fix: 起飞前判断航线是否上传成功

src/components/MMCFlightControlCenter/store/uav.js

@@ -173,6 +173,14 @@ function initUavRealTimeData() {
     down45Link	4/5G下行速率，单位字节/秒	Long
   } */
     flightMode: "UNKNOWN",
+    uploadAirline: {    //上传的航线
+      finishedAction: '',   //航点任务完成后，飞机将采取的行动
+      headingMode: '',  //飞机在航点之间移动时的航向模式
+      isExitMissionOnRCSignalLostEnabled: Boolean, //飞机在航点之间移动时的航向模式
+      maxFlightSpeed: 0, //航线飞行最大速度，px4无人机默认最大12m
+      autoFlightSpeed: 0, //航线飞行速度默认5m
+      waypointList: null
+    },
   };
 }
 
@@ -197,6 +205,7 @@ const state = {
   showPlayer: false, //显示播放器
   showPanel: false, //显示数据面板
   isQingLiu: null, // 当前视频播放的是否为清流
+  waitAirlineUpload: false, //是否正在等待航线上传
 };
 
 const mutations = {
@@ -231,7 +240,10 @@ const actions = {
     commit("setState", { key: "mountList", value: [] });
     commit("setState", { key: "selectMount", value: null });
     commit("setState", { key: "showVideo", value: false });
-    commit("setState", { key: "uavRealTimeData", value: initUavRealTimeData() });
+    commit("setState", {
+      key: "uavRealTimeData",
+      value: initUavRealTimeData(),
+    });
 
     positions = [];
   },
@@ -298,6 +310,7 @@ const actions = {
       const type275 = data[275]?.data; // 健康管理
       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
 
       let msgList = state.uavRealTimeData.msgList || [];
 
@@ -308,10 +321,10 @@ const actions = {
         );
         if (!findMsg) {
           msgList.push({
-            grade: 'AUTO',
+            grade: "AUTO",
             text: type270.text,
             time: moment(type270.timestamp).format("YYYY-MM-DD HH:mm:ss"),
-            timestamp: type270.timestamp
+            timestamp: type270.timestamp,
           });
         }
       }
@@ -322,10 +335,23 @@ const actions = {
         );
         if (!findMsg) {
           msgList.push({
-            grade: type260.grade <= 2 ? "[危险]" : type260.grade == 3 ? "[错误]" : type260.grade ==4 ? "[警告]" : type260.grade == 5 ? "[通知]" : type260.grade == 6 ? "[正常]" : type260.grade == 7 ? "[调试]" : "AUTO",
+            grade:
+              type260.grade <= 2
+                ? "[危险]"
+                : type260.grade == 3
+                ? "[错误]"
+                : type260.grade == 4
+                ? "[警告]"
+                : type260.grade == 5
+                ? "[通知]"
+                : type260.grade == 6
+                ? "[正常]"
+                : type260.grade == 7
+                ? "[调试]"
+                : "AUTO",
             text: type260.msg,
             time: moment(type260.timestamp).format("YYYY-MM-DD HH:mm:ss"),
-            timestamp: type260.timestamp
+            timestamp: type260.timestamp,
           });
         }
       }
@@ -363,6 +389,7 @@ const actions = {
           batteryList,
           msg: type270,
           msgList,
+          uploadAirline: type261,
         },
       });
 
@@ -638,7 +665,7 @@ const actions = {
    * 一键起飞
    * @param {function} data.callback  //完成回调
    */
-  async takeOff({ state }, data) {
+  async takeOff({ state, commit }, data) {
     console.log(state.airlineData, data);
     if (state.uav.network == 2) {
       try {
@@ -682,24 +709,49 @@ const actions = {
           callback() {},
         });
 
-        // 更改任务状态
-
         // 起飞指令
-        setTimeout(() => {
-          window.$mmc.$store.dispatch("MMCMQTT/publish", {
-            topic: "PX4/OBTAIN/" + state.uav.deviceId,
-            data: {
-              type: window.$mmc.$store.state.MMCMQTT.orders.航线一键起飞,
+        commit("setState", {
+          key: "waitAirlineUpload",
+          value: true,
+        });
+        let time = setInterval(() => {
+          if (state.uavRealTimeData.uploadAirline) {
+            clearInterval(time);
+            window.$mmc.$store.dispatch("MMCMQTT/publish", {
+              topic: "PX4/OBTAIN/" + state.uav.deviceId,
               data: {
-                taskId: state.airlineData.id,
-                seq: 0,
+                type: window.$mmc.$store.state.MMCMQTT.orders.航线一键起飞,
+                data: {
+                  taskId: state.airlineData.id,
+                  seq: 0,
+                },
               },
-            },
-            callback() {
-              data?.callback && data.callback(true, flightSortieId.data);
-            },
-          });
-        }, 6000);
+              callback() {
+                data?.callback && data.callback(true, flightSortieId.data);
+              },
+            });
+            // 清空261数据
+            let dataSet = window.$mmc.$store.state.MMCMQTT.dataSet;
+            dataSet[state.uav.deviceId][261] = null;
+
+            window.$mmc.$store.commit('MMCMQTT/setSate', {
+              key: 'dataSet',
+              value: dataSet
+            })
+            commit('setState', {
+              key: 'uavRealTimeData',
+              value: {
+                ...state.uavRealTimeData,
+                uploadAirline: null
+              }
+            })
+          }
+        }, 1000);
+
+        // 做个保险, 要是因为各种原因导致没飞起, 超过一分钟删除循环定时器
+        setTimeout(() => {
+          clearInterval(time);
+        }, 60000)
       } catch (e) {
         console.log("一键起飞失败", e);
         data?.callback && data.callback(false);
@@ -1180,7 +1232,7 @@ const actions = {
           data: {
             // taskID: data.taskID,
             videoID: 1,
-           /*  name: data.name,
+            /*  name: data.name,
             dbID: data.dbID, */
           },
         },
@@ -1272,17 +1324,17 @@ const actions = {
   },
   // 键盘控制
   keyControl({ state }, data) {
-    console.log(data, '键盘控制');
+    console.log(data, "键盘控制");
     if (state.uav.network == 2) {
-      window.$mmc.$store.dispatch('MMCMQTT/publish', {
-        topic: 'PX4/OBTAIN/' + state.uav.deviceId,
+      window.$mmc.$store.dispatch("MMCMQTT/publish", {
+        topic: "PX4/OBTAIN/" + state.uav.deviceId,
         data: {
           type: 538,
-          data: data
+          data: data,
         },
         callback() {
           data.callback && data.callback(true);
-        }
+        },
       });
     }
   },