feat: 增加任务库

iframe/src/App.vue

@@ -8,7 +8,7 @@
     :scene="scene"
     :useSTLAirway="useSTLAirway"
     :useTimedTask="useTimedTask"
-    :useAirway="useAirway"
+    :useTask="useTask"
     @tokenInvalid="dispatchEvent('tokenInvalid')"
     @refreshToken="dispatchEvent('refreshToken', $event)"
     @uavChange="dispatchEvent('uavChange', $event)"
@@ -50,7 +50,7 @@ export default {
       airwayPageChangeCB: null, //航线翻页时回调
       airwayGetCB: null, //获取航线数据回调
       taskListGetCB: null, //获取任务数据回调
-      useAirway: true, //使用航线而不使用任务起飞
+      useTask: false, //使用任务进行航线选择
       callbackList: {},
     };
   },

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

 <template>
   <div class="taskListBox">
     <el-form class="task-main" label-width="70px">
+      <el-form-item label="任务库" v-if="useTask">
+        <el-select v-model="selectedTaskId" clearable>
+          <el-option v-for="(item , i) in taskList" :label="item.name" :value="item.id"></el-option>
+        </el-select>
+      </el-form-item>
       <el-form-item label="航线选择">
         <el-select v-model="selectedAirwayId">
           <el-option v-for="(item , i) in airwayList" :label="item.name" :value="item.id"></el-option>
@@ -32,16 +37,31 @@ export default {
   inject: ["rootNode", "bus"],
   data() {
     return {
-      //航线列表
-      airwayList: [],
-      // 选择的航线
-      selectedAirwayId: "",
+      airwayList: [], //航线列表
+      selectedAirwayId: "", // 选择的航线
+      taskList: [], //任务列表
+      selectedTaskId: "", //选择的任务
+      airwaySelectDisabled: false, //选择任务后, 禁用航线选择
     };
   },
   computed: {
-    ...mapState("MMCFlightControlCenter", ["cesiumViewer", "useSTLAirway"]),
+    ...mapState("MMCFlightControlCenter", ["cesiumViewer", "useSTLAirway", "useTask"]),
     ...mapState("MMCFlightControlCenter/uav", ["uav", "uavRealTimeData"]),
     ...mapState("MMCFlightControlCenter/hangar", ["hangar"]),
+    // 选择的任务
+    selectedTask() {
+      let find = this.taskList.find((item) => {
+        return item.id == this.selectedTaskId;
+      });
+      if (find) {
+        return find;
+      } else {
+        return {
+          name: "",
+          id: -1,
+        };
+      }
+    },
     showAirwayEdit: {
       get() {
         return this.$store.state.MMCFlightControlCenter.showAirwayEdit;
@@ -69,6 +89,15 @@ export default {
     },
   },
   watch: {
+    selectedTask() {
+      if (this.selectedTask.id !== -1) {
+        this.airwaySelectDisabled = true;
+      } else {
+        this.airwaySelectDisabled = false;
+      }
+      // 任务改变则修改航线选择为任务中的航线
+      this.selectedAirwayId = this.selectedTask?.airwayId;
+    },
     selectedAirway() {
       this.clearAirwayEntities();
       if (this.selectedAirway.id !== -1) {
@@ -81,55 +110,18 @@ export default {
         } catch (e) {
           console.log("绘制航线失败", e);
         }
+      } else {
+        if (this.selectedTaskId && this.selectedAirwayId == "") {
+          this.$message.warning("未找到相应的航线");
+        }
+        this.selectedAirwayId = "";
+        this.airwaySelectDisabled = false;
       }
     },
   },
   async created() {
     this.bus.$on("startTask", this.onStartTask);
-    /* if (this.useSTLAirway) {
-      let res = await Control_API.getUavRouteList({
-        pageNo: 1,
-        pageSize: 100,
-        nestId: this.hangar.id,
-      });
-      if (res?.code === 0) {
-        let airwayList = [];
-        for (let i = 0; i < res.data.list.length; i++) {
-          let item = res.data.list[i];
-          let flightCourseJson;
-          try {
-            flightCourseJson = JSON.parse(item.flightCourseJson);
-          } catch (e) {
-            console.log(e);
-          }
-          // 转换成飞控中心能接受的数据协议
-          let content = flightCourseJson
-            ? await this.$store.dispatch(
-                "MMCFlightControlCenter/apiPointsToFKZXPoints",
-                {
-                  list: flightCourseJson?.linePointSaveReqVOS || [],
-                  actionListKey: "pointActionSaveReqVOS",
-                }
-              )
-            : null;
-          airwayList.push({
-            name: item.flightName,
-            id: item.id,
-            content: content,
-          });
-        }
-        this.airwayList = airwayList;
-      }
-    } else {
-      this.rootNode.$emit("airwayListGet", {
-        pageNo: this.airwayData.pageNo,
-        pageSize: this.airwayData.pageSize,
-        callback: (data) => {
-          this.airwayList = airwayData?.records || [];
-        },
-      });
-    } */
-
+    await this.getTaskList();
     await this.getAirwayList();
     // 获取正在飞行的航线
     console.log('当前飞行状态', this.uavRealTimeData?.isFlying);
@@ -154,7 +146,31 @@ export default {
     ]),
     ...mapActions("MMCFlightControlCenter/hangar", ["isTakeOver"]),
     /**
-     * 更新任务列表
+     * 获取任务列表
+     */
+    getTaskList(id) {
+      return new Promise((resolve) => {
+        console.log("getTaskList", this.taskListAll);
+        this.rootNode.$emit("taskListGet", {
+          pageNo: 1,
+          pageSize: 100,
+          type: 0,
+          isHangar: true,
+          hangar: null,
+          callback: (res) => {
+            this.taskList = res?.records || [];
+            this.$nextTick(() => {
+              if (id) {
+                this.selectedTaskId = id;
+              }
+              resolve();
+            });
+          },
+        });
+      });
+    },
+    /**
+     * 获取航线列表
      */
     getAirwayList(id) {
       return new Promise((resolve) => {

src/components/MMCFlightControlCenter/components/hangar/components/controlPanel/components/controlLeft/components/airwayList/components/timedTask/components/taskAdd/index.vue

@@ -21,7 +21,24 @@
           value-format="yyyy-MM-dd HH:mm:ss"
           :picker-options="pickerOptions"
         ></el-date-picker>
-        <el-select v-model="item.airwayId" size="mini" popper-class="mmc" placeholder="请选择航线">
+        <el-select
+          v-model="item.taskId"
+          clearable
+          size="mini"
+          popper-class="mmc"
+          @change="onTaskChange(item)"
+          placeholder="请选择任务"
+          v-if="useTask"
+        >
+          <el-option v-for="(item , i) in taskList" :label="item.name" :value="item.id"></el-option>
+        </el-select>
+        <el-select
+          v-model="item.airwayId"
+          size="mini"
+          popper-class="mmc"
+          placeholder="请选择航线"
+          :disabled="!!item.taskId"
+        >
           <el-option :label="item1.name" :value="item1.id" v-for="(item1, index) in airwayList"></el-option>
         </el-select>
         <el-tooltip content="删除" placement="top">
@@ -57,7 +74,8 @@ export default {
       list: [
         /* {
           time: '',
-          airwayId: ''
+          airwayId: '',
+          taskId: '',
         } */
       ],
       showMore: false,
@@ -69,11 +87,12 @@ export default {
       },
       airwayList: [], //航线列表
       confirmLoading: false,
+      taskList: [], //任务列表
     };
   },
   computed: {
     ...mapState("MMCFlightControlCenter/hangar", ["hangar"]),
-    ...mapState("MMCFlightControlCenter", ["airwayEntities"]),
+    ...mapState("MMCFlightControlCenter", ["airwayEntities", "useTask"]),
   },
   mounted() {
     this.rootNode.$emit("airwayListGet", {
@@ -84,6 +103,17 @@ export default {
         this.airwayList = data?.records || [];
       },
     });
+
+    this.rootNode.$emit("taskListGet", {
+      pageNo: 1,
+      pageSize: 100,
+      type: 1,
+      isHangar: true,
+      hangar: null,
+      callback: (res) => {
+        this.taskList = res?.records || [];
+      },
+    });
   },
   methods: {
     ...mapActions("MMCFlightControlCenter", [
@@ -168,6 +198,29 @@ export default {
         }); // 根节点发送机库任务新增事件
       }
     },
+    /**
+     * 任务更改事件
+     */
+    onTaskChange(item) {
+      let find = this.taskList.find((item1) => {
+        return item1.id == item.taskId;
+      });
+      if (find) {
+        let findAirway = this.airwayList.find((item1) => {
+          return item1.id === find.airwayId;
+        });
+
+        if (findAirway) {
+          item.airwayId = find.airwayId;
+          return;
+        }
+      }
+
+      // 找不到航线
+      item.airwayId = "";
+      item.taskId = "";
+      this.$message.warning("未找到相应的航线");
+    },
   },
 };
 </script>
@@ -178,7 +231,7 @@ export default {
   position: absolute;
   top: -5px;
   left: 550px;
-  width: 520px;
+  min-width: 520px;
   z-index: 1;
   display: flex;
   flex-direction: column;

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

@@ -7,8 +7,13 @@
       </div>
     </div>
     <el-form class="task-main" label-width="70px">
+      <el-form-item label="任务库" v-if="useTask">
+        <el-select v-model="selectedTaskId" clearable>
+          <el-option v-for="(item , i) in taskList" :label="item.name" :value="item.id"></el-option>
+        </el-select>
+      </el-form-item>
       <el-form-item label="航线选择">
-        <el-select v-model="selectedAirwayId">
+        <el-select v-model="selectedAirwayId" :disabled="airwaySelectDisabled" clearable>
           <el-option v-for="(item , i) in airwayList" :label="item.name" :value="item.id"></el-option>
         </el-select>
       </el-form-item>
@@ -38,15 +43,30 @@ export default {
   inject: ["rootNode", "bus"],
   data() {
     return {
-      //航线列表
-      airwayList: [],
-      // 选择的航线
-      selectedAirwayId: "",
+      airwayList: [], //航线列表
+      selectedAirwayId: "", // 选择的航线
+      taskList: [], //任务列表
+      selectedTaskId: "", //选择的任务
+      airwaySelectDisabled: false, //选择任务后, 禁用航线选择
     };
   },
   computed: {
-    ...mapState("MMCFlightControlCenter", ["cesiumViewer", "useSTLAirway"]),
+    ...mapState("MMCFlightControlCenter", ["cesiumViewer", "useSTLAirway", "useTask"]),
     ...mapState("MMCFlightControlCenter/uav", ["uav"]),
+    // 选择的任务
+    selectedTask() {
+      let find = this.taskList.find((item) => {
+        return item.id == this.selectedTaskId;
+      });
+      if (find) {
+        return find;
+      } else {
+        return {
+          name: "",
+          id: -1,
+        };
+      }
+    },
     // 选择的航线
     selectedAirway() {
       let find = this.airwayList.find((item) => {
@@ -91,6 +111,15 @@ export default {
         this.listCollapse = true;
       }
     },
+    selectedTask() {
+      if (this.selectedTask.id !== -1) {
+        this.airwaySelectDisabled = true;
+      } else {
+        this.airwaySelectDisabled = false;
+      }
+      // 任务改变则修改航线选择为任务中的航线
+      this.selectedAirwayId = this.selectedTask?.airwayId;
+    },
     selectedAirway() {
       this.clearAirwayEntities();
       if (this.selectedAirway.id !== -1) {
@@ -104,15 +133,23 @@ export default {
         } catch (e) {
           console.log("绘制航线失败", e);
         }
+      } else {
+        if (this.selectedTaskId && this.selectedAirwayId == "") {
+          this.$message.warning("未找到相应的航线");
+        }
+        this.selectedAirwayId = "";
+        this.airwaySelectDisabled = false;
       }
     },
   },
   async created() {
     this.bus.$on("startTask", this.onStartTask);
     this.bus.$on("refreshAirway", this.getAirwayList);
+    await this.getTaskList();
     await this.getAirwayList();
     // 获取正在飞行的航线
     console.log("当前飞行状态", this.uavRealTimeData?.isFlying);
+    console.log(this.useTask);
     if (this.uav && this.uavRealTimeData?.isFlying) {
       let res = await TaskInfo.getTaskInfoRecord({
         deviceId: this.uav.deviceId,
@@ -142,7 +179,28 @@ export default {
     ]),
     ...mapActions("MMCFlightControlCenter/uav", ["isTakeOver"]),
     /**
-     * 更新任务列表
+     * 获取任务列表
+     */
+    getTaskList(id) {
+      return new Promise((resolve) => {
+        console.log("getTaskList", this.taskListAll);
+        this.rootNode.$emit("taskListGet", {
+          pageNo: 1,
+          pageSize: 100,
+          callback: (res) => {
+            this.taskList = res?.records || [];
+            this.$nextTick(() => {
+              if (id) {
+                this.selectedTaskId = id;
+              }
+              resolve();
+            });
+          },
+        });
+      });
+    },
+    /**
+     * 获取航线列表
      */
     getAirwayList(id) {
       return new Promise((resolve) => {
@@ -209,7 +267,7 @@ export default {
 </script>
 <style lang="scss" scoped>
 .taskListBox {
-  height: 200px;
+  min-height: 200px;
   width: 416px;
   background: #222222;
   border-radius: 12px;

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

@@ -4,28 +4,24 @@
       <img class="left-bar-item__icon" src="./assets/images/task.svg" />
       <div class="left-bar-item__text">任务</div>
     </div>
-    <TaskList class="task-list" v-if="!useAirway && openTask"></TaskList>
-    <AirwayList class="task-list" v-if="useAirway && openTask"></AirwayList>
+    <AirwayList class="task-list"></AirwayList>
     <VideoMapSwitch ref="videoMapSwitch"></VideoMapSwitch>
   </div>
 </template>
 
 <script>
 import { mapState } from "vuex";
-import TaskList from "./components/taskList";
 import AirwayList from "./components/airwayList";
 import VideoMapSwitch from './components/videoMapSwitch';
 
 export default {
   name: "ControlLeft",
   components: {
-    TaskList,
     AirwayList,
     VideoMapSwitch
   },
   data() {
     return {
-      openTask: true, //打开任务
       openAIList: false, //打开AI列表
       openTraffic: false, //打开交通指引
       openFace: false, //打开人脸识别
@@ -34,7 +30,7 @@ export default {
     };
   },
   computed: {
-    ...mapState("MMCFlightControlCenter", ["useAirway"]),
+    ...mapState("MMCFlightControlCenter", []),
     ...mapState("MMCFlightControlCenter/uav", ["uav"]),
     // 收起列表按钮
     listCollapse: {

src/components/MMCFlightControlCenter/index.vue

@@ -68,10 +68,11 @@ export default {
       type: Boolean,
       default: false,
     },
-    // 使用航线而不使用任务起飞
-    useAirway: {
+    // useAirway
+    // 使用任务
+    useTask: {
       type: Boolean,
-      default: true,
+      default: false,
     },
     userInfo: {
       type: Object,
@@ -170,11 +171,11 @@ export default {
         });
       },
     },
-    useAirway: {
+    useTask: {
       immediate: true,
       handler(newVal) {
         this.$store.commit("MMCFlightControlCenter/setState", {
-          key: "useAirway",
+          key: "useTask",
           value: newVal,
         });
       },
@@ -520,7 +521,7 @@ export default {
 
     .el-select-dropdown__empty {
       background: #02173d;
-      border: 1px solid #315ec7;
+      border: 1px solid #4b4b4b;
     }
   }
 

src/components/MMCFlightControlCenter/mixins/joystick.js

@@ -24,17 +24,16 @@ export default {
       return this.mountCtrlList[this.selectMount?.gimbalName];
     },
   },
-  inject: ["uav_mqtt_fn"],
   watch: {
     str: function (val) {
-      this.uav_mqtt_fn(
-        {
+      this.$store.dispatch("MMCMQTT/publish", {
+        topic: "PX4/OBTAIN/" + this.uav.deviceId,
+        data: {
           type: 513,
           data: val,
         },
-        "wrj",
-        this.uav.control.device
-      );
+        callback() {},
+      });
     },
   },
   beforeDestroy() {
@@ -51,9 +50,7 @@ export default {
       let topic = `${uavCate}/OBTAIN/${this.uav.deviceId}`;
       this.wsJoystick = new WebSocket("ws://127.0.0.1:8802");
       this.wsJoystick.onopen = () => {
-        console.log(
-          "joystick.js 连接上 ws://127.0.0.1:8802"
-        );
+        console.log("joystick.js 连接上 ws://127.0.0.1:8802");
         this.wsJoystick.send(
           JSON.stringify({
             type: 2003,
@@ -75,17 +72,14 @@ export default {
           if (obj.type == 518) {
           }
           let data = JSON.parse(event.currentTarget.result).data;
-          window.$log(
-            "joystick.js message",
-            data
-          );
+          window.$log("joystick.js message", data);
           let y = data.channel03; //油门值 0-1000
 
           // console.log(data.channel03,data,"yyyyyyyy");
           if (y || y == 0) {
             this.$store.commit("MMCFlightControlCenter/joystick/setState", {
-              key: 'throttleValue',
-              value: y
+              key: "throttleValue",
+              value: y,
             });
           }
           if (this.mountCtrl) {

src/components/MMCFlightControlCenter/store/index.js

@@ -41,7 +41,7 @@ export default {
     airwayEntities: [], //航线实体集合, 元素为new Cesium.EntityCollection()创建
     useSTLAirway: true, //是否使用标准航线库
     useTimedTask: false, //是否使用定时任务
-    useAirway: true, //使用航线而不使用任务起飞
+    useTask: false, //使用任务进行航线选择
     baseUrl: '',  //api请求的base url
     wsUrl: '',  //websocket的url
     mqttUrl: '', //无人机的mqtt地址