fix:摇杆控制更改

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlBottom/index.vue

@@ -21,7 +21,7 @@
         <img src="./assets/images/auto.svg" />
         <span class="dib">自动</span>
       </div>
-      <div v-else-if="controlType === 1" class="control-bottom-item" @click="onModeKeyboard">
+      <div v-else-if="controlType === 1" :class="manualControlStatus? 'active control-bottom-item':'control-bottom-item'" @click="onModeKeyboard">
         <img src="./assets/images/manual.svg" />
         <span class="dib">摇杆</span>
       </div>
@@ -68,11 +68,33 @@ export default {
   },
   data() {
     return {
+      // 摇杆手动控制状态
+      manualControlStatus:false,
       controlType: 0, //控制类型, 0: 自动 1: 摇杆 2: 键盘
     };
   },
+  watch: {
+    // 状态改变时摇杆会切换为手动模式
+    "onModeManualState":{
+      handler(val) {
+        if(val){
+          this.onModeManual()
+        }
+      }
+    },
+    "manualControlStatus": {
+      handler(val) {
+        this.$store.commit("MMCFlightControlCenter/joystick/setState", {
+              key: "manualControlStatus",
+              value: val,
+            });
+      },
+    },
+    immediate: true,
+  },
   computed: {
     ...mapState("MMCFlightControlCenter/uav", ["uav", "airlineData"]),
+    ...mapState("MMCFlightControlCenter/joystick", ["onModeManualState"]), 
   },
   methods: {
     /**
@@ -245,6 +267,9 @@ export default {
       transform: scale(1.1);
     }
   }
+  .active{
+    background-color: #0cc81f;
+  }
 }
 
 .key-control {

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlRight/components/controlList/index.vue

@@ -2,7 +2,10 @@
   <div>
     <div class="nset_control_box dialog1027" v-if="show">
       <div class="dialog-header">
-        <img class="dialog-header__icon" src="../../assets/images/mount_head.png" />
+        <img
+          class="dialog-header__icon"
+          src="../../assets/images/mount_head.png"
+        />
         <div class="dialog-header__title">操作区域</div>
         <div class="dialog-header__close" @click="$emit('exit')">关闭</div>
       </div>
@@ -32,11 +35,19 @@
             <SymbolIcon icon="yunhangrizhi2" />
             <span class="txt">运行日志</span>
           </div>
-          <div class="item" @click="guideFlight" v-if="uav && uav.network === 2">
+          <div
+            class="item"
+            @click="guideFlight"
+            v-if="uav && uav.network === 2"
+          >
             <SymbolIcon icon="tiaozhuandaozuobiao" />
             <span class="txt">指点飞行</span>
           </div>
-          <div class="item" @click="onInfieldControl" v-if="uav && uav.network === 2">
+          <div
+            class="item"
+            @click="onInfieldControl"
+            v-if="uav && uav.network === 2"
+          >
             <img class="dib mt3" src="./assets/images/1.svg" alt />
             <span class="txt">内场控制</span>
           </div>
@@ -52,7 +63,9 @@
       >
         <div class="endrenwu">
           <div class="tishiyu">紧急迫降</div>
-          <div class="queding">无人机即将原地降落，请确认无人机下方是否安全！</div>
+          <div class="queding">
+            无人机即将原地降落，请确认无人机下方是否安全！
+          </div>
           <div class="btn_kuang">
             <div class="btn btn_lan" @click="safetyNotice = false">取消</div>
             <div style="width: 20px"></div>
@@ -66,15 +79,19 @@
         :visible.sync="showInfieldControlDialog"
         width="30%"
         :append-to-body="true"
+        custom-class="mmc"
         style="margin-top: 20vh"
       >
         <div class="endrenwu">
           <div class="tishiyu">温馨提示</div>
           <div class="queding" v-if="!isAcceleratorMedian">
             当前油门值为
-            <span style="color:red">{{uavRealTimeData.rcChannelState.toFixed(2)||0}}</span>,请调到中位(470-530)
+            <span style="color: red">{{ throttleValue.toFixed(2) || 0 }}</span
+            >,请调到中位(470-530)
+          </div>
+          <div class="queding" v-if="isAcceleratorMedian">
+            摇杆已处于中位，即将切换内场权限
           </div>
-          <div class="queding" v-if="isAcceleratorMedian">摇杆已处于中位，即将切换内场权限</div>
         </div>
       </el-dialog>
       <el-dialog
@@ -92,8 +109,11 @@
           <div class="queding">位置获取成功，请确认是否进行指点模式飞行</div>
           <div class="fleSpeed">
             指点飞行速度：
-            <el-input oninput="value=value.replace(/[^0-9.]/g,'')" v-model="flySpeed"></el-input>
-            <span style="opacity: 0;">1</span>(米/秒)
+            <el-input
+              oninput="value=value.replace(/[^0-9.]/g,'')"
+              v-model="flySpeed"
+            ></el-input>
+            <span style="opacity: 0">1</span>(米/秒)
           </div>
           <div class="red" v-if="maxSpeed">指点飞行最大速度为8米/秒</div>
           <div class="btn_kuang">
@@ -161,9 +181,16 @@ export default {
       "uavRealTimeData",
     ]),
     ...mapState("MMCFlightControlCenter", ["userInfo", "cesiumViewer"]),
+    ...mapState("MMCFlightControlCenter/joystick", [
+      "throttleValue",
+      "manualControlStatus",
+    ]),
   },
   watch: {
-    "uavRealTimeData.rcChannelState"(val) {
+    throttleValue(val) {
+      if (val == -1) {
+        this.showInfieldControlDialog = true;
+      }
       // 判断是否为外场权限
       if (this.uavRealTimeData.rcState == 0) {
         // 判断油门是否处于中位
@@ -180,7 +207,14 @@ export default {
             );
             setTimeout(() => {
               if (this.uavRealTimeData.rcState == 1) {
+                // 摇杆切换为手动模式
+                if (!this.manualControlStatus) {
+                this.$message.success("已切换内场权限，摇杆即将切换为手动模式！");
+                  this.changeModeManualState();
+                }else{
                 this.$message.success("已切换内场权限，请使用摇杆控制！");
+
+                }
                 this.showInfieldControlDialog = false;
               } else {
                 // this.$message.error("摇杆权限切换失败");
@@ -208,13 +242,13 @@ export default {
       "routeControl",
       "isTakeOver",
     ]),
-    isTakeOverHangar(){
+    isTakeOverHangar() {
       return this.$store.dispatch("MMCFlightControlCenter/hangar/isTakeOver");
     },
     async isTake() {
       // 判断是否已接管
       let isTakeOver = this.isTakeOver;
-      if(this.isHangar){
+      if (this.isHangar) {
         isTakeOver = this.isTakeOverHangar;
       }
       if (!(await isTakeOver())) {
@@ -229,7 +263,7 @@ export default {
     async onSwitchAirline() {
       // 判断是否已接管
       let isTakeOver = this.isTakeOver;
-      if(this.isHangar){
+      if (this.isHangar) {
         isTakeOver = this.isTakeOverHangar;
       }
       if (!(await isTakeOver())) {
@@ -279,6 +313,12 @@ export default {
       this.safetyNotice = false;
       this.land();
     },
+    changeModeManualState() {
+      this.$store.commit("MMCFlightControlCenter/joystick/setState", {
+        key: "onModeManualState",
+        value: new Date().getTime(),
+      });
+    },
     /**
      * 内场控制
      */
@@ -293,7 +333,14 @@ export default {
       if (this.uavRealTimeData.rcState == 1) {
         this.$message.success("当前处于内场模式，请使用摇杆控制！");
       } else {
-        this.showInfieldControlDialog = true;
+        // 如果摇杆是手动模式，则展示油门弹窗
+        if (this.manualControlStatus) {
+          this.showInfieldControlDialog = true;
+        } else {
+          this.$message.success("摇杆即将切换为手动模式,请稍等！");
+          // onModeKeyboard
+          this.changeModeManualState();
+        }
       }
     },
     /**
@@ -325,15 +372,15 @@ export default {
      * 指点飞行
      */
     async guideFlight() {
-      // 判断是否已接管
-      if (!(await this.isTake())) {
-        return;
-      }
-      if (this.uav.online === 0)
-        return this.$message.warning("处于离线状态，不可操作！");
-      if (!this.guideFlightDone) {
-        return this.$message.warning("指点飞行操作中！");
-      }
+      // // 判断是否已接管
+      // if (!(await this.isTake())) {
+      //   return;
+      // }
+      // if (this.uav.online === 0)
+      //   return this.$message.warning("处于离线状态，不可操作！");
+      // if (!this.guideFlightDone) {
+      //   return this.$message.warning("指点飞行操作中！");
+      // }
 
       let viewer = this.cesiumViewer;
       // 指点飞行 wgs84

src/components/MMCFlightControlCenter/components/uavApplications/components/controlPanel/components/controlRight/components/mount/index.vue

@@ -2,10 +2,15 @@
   <div class="mountBox">
     <div class="main" v-if="show">
       <div v-if="mountList.length > 0" class="list">
-        <div class="mount-item pr mt6" :class="{
-          active:
-            (selectMount && selectMount.gimbalName) === item.gimbalName,
-        }" v-for="(item, index) in mountList" :key="index">
+        <div
+          class="mount-item pr mt6"
+          :class="{
+                active:
+                  (selectMount && selectMount.gimbalName) === item.gimbalName,
+              }"
+          v-for="(item, index) in mountList"
+          :key="index"
+        >
           <div class="icon-box" @click="onSelectMount(item)">
             <img class :src="item.icon" />
           </div>
@@ -13,15 +18,23 @@
       </div>
     </div>
     <template v-if="selectMount">
-      <component :is="selectMount.gimbalName" v-if="selectMount" class="mount-panel" :keyFlag="nxNormal"
-        :payload_data="selectMountPayload" @directive="mountDirective" @take_photo="mountTakePhoto"
-        @record="mountRecord" @close="mountClose" />
+      <component
+        :is="selectMount.gimbalName"
+        v-if="selectMount"
+        class="mount-panel"
+        :keyFlag="nxNormal"
+        :payload_data="selectMountPayload"
+        @directive="mountDirective"
+        @take_photo="mountTakePhoto"
+        @record="mountRecord"
+        @close="mountClose"
+      />
     </template>
   </div>
 </template>
 <script>
 // import API from "@/api";
-import { mapState, mapGetters, mapActions } from "vuex";
+import { mapState, mapGetters } from "vuex";
 import mount from "../../../../../../../../../MMCMount";
 // 所有的挂载组件
 const mountComponents = {};
@@ -35,11 +48,6 @@ export default {
     ...mountComponents,
   },
   props: {
-    // 是否机库页面使用
-    isHangar: {
-      type: Boolean,
-      default: false,
-    },
     show: {
       type: Boolean,
       default: false,
@@ -52,10 +60,6 @@ export default {
       type: Boolean,
       default: () => false,
     },
-    isHangar: {
-      type: Boolean,
-      default: false,
-    },
   },
   data() {
     return {};
@@ -71,36 +75,18 @@ export default {
     ]),
     ...mapGetters("MMCFlightControlCenter/uav", ["selectMountPayload"]),
     nxNormal() {
-      return this.uavRealTimeData?.healthData?.NX?.code === "0x2110000";
+      return this.uavRealTimeData?.healthData?.NX?.warningLevel === "NORMAL";
     },
   },
-  created() { },
-  mounted() { },
-  beforeDestroy() { },
+  created() {},
+  mounted() {},
+  beforeDestroy() {},
   methods: {
-    ...mapActions("MMCFlightControlCenter/uav", ["isTakeOver"]),
-    isTakeOverHangar() {
-      return this.$store.dispatch("MMCFlightControlCenter/hangar/isTakeOver");
-    },
-    async isTake() {
-      // 判断是否已接管
-      let isTakeOver = this.isTakeOver;
-      if (this.isHangar) {
-        isTakeOver = this.isTakeOverHangar;
-      }
-      if (!(await isTakeOver())) {
-        this.$message.warning("请先接管设备");
-        return false;
-      }
-      return true;
-    },
-    async onSelectMount(item) {
-      if (await this.isTake()) {
-        this.$store.commit("MMCFlightControlCenter/uav/setState", {
-          key: "selectMount",
-          value: item,
-        });
-      }
+    onSelectMount(item) {
+      this.$store.commit("MMCFlightControlCenter/uav/setState", {
+        key: "selectMount",
+        value: item,
+      });
     },
     /**
      * 挂载指令事件

src/components/MMCFlightControlCenter/mixins/joystick.js

@@ -32,7 +32,7 @@ export default {
           type: 513,
           data: val,
         },
-        callback() {},
+        callback() { },
       });
     },
   },
@@ -50,7 +50,7 @@ export default {
       let topic = `${uavCate}/OBTAIN/${this.uav.deviceId}`;
       this.wsJoystick = new WebSocket("ws://127.0.0.1:8802");
       this.wsJoystick.onopen = () => {
-        console.log("joystick.js 连接上 ws://127.0.0.1:8802");
+        console.log("joystick.js 连接上 ws://127.0.0.1:8802 1112222");
         this.wsJoystick.send(
           JSON.stringify({
             type: 2003,
@@ -72,9 +72,8 @@ export default {
           if (obj.type == 518) {
           }
           let data = JSON.parse(event.currentTarget.result).data;
-          window.$log("joystick.js message", data);
           let y = data.channel03; //油门值 0-1000
-
+          this.keyboardFlag = true
           // console.log(data.channel03,data,"yyyyyyyy");
           if (y || y == 0) {
             this.$store.commit("MMCFlightControlCenter/joystick/setState", {
@@ -180,6 +179,7 @@ export default {
         return;
       }
       this.cameraMountCtr("stop", this.lastMountCtrl);
+      this.keyboardFlag = false
       setTimeout(() => {
         this.wsJoystick.send(JSON.stringify({ type: 2010, data: {} }));
         this.wsJoystick && this.wsJoystick.close();
@@ -248,7 +248,7 @@ export default {
             payload: buffer,
           },
         },
-        callback() {},
+        callback() { },
       });
     },
   },

src/components/MMCFlightControlCenter/store/joystick.js

 const state = {
   throttleValue: 0, //油门值
+  manualControlStatus: false, //是否手动控制
+  onModeManualState:null, //状态改变时摇杆会切换为手动模式
 };
 
 const mutations = {
@@ -25,7 +27,7 @@ const getters = {
    * @param {*} state 
    * @returns 
    */
-  isThrottleCenter(state){
+  isThrottleCenter(state) {
     if (state.throttleValue >= 470 && state.throttleValue <= 530) {
       return true;
     } else {