fix: 修正航线数据结构混乱

src/components/MMCFlightControlCenter/components/hangar/components/controlPanel/components/controlLeft/components/taskList/components/normalTask/components/lineList/index.vue

@@ -126,10 +126,17 @@ export default {
             total: 0,
           };
 
-          this.airwayData.records?.map((item) => {
+          this.airwayData.records = this.airwayData.records?.map((item) => {
+            let content = [];
+            try{
+              content = JSON.parse(item.content).content
+            }catch(e){
+              console.log(e);
+            }
             return {
               ...item,
               status: statusMap[item.status],
+              content
             };
           })
         }

src/components/MMCFlightControlCenter/components/hangar/components/controlPanel/components/controlLeft/components/taskList/components/normalTask/index.vue

@@ -87,9 +87,9 @@ export default {
       this.clearAirwayEntities();
       if (this.selectedAirway.id !== -1) {
         try {
-          let airway = JSON.parse(this.selectedAirway.content);
+          let airway = this.selectedAirway.content;
           this.createAirwayEntities({
-            polyline: airway.content,
+            polyline: airway,
             id: airway.id,
           });
         } catch (e) {
@@ -188,11 +188,11 @@ export default {
         });
         // 当前机库状态是否空闲
         if ([0, 8].includes(this.hangarRealTimeData.processStatus)) {
-          this.$store.commit("MMCFlightControlCenter/hangar/setState", {
+          this.$store.commit("MMCFlightControlCenter/uav/setState", {
             key: "airlineData",
             value: this.selectedAirway,
           });
-          this.$store.dispatch("MMCFlightControlCenter/hangar/takeOff", {
+          this.$store.dispatch("MMCFlightControlCenter/uav/takeOff", {
             callback: (status) => {
               if (status) {
                 this.$message.success("一键任务指令发送成功");

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlLeft/components/taskList/components/lineList/index.vue

@@ -125,10 +125,17 @@ export default {
             total: 0,
           };
 
-          this.airwayData.records?.map((item) => {
+          this.airwayData.records = this.airwayData.records?.map((item) => {
+            let content = [];
+            try{
+              content = JSON.parse(item.content).content
+            }catch(e){
+              console.log(e);
+            }
             return {
               ...item,
               status: statusMap[item.status],
+              content
             };
           })
         }

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlLeft/components/taskList/index.vue

@@ -111,7 +111,11 @@ export default {
       this.clearAirwayEntities();
       if (this.selectedAirway.id !== -1) {
         try {
-          this.createAirwayEntities(JSON.parse(this.selectedAirway.content));
+          let airway = this.selectedAirway.content;
+          this.createAirwayEntities({
+            polyline: airway,
+            id: airway.id,
+          });
         } catch (e) {
           console.log("绘制航线失败", e);
         }
@@ -125,6 +129,10 @@ export default {
     this.clearAirwayEntities();
   },
   methods: {
+    ...mapActions("MMCFlightControlCenter", [
+      "createAirwayEntities",
+      "clearAirwayEntities",
+    ]),
     ...mapActions("MMCFlightControlCenter/uav", ["isTakeOver"]),
     /**
      * 更改航线事件
@@ -206,135 +214,6 @@ export default {
         })
       }
     },
-    // 两点距离
-    create_label(before, after) {
-      const before_wgs84 = Utils.transformCartesian2WGS84(before);
-      const after_wgs84 = Utils.transformCartesian2WGS84(after);
-
-      const center_lng = (before_wgs84.lng + after_wgs84.lng) / 2;
-      const cetner_lat = (before_wgs84.lat + after_wgs84.lat) / 2;
-      const alt = (after_wgs84.alt + before_wgs84.alt) / 2;
-
-      const position = Utils.transformWGS842Cartesian({
-        lng: center_lng,
-        lat: cetner_lat,
-        alt: alt,
-      });
-
-      const text = `${Cesium.Cartesian3.distance(before, after).toFixed(2)} m`;
-
-      let label_entity = this.cesiumViewer.entities.add({
-        id: `label_${before}`,
-        position: position,
-        label: {
-          text: text,
-          scale: 0.5,
-          font: "bold 30px Microsoft YaHei",
-          fillColor: Cesium.Color.fromCssColorString("#fff"),
-          horizontalOrigin: Cesium.VerticalOrigin.CENTER,
-          verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
-          disableDepthTestDistance: Number.POSITIVE_INFINITY,
-          showBackground: true,
-          backgroundPadding: new Cesium.Cartesian2(10, 10),
-        },
-      });
-      airwayEntities.push(label_entity);
-    },
-    // 清除航线
-    clearAirwayEntities() {
-      airwayEntities.forEach((item) => {
-        this.cesiumViewer.entities.remove(item);
-      });
-    },
-    createAirwayEntities(polyline) {
-      let pointPositions = [];
-      const label_arr = [];
-      polyline.content.forEach((item, index) => {
-        item.longitude = Number(item.longitude);
-        item.latitude = Number(item.latitude);
-        item.alt = Number(item.alt);
-        pointPositions.push(item.longitude, item.latitude, item.alt);
-        label_arr.push(
-          Cesium.Cartesian3.fromDegrees(item.longitude, item.latitude, item.alt)
-        );
-        point_entity = this.cesiumViewer.entities.add({
-          position: Cesium.Cartesian3.fromDegrees(
-            item.longitude,
-            item.latitude,
-            item.alt
-          ),
-          name: "show_airline_point",
-          point: {
-            pixelSize: 20,
-            color: Cesium.Color.RED,
-            color: Cesium.Color.fromCssColorString("#1890FF"),
-            // fillColor: Cesium.Color.RED,
-            outlineWidth: 2,
-            outlineColor: Cesium.Color.fromCssColorString("#FFF"),
-            // heightReference: Cesium.HeightReference.RELATIVE_TO_GROUND,
-          },
-          label: {
-            // text: String(item.altitude) + 'm',
-            text: String(index + 1),
-            scale: 0.5,
-
-            font: "bold 24px Microsoft YaHei",
-            // fillColor: Cesium.Color.BLUE,
-            fillColor: Cesium.Color.fromCssColorString("#fff"),
-            horizontalOrigin: Cesium.VerticalOrigin.CENTER,
-            verticalOrigin: Cesium.VerticalOrigin.CENTER,
-            disableDepthTestDistance: Number.POSITIVE_INFINITY,
-            outlineWidth: 0,
-            // showBackground: true,
-            // backgroundColor: Cesium.Color.fromCssColorString("#1890FF")
-            // pixelOffset: new Cesium.Cartesian2(25, -10),
-            // backgroundPadding: new Cesium.Cartesian2(10, 10)
-          },
-          id: JSON.stringify({
-            ...item,
-            type: "flight_point",
-            index: index,
-          }),
-        });
-        airwayEntities.push(point_entity);
-        if (label_arr.length > 1 && !this.isEditting) {
-          const before = label_arr[label_arr.length - 2];
-          const after = label_arr[label_arr.length - 1];
-          this.create_label(before, after);
-        }
-      });
-
-      pointPositions =
-        Cesium.Cartesian3.fromDegreesArrayHeights(pointPositions);
-
-      const redLine = this.cesiumViewer.entities.add({
-        name: "Red line on terrain",
-        polyline: {
-          positions: new Cesium.CallbackProperty(() => {
-            return pointPositions;
-          }, false),
-          width: 4,
-          // clampToGround: true,
-          // zIndex: -99,
-          material: Cesium.Color.fromCssColorString("#1890FF"),
-          // material: ({
-          //   // material: Cesium.Color.fromCssColorString('#1890FF'),
-          //   color: Cesium.Color.RED,
-          //   outlineWidth: 2,
-          //   outlineColor: Cesium.Color.fromCssColorString('#FFF')
-          // })
-          // // clampToGround: true,
-          // material: new Cesium.PolylineOutlineMaterialProperty({
-          //   color: Cesium.Color.fromCssColorString('#1890FF'),
-
-          //   // outlineWidth: 2,
-          //   // outlineColor: Cesium.Color.fromCssColorString('#FFF'),
-          // }),
-        },
-      });
-      this.cesiumViewer.flyTo(redLine);
-      airwayEntities.push(redLine);
-    },
   },
 };
 </script>

src/components/MMCFlightControlCenter/store/hangar.js

@@ -48,7 +48,6 @@ const state = {
   hangar: null, // 选择中的机库信息
   showPanel: false, //显示数据面板
   hangarRealTimeData, // 实时数据
-  airlineData: null, // 当前选择的航线数据
 };
 
 const mutations = {
@@ -252,57 +251,6 @@ const actions = {
       },
     });
   },
-  /**
-   * 一键起飞
-   * @param {function} data.callback  //完成回调
-   */
-  async takeOff({ state }, data) {
-    try {
-      let uavHardId =
-        window.$mmc.$store.state.MMCFlightControlCenter.uav.uav.hardId;
-      // 生成架次号
-      const getFlightSortic = await Control_API.getFlightSortic({
-        taskId: state.airlineData.id,
-        deviceHardId: uavHardId,
-      });
-      // 上传航线指令
-      const flightObj = JSON.parse(state.airlineData.content);
-      const waypointList = flightObj.map((v) => ({
-        altitude: v.alt,
-        coordinate: {
-          latitude: v.latitude,
-          longitude: v.longitude,
-        },
-        frame: 3,
-        stay: 0.0,
-        speed: v.speed,
-        waypointActions: v.actions,
-      }));
-      this.$store.dispatch("MMCMQTT/publish", {
-        topic: "PROCESS/OBTAIN/" + state.hangar.hardId,
-        data: {
-          cmdControlType: 100004,
-          uavDeviceId: uavHardId,
-          wayLineObj: {
-            taskId: state.airlineData.id,
-            flightSortiesID: getFlightSortic.data,
-            autoFlightSpeed: state.airlineData.line.baseSpeed,
-            waypointList,
-            finishedAction: "GO_HOME",
-            headingMode: "AUTO",
-            isExitMissionOnRCSignalLostEnabled: true,
-            maxFlightSpeed: 12,
-          },
-        },
-        callback() {
-          data.callback && data.callback(true);
-        },
-      });
-    } catch (e) {
-      console.log(e);
-      data.callback && data.callback(false, e);
-    }
-  },
 };
 
 export default {

src/components/MMCFlightControlCenter/store/uav.js

@@ -607,7 +607,7 @@ const actions = {
           deviceHardId: state.uav.hardId,
         });
         // 上传航线指令
-        const waypointList = JSON.parse(state.airlineData?.content);
+        const waypointList = state.airlineData?.content;
         window.$mmc.$store.dispatch("MMCMQTT/publish", {
           topic: "PX4/OBTAIN/" + state.uav.hardId,
           data: {

vue2/src/views/fkzx1/demo.vue

@@ -5,7 +5,7 @@
         <el-switch v-model="devMode" active-text="测试环境" inactive-text="正式环境"></el-switch>
       </el-form-item>
       <el-form-item label="场景">
-        <el-switch v-model="scene" active-text="无人机" inactive-text="机库"></el-switch>
+        <el-switch v-model="scene1" active-text="无人机" inactive-text="机库"></el-switch>
       </el-form-item>
       <el-form-item label="使用标准航线库">
         <el-switch v-model="useSTLAirway" active-text="启用" inactive-text="关闭"></el-switch>
@@ -31,7 +31,7 @@
         :uavTaskList="uavTaskList"
         :hangarTaskList="hangarTaskList"
         :airwayList="airwayList"
-        :scene="scene ? 0 : 1"
+        :scene="scene"
         :useSTLAirway="useSTLAirway"
         @uavTaskStart="onUAVTaskStart"
         @uavTaskAdd="onUAVTaskAdd"
@@ -56,7 +56,7 @@ export default {
       useSTLAirway: null,
       baseUrl: "https://test.tmj.mmcuav.cn",
       devMode: false,
-      _scene: false, // 场景类型 true: 无人机 false: 机库
+      scene1: false, // 场景类型 true: 无人机 false: 机库
       account: "mmctest@admin",
       password: "test@Admin001",
       userInfo: null,
@@ -159,7 +159,7 @@ export default {
   },
   computed: {
     scene(){
-      return _this.scene ? 1 : 2;
+      return this.scene1 ? 1 : 2;
     }
   },
   watch: {
@@ -183,7 +183,7 @@ export default {
     /**
      * 无人机通过航线创建任务
      */
-    onUavTaskAdd({ airway }) {
+    onUAVTaskAdd({ airway }) {
       console.log("无人机通过航线创建任务", airway);
       let id = Date.now();
       this.uavTaskList.push({
@@ -193,7 +193,7 @@ export default {
         airway,
       });
     },
-    onUAVStartTask(uav, selectedTask, selectedAirway) {
+    onUAVTaskStart(uav, selectedTask, selectedAirway) {
       console.log("一键任务事件", uav, selectedTask, selectedAirway);
       // alert("一键任务事件");
     },

vue2/src/views/fkzxIframe/demo.vue

@@ -5,7 +5,7 @@
         <el-switch v-model="devMode" active-text="测试环境" inactive-text="正式环境"></el-switch>
       </el-form-item>
       <el-form-item label="场景">
-        <el-switch v-model="scene" active-text="无人机" inactive-text="机库"></el-switch>
+        <el-switch v-model="scene1" active-text="无人机" inactive-text="机库"></el-switch>
       </el-form-item>
       <el-form-item label="使用标准航线库">
         <el-switch v-model="useSTLAirway" active-text="启用" inactive-text="关闭"></el-switch>
@@ -33,6 +33,49 @@
 
 <script>
 import { Base64 } from "js-base64";
+//航线数据
+const airway = [
+  {
+    uuid: "1nmI-Fo18IagbcVJsia7Q",
+    latitude: 23.178153411812204,
+    longitude: 112.57807281336807,
+    alt: 100,
+    yawAngle: 0,
+    pitchAngle: 0,
+    speed: 3,
+    actions: [],
+  },
+  {
+    uuid: "9pTbBPlF8iIwbUNqusyHK",
+    latitude: 23.17783116525969,
+    longitude: 112.57797543441967,
+    alt: 100,
+    yawAngle: 0,
+    pitchAngle: 0,
+    speed: 3,
+    actions: [],
+  },
+  {
+    uuid: "s91IhN22wuaeyG-UQs0XR",
+    latitude: 23.17786413506686,
+    longitude: 112.57824336604547,
+    alt: 100,
+    yawAngle: 0,
+    pitchAngle: 0,
+    speed: 3,
+    actions: [],
+  },
+  {
+    uuid: "xS_JIl3wxQrhMPdpcjcSn",
+    latitude: 23.17820934975604,
+    longitude: 112.5781357731637,
+    alt: 100,
+    yawAngle: 0,
+    pitchAngle: 0,
+    speed: 3,
+    actions: [],
+  },
+];
 
 export default {
   name: "fkzxIframe",
@@ -41,7 +84,7 @@ export default {
       isIframeReady: false, //是否接收到iframe里的ready事件
       baseUrl: "https://test.tmj.mmcuav.cn",
       devMode: false,
-      _scene: null, // 场景类型 true: 无人机 false: 机库
+      scene1: null, // 场景类型 true: 无人机 false: 机库
       useSTLAirway: null, // 使用标准航线库
       account: "mmctest@admin",
       password: "test@Admin001",
@@ -65,7 +108,7 @@ export default {
             name: "航线名称1",
             id: 1,
             content:
-              '{"filename":"肇庆航线20240318","line":{"baseSpeed":3},"content":[{"uuid":"1nmI-Fo18IagbcVJsia7Q","latitude":23.178153411812204,"longitude":112.57807281336807,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"9pTbBPlF8iIwbUNqusyHK","latitude":23.17783116525969,"longitude":112.57797543441967,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"s91IhN22wuaeyG-UQs0XR","latitude":23.17786413506686,"longitude":112.57824336604547,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"xS_JIl3wxQrhMPdpcjcSn","latitude":23.17820934975604,"longitude":112.5781357731637,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]}],"baseSpeed":3,"gimbalYaw":0,"gimbalPitch":0,"alt":100}',
+              airway,
           },
         },
         {
@@ -75,9 +118,8 @@ export default {
           airway: {
             name: "航线名称2",
             id: 2,
-            content:
-              '{"filename":"肇庆航线20240318","line":{"baseSpeed":3},"content":[{"uuid":"1nmI-Fo18IagbcVJsia7Q","latitude":23.178153411812204,"longitude":112.57807281336807,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"9pTbBPlF8iIwbUNqusyHK","latitude":23.17783116525969,"longitude":112.57797543441967,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"s91IhN22wuaeyG-UQs0XR","latitude":23.17786413506686,"longitude":112.57824336604547,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"xS_JIl3wxQrhMPdpcjcSn","latitude":23.17820934975604,"longitude":112.5781357731637,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]}],"baseSpeed":3,"gimbalYaw":0,"gimbalPitch":0,"alt":100}',
-          },
+            content: airway
+        },
         }, */
       ],
       hangarTaskList: {
@@ -123,7 +165,7 @@ export default {
   },
   computed: {
     scene() {
-      return _this.scene ? 1 : 2;
+      return this.scene1 ? 1 : 2;
     },
   },
   watch: {
@@ -290,8 +332,7 @@ export default {
         data: {
           name: "获取航线" + airwayId,
           id: airwayId,
-          content:
-            '{"filename":"肇庆航线20240318","line":{"baseSpeed":3},"content":[{"uuid":"1nmI-Fo18IagbcVJsia7Q","latitude":23.178153411812204,"longitude":112.57807281336807,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"9pTbBPlF8iIwbUNqusyHK","latitude":23.17783116525969,"longitude":112.57797543441967,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"s91IhN22wuaeyG-UQs0XR","latitude":23.17786413506686,"longitude":112.57824336604547,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]},{"uuid":"xS_JIl3wxQrhMPdpcjcSn","latitude":23.17820934975604,"longitude":112.5781357731637,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[]}],"baseSpeed":3,"gimbalYaw":0,"gimbalPitch":0,"alt":100}',
+          content: airway,
         },
       });
     },
@@ -314,8 +355,7 @@ export default {
               isSafe: 1, // 安全状态1: 安全 , 0: 待确定,
               labelName: "航线标签",
               //航线数据
-              content:
-                '{"filename":"盐城基地拍照录像","line":{"baseSpeed":6},"content":[{"uuid":"1uamoBnUN8je_2s5O7LAI","latitude":33.326034986025924,"longitude":120.2855868204341,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[{"id":2,"label":"拍照","key":"photo","checked":true,"value":1,"unit":"张"}]},{"uuid":"0V_BPu2m3u-zsCIVKRR7v","latitude":33.32572118330467,"longitude":120.28452270932941,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[{"id":2,"label":"拍照","key":"photo","checked":true,"value":1,"unit":"张"}]},{"uuid":"vXX0IkeE-z0BjMcQEG3f1","latitude":33.32483291531692,"longitude":120.28544172335158,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[{"id":3,"label":"录像","key":"video","checked":true,"value":0,"unit":"s"}]},{"uuid":"L32qDDlAiMtyKjoaySxHW","latitude":33.32576947678917,"longitude":120.28641994886797,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[{"id":3,"label":"录像","key":"video","checked":true,"value":0,"unit":"s"}]},{"uuid":"FYnNBx-i3bHkbEgt3QCWF","latitude":33.326686239734364,"longitude":120.28572577154279,"alt":100,"yawAngle":0,"pitchAngle":0,"speed":3,"actions":[{"id":3,"label":"录像","key":"video","checked":true,"value":0,"unit":"s"}]}],"baseSpeed":6,"gimbalYaw":0,"gimbalPitch":0,"alt":100}',
+              content: airway,
             },
           ],
           size: 10, // 当前页记录数