <a-button @click="singleShot">单拍</a-button>
         </div>
         <div class="direction-controller">
@@ -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));
         }
       }