fix: 航点动作AI补充

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

@@ -132,8 +132,8 @@ export default {
 
     await this.getAirwayList();
     // 获取正在飞行的航线
-    console.log('当前飞行状态', this.uavRealTimeData.isFlying);
-    if (this.uav && this.uavRealTimeData.isFlying) {
+    console.log('当前飞行状态', this.uavRealTimeData?.isFlying);
+    if (this.uav && this.uavRealTimeData?.isFlying) {
       let res = await TaskInfo.getTaskInfoRecord({
         deviceId: this.uav.deviceId,
       });

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

@@ -112,13 +112,20 @@ export default {
     this.bus.$on("refreshAirway", this.getAirwayList);
     await this.getAirwayList();
     // 获取正在飞行的航线
-    console.log("当前飞行状态", this.uavRealTimeData.isFlying);
-    if (this.uav && this.uavRealTimeData.isFlying) {
+    console.log("当前飞行状态", this.uavRealTimeData?.isFlying);
+    if (this.uav && this.uavRealTimeData?.isFlying) {
       let res = await TaskInfo.getTaskInfoRecord({
         deviceId: this.uav.deviceId,
       });
       if (res.code === 0) {
         this.selectedAirwayId = res.data.reouteId;
+        // 在一次时机中再取航线数据存进store中
+        this.$nextTick(() =>
+          this.$store.commit("MMCFlightControlCenter/uav/setState", {
+            key: "airlineData",
+            value: this.selectedAirway,
+          })
+        );
       }
     }
   },

src/components/MMCFlightControlCenter/components/uavApplications/components/player/components/aiList/index.vue

@@ -3,7 +3,7 @@
     <el-tooltip content="AI识别" placement="bottom">
       <div class="menu-item">
         <img src="./assets/images/car1.png" @click="aiVisible = !aiVisible" />
-        <div class="ai-list" v-if="aiVisible">
+        <div class="ai-list" v-show="aiVisible">
           <el-tooltip
             v-for="(item,index) in aiIdentifyList"
             :key="index"
@@ -68,7 +68,7 @@ export default {
         {
           title: "烟雾识别",
           type: "smoke",
-          typeId: 4,
+          typeId: 7,
           img: require("./assets/images/烟雾识别.svg"),
         },
         {
@@ -98,6 +98,21 @@ export default {
      * ai识别事件
      */
     onAiIdentify(type) {
+      this.aiIdentify(type, (img) => {
+        if (img) {
+          // 展示识别结果
+          this.$message.success("识别成功");
+          this.aiResultImg = img;
+          this.aiResultShow = true;
+        } else {
+          this.$message.error("识别失败");
+        }
+      });
+    },
+    /**
+     * ai处理, 父组件也调用
+     */
+    aiIdentify(type, callback) {
       let find = this.aiIdentifyList.find((item) => item.type === type);
       this.aiTitle = find.title;
       let isSuccess = false;
@@ -238,7 +253,7 @@ export default {
                 ]; */
 
                 results =
-                  res?.data?.data?.targets?./* targets. */map((item) => {
+                  res?.data?.data?.targets?./* targets. */ map((item) => {
                     return {
                       x: item.bbox.box.left_top_x,
                       y: item.bbox.box.left_top_y,
@@ -260,7 +275,7 @@ export default {
 
           if (isSuccess) {
             console.log("识别结果", results);
-            this.$message.success("识别成功");
+
             // 将识别结果绘制到图片上
             let img = new Image();
             img.onload = async () => {
@@ -271,11 +286,9 @@ export default {
               // 现在可以在Canvas上绘制图片和矩形框
               let canvas = this.drawOnCanvas(img, width, height, results);
 
-              // 展示识别结果
-              this.aiResultImg = canvas.toDataURL("image/svg");
-              this.aiResultShow = true;
-              // 识别结果上传到视图库
+              callback(canvas.toDataURL("image/svg"));
 
+              // 识别结果上传到视图库
               canvas.toBlob(async (blob1) => {
                 console.log("识别结果", blob1);
                 let formData = new FormData();
@@ -303,9 +316,8 @@ export default {
               });
             };
             img.src = base64;
-            // img.src = testImg;
           } else {
-            this.$message.error("识别失败");
+            callback(false);
           }
         },
       });

src/components/MMCFlightControlCenter/components/uavApplications/components/player/components/pointList/index.vue

@@ -240,7 +240,13 @@ export default {
               console.log(val, "航点");
               val.speed = this.speed;
               // this.$set(val, "aiList", this.aiList);
-              val.aiList = JSON.parse(JSON.stringify(this.aiList));
+              val.aiList = this.aiList
+                .filter((item) => item.switch)
+                .map((item) => ({
+                  id: item.id,
+                  type: item.type,
+                  isSingle: item.check,
+                }));
               val.actions[2].param1 = this.min * 60 + this.se;
             }
           });
@@ -326,7 +332,7 @@ export default {
             img: svgFace,
           },
           {
-            id: 2,
+            id: 8,
             type: "车牌识别",
             switch: false,
             check: false,
@@ -339,23 +345,24 @@ export default {
             check: false,
             img: svgPeople,
           },
+
           {
-            id: 4,
-            type: "游泳识别",
+            id: 7,
+            type: "烟雾识别",
             switch: false,
             check: false,
-            img: svgSwim,
+            img: svgYan,
           },
           {
-            id: 7,
-            type: "烟雾识别",
+            id: 4,
+            type: "漏油识别",
             switch: false,
             check: false,
-            img: svgYan,
+            img: svgSwim,
           },
           {
             id: 6,
-            type: "异物识别",
+            type: "裸土识别",
             switch: false,
             check: false,
             img: svgThings,
@@ -488,16 +495,6 @@ export default {
         });
         let time = parseInt(distance / 6);
 
-        let aiList = this.aiList
-          .filter((item) => item.switch)
-          .map((item) => {
-            return {
-              id: item.id,
-              type: item.type,
-              isSingle: item.check,
-            };
-          });
-
         let waypoints = this.pointList.map((val) => {
           return {
             altitude: val.alt,
@@ -509,7 +506,7 @@ export default {
             speed: this.speed,
             stay: 0,
             waypointActions: val.actions,
-            aiList: aiList,
+            aiList: val.aiList,
           };
         });
         let data = {

src/components/MMCFlightControlCenter/components/uavApplications/components/player/index.vue

@@ -336,7 +336,7 @@
               <img src="./assets/images/photojz.svg" />
             </div>
           </el-tooltip>
-          <AiList @screenShot="onAiScreenShot"></AiList>
+          <AiList ref="aiList" @screenShot="onAiScreenShot"></AiList>
           <div class="menu-item" @click="startLinePoint" content="航点动作">
             <img src="./assets/images/point_small.svg" />
           </div>
@@ -362,7 +362,7 @@ import SRSPlayer from "./components/srs";
 import { to_moveMount } from "../../../../utils/to_moveMount.js";
 import Obstacle from "./components/obstacle";
 import PointList from "./components/pointList";
-import videoModelChange from "./components/videoModelChange";;
+import videoModelChange from "./components/videoModelChange";
 import { mapState } from "vuex";
 import AiList from "./components/aiList";
 
@@ -426,10 +426,16 @@ export default {
       },
       isInfoShow: false,
       showFlywayAction: false, //显示航点动作
+      aiTimeHandle: null, //ai执行定时句柄
     };
   },
   computed: {
-    ...mapState("MMCFlightControlCenter/uav", ["uav", "selectMount", "isQingLiu"]),
+    ...mapState("MMCFlightControlCenter/uav", [
+      "uav",
+      "selectMount",
+      "isQingLiu",
+      "airlineData",
+    ]),
     /**
      * 播放器组件名
      */
@@ -550,17 +556,52 @@ export default {
         }
       },
     },
-    uavRealTimeData: function (newval) {
+    "uavRealTimeData.airlineProgress": {
+      handler(newVal, oldVal) {
+        //获取当前航线航点的ai, 进行ai操作
+        if (newVal?.waypointIndex === oldVal?.waypointIndex) {
+          return;
+        }
+        //清除上一个航点的执行定时器
+        clearInterval(this.aiTimeHandle);
+
+        let find = this.airlineData?.linePointSaveReqVOS?.find(
+          (item, i) => i === newVal.waypointIndex
+        );
+        if (find) {
+          let singleList = find.pointDetectorSaveReqVOS.filter(
+            (item) => item.detectorValue === 0
+          ); //汇总单点
+          let manyList = find.pointDetectorSaveReqVOS.filter(
+            (item) => item.detectorValue === 1
+          ); //汇总多次
+
+          //执行单点
+          this.$nextTick(() => {
+            singleList.forEach((item) => {
+              this.$refs.aiList.aiIdentify(item.id);
+            });
+          });
+          //定时执行
+          this.aiTimeHandle = setInterval(() => {
+            manyList?.forEach((item) => {
+              this.$refs.aiList.aiIdentify(item.id);
+            });
+          }, 3000);
+        }
+      },
+    },
+    uavRealTimeData: function (newVal) {
       let gps = null;
       if (
-        newval &&
-        newval.rtk &&
-        newval.rtk.type == 19 &&
-        newval.rtk.isMainSensor
+        newVal &&
+        newVal.rtk &&
+        newVal.rtk.type == 19 &&
+        newVal.rtk.isMainSensor
       ) {
-        gps = newval.rtk;
+        gps = newVal.rtk;
       } else {
-        gps = newval.gps;
+        gps = newVal.gps;
       }
       if (!gps) {
         return;
@@ -610,6 +651,7 @@ export default {
   },
   beforeDestroy() {
     window.removeEventListener("resize", this.fullScreenChangeFn);
+    clearInterval(this.aiTimeHandle);
   },
   methods: {
     startLinePoint() {

src/components/MMCFlightControlCenter/store/uav.js

@@ -183,6 +183,15 @@ function initUavRealTimeData() {
       autoFlightSpeed: 0, //航线飞行速度默认5m
       waypointList: null,
     },
+    airlineProgress: {
+      action: "NON", //执行的动作，NON表示飞到航点位置
+      actionIndex: 1, //航点动作执行索引
+      isFinish: true, //true航线任务执行完成，false未完成
+      isFinishAction: true, //航点执行完成，true执行完成，false为执行完成
+      progress: 0, //航线任务执行进度
+      totalWaypointCount: 0, //航线任务总进度
+      waypointIndex: 1, //执行航点索引值，从1开始
+    },
   };
 }
 
@@ -313,6 +322,7 @@ const actions = {
       const type270 = data[270]?.data; // 飞控应答消息
       const type260 = data[260]?.data; // 无人机提示信息
       const type261 = data[261]?.data; // 航线上传完成信息
+      const type265 = data[265]?.data; // 航线执行进度
 
       let msgList = state.uavRealTimeData.msgList || [];
 
@@ -392,6 +402,7 @@ const actions = {
           msg: type270,
           msgList,
           uploadAirline: type261,
+          airlineProgress: type265,
         },
       });
 
@@ -674,7 +685,7 @@ const actions = {
         // 生成架次号
         const flightSortieId = await TaskInfo.flightSortieId({
           device_id: state.hangar.uav.deviceId,
-          reouteId: state.airlineData.id
+          reouteId: state.airlineData.id,
         });
         /*  const flightSortieId = {
           data: `tmj-v4-${Date.now()}`
@@ -1176,7 +1187,7 @@ const actions = {
         type: 528,
       };
       let isQingLiu = state.isQingLiu;
-      if(data.isQingLiu !== undefined){
+      if (data.isQingLiu !== undefined) {
         isQingLiu = data.isQingLiu;
       }
       if (isQingLiu) {
@@ -1246,7 +1257,7 @@ const actions = {
         type: 528,
       };
       let isQingLiu = state.isQingLiu;
-      if(data.isQingLiu !== undefined){
+      if (data.isQingLiu !== undefined) {
         isQingLiu = data.isQingLiu;
       }
       if (isQingLiu) {