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uav-flight-control
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无人机模块功能完善完毕

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许宏杰 4 weeks ago
parent 4a76d2bebe
commit 420a11cda0
2 changed files with 149 additions and 60 deletions
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1
package.json
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@ -29,6 +29,7 @@
"js-beautify": "1.14.11",
"js-cookie": "3.0.5",
"jsencrypt": "3.3.2",
"moment": "^2.30.1",
"nprogress": "0.2.0",
"pinia": "2.1.7",
"splitpanes": "3.1.5",

182
src/views/components/map/marsMap.vue
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@ -5,8 +5,11 @@
<script setup>
import marsMap from "@/components/marsMap";
import PointJson from "./point.json";
import { onMounted,nextTick } from "vue";
import { onMounted, ref, reactive, watch, onUnmounted } from "vue";
import moment from "moment";
const { proxy } = getCurrentInstance();
let options = {
scene: {
center: {
@ -68,17 +71,44 @@ const params = reactive({
speed: 500,
});
// 使用 import.meta.glob 动态导入本地图片
const imageModules = import.meta.glob('@/assets/images/*.png', { eager: true });
let currentTimestampInSeconds = ref(0);
let isGamepad = ref(false);
let animationFrameId;
let gamepad = reactive({});
// 使用 import.meta.glob 动态导入本地图片
const imageModules = import.meta.glob("@/assets/images/*.png", { eager: true });
// 获取图片路径
const imageUrls = Object.values(imageModules).map((module) => module.default);
let isGamepad = false;
let map = null;
let list = [];
let uav = null;
const mapLayer = {};
// 每隔 5 秒更新一次时间戳
const intervalId = setInterval(() => {
const currentTimestamp = moment().unix();
// 把时间戳转换为 moment 对象
const moment1 = moment.unix(currentTimestamp);
const moment2 = moment.unix(currentTimestampInSeconds.value);
// 计算时间差（以分钟为单位）
const diffInMinutes = Math.abs(moment1.diff(moment2, "minutes"));
if (diffInMinutes === 1 && isGamepad.value) {
isGamepad.value = false;
currentTimestampInSeconds.value = 0
params.altitude = 100
proxy.$modal.msgSuccess("巡航模式已启动");
map.flyToPoint(new mars3d.LngLatPoint(120.657967, 31.048193));
uav = null;
mapLayer.uav.clear(); //清除无人机图层
setTimeout(() => {
initUav(); //重新渲染固定航线
}, 3000);
}
}, 5000);
const mapLoad = (mapInstance) => {
map = mapInstance;
//创建marker图层
@ -87,53 +117,70 @@ const mapLoad = (mapInstance) => {
});
map.addLayer(mapLayer.markerLayer);
//创建无人机图层
mapLayer.uav = new mars3d.layer.GraphicLayer()
mapLayer.uav = new mars3d.layer.GraphicLayer();
map.addLayer(mapLayer.uav);
map.on(mars3d.EventType.load, function (event) {
onAddGamepadboardListener();
boostrapUav();
})
});
};
};
onMounted(()=>{
onAddGamepadboardListener();
})
// 组件卸载时清除定时器
onUnmounted(() => {
clearInterval(intervalId);
if(animationFrameId){
cancelAnimationFrame(animationFrameId);
}
window.removeEventListener("gamepadconnected", handleGamepadConnected);
window.removeEventListener("gamepaddisconnected", handleGamepadDisconnected);
});
/**
* 监听游戏手柄
*/
const onAddGamepadboardListener = () => {
window.addEventListener("gamepadconnected", function (e) {
// var gp = navigator.getGamepads()[e.gamepad.index];
proxy.$modal.msgSuccess("手柄控制已启动");
// 获取无人机固定航线最后的信息
const uavItem = mapLayer.uav.getGraphicById('uav1');
const {heading,pitch,roll,position } = uavItem
const cartographic = mars3d.LngLatPoint.fromCartesian(position)
params.lat =cartographic._lat
params.lng=cartographic._lng
params.heading=heading
params.pitch=pitch
params.roll=roll
window.addEventListener("gamepadconnected", handleGamepadConnected);
// 监听游戏手柄拔出
window.addEventListener("gamepaddisconnected", handleGamepadDisconnected);
};
const handleGamepadDisconnected = () => {
console.log("断开");
};
const handleGamepadConnected = (e) => {
handleUavDataLast();
// 开始手柄操作
const renderer = () => {
startgamepad();
if(isGamepad.value){
onAdjustAttitude();
requestAnimationFrame(renderer);
}
animationFrameId = requestAnimationFrame(renderer);
};
renderer();
});
// 监听游戏手柄拔出
window.addEventListener("gamepaddisconnected", function (e) {
clearInterval(interval);
});
};
const handleUavDataLast = () => {
proxy.$modal.msgSuccess("手柄控制已启动");
isGamepad.value = true;
// 获取无人机固定航线最后的信息
const uavItem = mapLayer.uav.getGraphicById("uav1");
const { heading, pitch, roll, position } = uavItem;
const cartographic = mars3d.LngLatPoint.fromCartesian(position);
params.lat = cartographic._lat;
params.lng = cartographic._lng;
params.heading = heading;
params.pitch = pitch;
params.roll = roll;
};
const boostrapUav = () => {
@ -146,27 +193,36 @@ const boostrapUav = () => {
};
const startgamepad = () => {
var gamepad = navigator.getGamepads()[0];
gamepad = navigator.getGamepads()[0];
if (gamepad) {
//手柄方向按键
pressKey(gamepad.buttons);
// pressKey(gamepad.buttons);
// 手柄方向遥感
rocker(gamepad.axes);
rocker();
}
};
// 手柄左方向遥感
const rocker = (axes) => {
const rocker = () => {
const axes = gamepad.axes;
const deadZone = 0.5;
const x = axes[0];
const y = axes[1];
// //机体左转
//机体左转
if (x < -deadZone) {
if(!isGamepad.value){
console.log('左')
}
handleUavTime();
//机体左转
params.heading -= 0.115;
if (params.roll > -10) {
params.roll -= 0.115;
}
} else if (x > deadZone) {
handleUavTime();
//机体右转
params.heading += 0.115;
if (params.roll < 10) {
@ -175,6 +231,7 @@ const rocker = (axes) => {
}
// 检测垂直方向机体爬升
if (y < -deadZone && params.pitch <= 0.3) {
handleUavTime();
params.pitch += 0.015;
if (params.pitch > 0) {
const { speed, pitch } = params;
@ -183,6 +240,7 @@ const rocker = (axes) => {
params.altitude += temp * Math.sin(pitch);
}
} else if (y > deadZone && params.pitch >= -0.3) {
handleUavTime();
//机体俯冲
params.pitch -= 0.016;
if (params.pitch < 0) {
@ -198,15 +256,29 @@ const rocker = (axes) => {
const pressKey = (buttons) => {
// 加速
if (buttons[12] && buttons[12].pressed) {
handleUavTime();
params.speed += 100;
}
// 减速
if (buttons[13] && buttons[13].pressed) {
handleUavTime();
if (params.speed >= 500) {
params.speed -= 100;
}
}
reset()
reset();
};
//只要操作手柄就获取当前时间戳
const handleUavTime = () => {
if(!isGamepad.value){
handleUavDataLast()
return
}
currentTimestampInSeconds.value = moment().unix();
};
const reset = () => {
@ -227,12 +299,14 @@ const reset = () => {
// 开启飞行姿态调整/
const onAdjustAttitude = () => {
if (!uav) return;
const temp = params.speed / 60 / 60 / 60 / 110;
params.lng += temp * Math.cos(Cesium.Math.toRadians(params.heading));
params.lat -= temp * Math.sin(Cesium.Math.toRadians(params.heading));
const { lng, lat, altitude, heading, pitch, roll } = params;
params.altitude += temp * Math.sin(pitch) * 110 * 1000 * 10;
const position = Cesium.Cartesian3.fromDegrees(lng, lat, altitude);
uav.model.setStyle({
heading,
pitch,
@ -242,9 +316,7 @@ const onAdjustAttitude = () => {
};
const initUav = () => {
if (list.length == 0 && !isGamepad ) {
list = PointJson.map((item) => item.wz);
}
uav = new mars3d.graphic.FixedRoute({
id: "uav1",
name: "无人机模型",
@ -264,16 +336,16 @@ const initUav = () => {
polyline: {
materialType: mars3d.MaterialType.PolylineDash, //虚线
materialOptions: {
color: 'rgba(34, 232, 174, 1)',
dashLength: 8.0
}
color: "rgba(34, 232, 174, 1)",
dashLength: 8.0,
},
},
camera: {
type: "gs",
},
});
mapLayer.uav.addGraphic(uav);
uav.start()
uav.start();
};
const initRectangle = () => {
@ -298,9 +370,8 @@ const initRectangle = () => {
* 渲染所有点位
*/
const initMarker = () => {
console.log(imageModules)
console.log(imageModules);
PointJson.map((item, index) => {
//绘制名字图标
lablePoint(item, index);
// 绘制水波浪圆
@ -319,8 +390,20 @@ const lablePoint = (item, index) => {
style: {
html: `
<div class="div-marker">
<div class="marker-name ${item.type == 'school' ? 'color-school' : item.type == 'park' ? 'color-park' :'color-uav' } ">${item.name}</div>
<img class="marker-icon" src="${item.type == 'school' ? imageUrls[5] : item.type == 'park' ? imageUrls[4] :imageUrls[6] }" />
<div class="marker-name ${
item.type == "school"
? "color-school"
: item.type == "park"
? "color-park"
: "color-uav"
} ">${item.name}</div>
<img class="marker-icon" src="${
item.type == "school"
? imageUrls[5]
: item.type == "park"
? imageUrls[4]
: imageUrls[6]
}" />
</div>
`,
offsetY: -73,
@ -345,7 +428,12 @@ const circlePoint = (item, index) => {
height: 0,
materialType: mars3d.MaterialType.CircleWave,
materialOptions: {
color: item.type == 'school' ? '#59F9FF' : item.type == 'park' ? '#33E064' : '#22E8AE',
color:
item.type == "school"
? "#59F9FF"
: item.type == "park"
? "#33E064"
: "#22E8AE",
count: 2,
speed: 6,
},

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