shangyun/Web/src/components/g-map/DroneControlPanel.vue

<template>
  <div class="drone-control-wrapper">
    <div class="drone-control-header">
      无人机飞行控制
    </div>
    <div class="drone-control-button">
      <Button style="margin-right: 10px;" :ghost="!flightController" size="small" @click="onClickFightControl">
        {{ flightController ? '退出远程控制' : '进入远程控制' }}
      </Button>
      <Button type="primary" size="small" danger ghost @click="handleEmergencyStop">
        <template #icon>
          <PauseCircleOutlined />
        </template>
        <span>中止</span>
      </Button>
    </div>
    <div class="drone-control-more">
      <a-tooltip title="左旋转">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_Q)" @onmouseup="onMouseUp">
          <template #icon>
            <UndoOutlined />
          </template>
          <span class="word">Q</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="前进">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_W)" @onmouseup="onMouseUp">
          <template #icon>
            <UpOutlined />
          </template>
          <span class="word">W</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="右旋转">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_E)" @onmouseup="onMouseUp">
          <template #icon>
            <RedoOutlined />
          </template>
          <span class="word">E</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="上升">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_C)" @onmouseup="onMouseUp">
          <template #icon>
            <ArrowUpOutlined />
          </template>
          <span class="word">C</span>
        </Button>
      </a-tooltip>
    </div>
    <div class="drone-control-more">
      <a-tooltip title="左平移">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_A)" @onmouseup="onMouseUp">
          <template #icon>
            <LeftOutlined />
          </template>
          <span class="word">A</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="后退">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_S)" @onmouseup="onMouseUp">
          <template #icon>
            <DownOutlined />
          </template>
          <span class="word">S</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="右平移">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_D)" @onmouseup="onMouseUp">
          <template #icon>
            <RightOutlined />
          </template>
          <span class="word">D</span>
        </Button>
      </a-tooltip>
      <a-tooltip title="下降">
        <Button size="small" ghost @mousedown="onMouseDown(KeyCode.KEY_Z)" @onmouseup="onMouseUp">
          <template #icon>
            <ArrowDownOutlined />
          </template>
          <span class="word">Z</span>
        </Button>
      </a-tooltip>
    </div>
    <Button style="margin-right: 10px;" size="small" ghost @click="onShowTakeoffToPointPopover">
      <span>一键起飞</span>
    </Button>
    <DroneControlPopover :visible="flyToPointPopoverData.visible" :loading="flyToPointPopoverData.loading"
      @confirm="($event) => onFlyToConfirm(true)" @cancel="($event) => onFlyToConfirm(false)">
      <template #formContent>
        <div class="form-content">
          <div>
            <span class="form-label">latitude:</span>
            <a-input-number v-model:value="flyToPointPopoverData.latitude" />
          </div>
          <div>
            <span class="form-label">longitude:</span>
            <a-input-number v-model:value="flyToPointPopoverData.longitude" />
          </div>
          <div>
            <span class="form-label">height(m):</span>
            <a-input-number v-model:value="flyToPointPopoverData.height" />
          </div>
        </div>
      </template>
      <Button size="small" ghost @click="onShowFlyToPopover">
        <span>飞向目标点</span>
      </Button>
    </DroneControlPopover>
    <Button style="margin-left: 10px;" size="small" ghost @click="onStopFlyToPoint">
      <span>中止飞向目标点</span>
    </Button>
    <div style="margin-top: 10px;">
      <DroneControlPopover :visible="takeoffToPointPopoverData.visible" :loading="takeoffToPointPopoverData.loading"
        @confirm="($event) => onTakeoffToPointConfirm(true)" @cancel="($event) => onTakeoffToPointConfirm(false)">
        <template #formContent>
          <div class="form-content">
            <div>
              <span class="form-label">latitude:</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.latitude" />
            </div>
            <div>
              <span class="form-label">longitude:</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.longitude" />
            </div>
            <div>
              <span class="form-label">height(m):</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.height" />
            </div>
            <div>
              <span class="form-label">Safe Takeoff Altitude(m):</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.securityTakeoffHeight" />
            </div>
            <div>
              <span class="form-label">Return-to-Home Altitude(m):</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.rthAltitude" />
            </div>
            <div>
              <span class="form-label">Lost Action:</span>
              <a-select v-model:value="takeoffToPointPopoverData.rcLostAction" style="width: 120px"
                :options="LostControlActionInCommandFLightOptions"></a-select>
            </div>
            <div>
              <span class="form-label">Wayline Lost Action:</span>
              <a-select v-model:value="takeoffToPointPopoverData.exitWaylineWhenRcLost" style="width: 120px"
                :options="WaylineLostControlActionInCommandFlightOptions"></a-select>
            </div>
            <div>
              <span class="form-label">Return-to-Home Mode:</span>
              <a-select v-model:value="takeoffToPointPopoverData.rthMode" style="width: 120px"
                :options="RthModeInCommandFlightOptions"></a-select>
            </div>
            <div>
              <span class="form-label">Commander Mode Lost Action:</span>
              <a-select v-model:value="takeoffToPointPopoverData.commanderModeLostAction" style="width: 120px"
                :options="CommanderModeLostActionInCommandFlightOptions"></a-select>
            </div>
            <div>
              <span class="form-label">Commander Flight Mode:</span>
              <a-select v-model:value="takeoffToPointPopoverData.commanderFlightMode" style="width: 120px"
                :options="CommanderFlightModeInCommandFlightOptions"></a-select>
            </div>
            <div>
              <span class="form-label">Commander Flight Height(m):</span>
              <a-input-number v-model:value="takeoffToPointPopoverData.commanderFlightHeight" />
            </div>
          </div>
        </template>
        <span v-for="(cmdItem) in cmdList" :key="cmdItem.cmdKey" class="control-cmd-item">
          <Button style="margin-right: 10px;" :loading="cmdItem.loading" size="small" ghost
            @click="sendControlCmd(cmdItem)">
            {{ cmdItem.operateText }}
          </Button>
        </span>
      </DroneControlPopover>
    </div>
    <!-- <div>
      <Button size="small" ghost @click="openLivestreamAgora">
        <span>Agora Live</span>
      </Button>
      <Button size="small" ghost @click="openLivestreamOthers">
        <span>RTMP/GB28181 Live</span>
      </Button>
    </div> -->
    <!-- <div class="drone-control-box">
      <div class="box">
        <div class="row">
          <Select v-model:value="payloadSelectInfo.value" style="width: 110px; marginRight: 5px"
            :options="payloadSelectInfo.options" @change="handlePayloadChange" />
          <div class="drone-control">
            <Button type="primary" size="small" @click="onAuthPayload">Payload Control</Button>
          </div>
        </div>
        <div class="row">
          <DroneControlPopover :visible="gimbalResetPopoverData.visible" :loading="gimbalResetPopoverData.loading"
            @confirm="($event) => onGimbalResetConfirm(true)" @cancel="($event) => onGimbalResetConfirm(false)">
            <template #formContent>
              <div class="form-content">
                <div>
                  <span class="form-label">reset mode:</span>
                  <a-select v-model:value="gimbalResetPopoverData.resetMode" style="width: 180px"
                    :options="GimbalResetModeOptions"></a-select>
                </div>
              </div>
            </template>
            <Button size="small" ghost @click="onShowGimbalResetPopover">
              <span>Gimbal Reset</span>
            </Button>
          </DroneControlPopover>
          <Button size="small" ghost @click="onSwitchCameraMode">
            <span>Camera Mode Switch</span>
          </Button>
        </div>
        <div class="row">
          <Button size="small" ghost @click="onStartCameraRecording">
            <span>Start Recording</span>
          </Button>
          <Button size="small" ghost @click="onStopCameraRecording">
            <span>Stop Recording</span>
          </Button>
        </div>
        <div class="row">
          <Button size="small" ghost @click="onTakeCameraPhoto">
            <span>Take Photo</span>
          </Button>
          <DroneControlPopover :visible="zoomFactorPopoverData.visible" :loading="zoomFactorPopoverData.loading"
            @confirm="($event) => onZoomFactorConfirm(true)" @cancel="($event) => onZoomFactorConfirm(false)">
            <template #formContent>
              <div class="form-content">
                <div>
                  <span class="form-label">camera type:</span>
                  <a-select v-model:value="zoomFactorPopoverData.cameraType" style="width: 120px"
                    :options="ZoomCameraTypeOptions"></a-select>
                </div>
                <div>
                  <span class="form-label">zoom factor:</span>
                  <a-input-number v-model:value="zoomFactorPopoverData.zoomFactor" :min="2" :max="200" />
                </div>
              </div>
            </template>
            <Button size="small" ghost @click="($event) => onShowZoomFactorPopover()">
              <span class="word" @click=";">Zoom</span>
            </Button>
          </DroneControlPopover>
          <DroneControlPopover :visible="cameraAimPopoverData.visible" :loading="cameraAimPopoverData.loading"
            @confirm="($event) => onCameraAimConfirm(true)" @cancel="($event) => onCameraAimConfirm(false)">
            <template #formContent>
              <div class="form-content">
                <div>
                  <span class="form-label">camera type:</span>
                  <a-select v-model:value="cameraAimPopoverData.cameraType" style="width: 120px"
                    :options="CameraTypeOptions"></a-select>
                </div>
                <div>
                  <span class="form-label">locked:</span>
                  <a-switch v-model:checked="cameraAimPopoverData.locked" />
                </div>
                <div>
                  <span class="form-label">x:</span>
                  <a-input-number v-model:value="cameraAimPopoverData.x" :min="0" :max="1" />
                </div>
                <div>
                  <span class="form-label">y:</span>
                  <a-input-number v-model:value="cameraAimPopoverData.y" :min="0" :max="1" />
                </div>
              </div>
            </template>
            <Button size="small" ghost @click="($event) => onShowCameraAimPopover()">
              <span class="word" @click=";">AIM</span>
            </Button>
          </DroneControlPopover>
        </div>
      </div>
    </div> -->
    <!-- 信息提示 -->
    <!-- <DroneControlInfoPanel :message="drcInfo"></DroneControlInfoPanel> -->
  </div>
</template>

<script setup lang="ts">
import { reactive, ref, watch, computed, onMounted, watchEffect } from 'vue'
import { Select, message, Button } from 'ant-design-vue'
import { PayloadInfo, DeviceInfoType, ControlSource, DeviceOsdCamera, DrcStateEnum } from '/@/types/device'
import { useMyStore } from '/@/store'
import { postDrcEnter, postDrcExit } from '/@/api/drc'
import { useMqtt, DeviceTopicInfo } from './use-mqtt'
import { DownOutlined, UpOutlined, LeftOutlined, RightOutlined, PauseCircleOutlined, UndoOutlined, RedoOutlined, ArrowUpOutlined, ArrowDownOutlined } from '@ant-design/icons-vue'
import { useManualControl, KeyCode } from './use-manual-control'
import { usePayloadControl } from './use-payload-control'
import { CameraMode, CameraType, CameraTypeOptions, ZoomCameraTypeOptions, CameraListItem } from '/@/types/live-stream'
import { useDroneControlWsEvent } from './use-drone-control-ws-event'
import { useDroneControlMqttEvent } from './use-drone-control-mqtt-event'
import {
  postFlightAuth, LostControlActionInCommandFLight, WaylineLostControlActionInCommandFlight, ERthMode,
  ECommanderModeLostAction, ECommanderFlightMode
} from '/@/api/drone-control/drone'
import { useDroneControl } from './use-drone-control'
import {
  GimbalResetMode, GimbalResetModeOptions, LostControlActionInCommandFLightOptions, WaylineLostControlActionInCommandFlightOptions,
  RthModeInCommandFlightOptions, CommanderModeLostActionInCommandFlightOptions, CommanderFlightModeInCommandFlightOptions
} from '/@/types/drone-control'
import DroneControlPopover from './DroneControlPopover.vue'
import DroneControlInfoPanel from './DroneControlInfoPanel.vue'
import { noDebugCmdList as baseCmdList, DeviceCmdItem, DeviceCmd } from '/@/types/device-cmd'
import { useDockControl } from './use-dock-control'

const props = defineProps<{
  sn: string,
  deviceInfo: DeviceInfoType,
  payloads: null | PayloadInfo[]
}>()

const store = useMyStore()
const clientId = computed(() => {
  return store.state.clientId
})

const initCmdList = baseCmdList.map(cmdItem => Object.assign({}, cmdItem))
const cmdList = ref(initCmdList)

const { sendDockControlCmd } = useDockControl()

async function sendControlCmd(cmdItem: DeviceCmdItem) {
  cmdItem.loading = true
  const result = await sendDockControlCmd({
    sn: props.sn,
    cmd: cmdItem.cmdKey,
    action: cmdItem.action
  }, false)
  if (result) {
    // message.success('操作成功')
    if (flightController.value) {
      exitFlightCOntrol()
    }
  } else {
    // message.error('操作失败')
  }
  cmdItem.loading = false
}

const { flyToPoint, stopFlyToPoint, takeoffToPoint } = useDroneControl()
const MAX_SPEED = 14

const flyToPointPopoverData = reactive({
  visible: false,
  loading: false,
  latitude: null as null | number,
  longitude: null as null | number,
  height: null as null | number,
  maxSpeed: MAX_SPEED,
})

function onShowFlyToPopover() {
  flyToPointPopoverData.visible = !flyToPointPopoverData.visible
  flyToPointPopoverData.loading = false
  flyToPointPopoverData.latitude = null
  flyToPointPopoverData.longitude = null
  flyToPointPopoverData.height = null

  const info = props.deviceInfo?.dock?.basic_osd;
  if (info) {
    flyToPointPopoverData.latitude = info.latitude;
    flyToPointPopoverData.longitude = info.longitude;
  }
}

async function onFlyToConfirm(confirm: boolean) {
  if (confirm) {
    if (!flyToPointPopoverData.height || !flyToPointPopoverData.latitude || !flyToPointPopoverData.longitude) {
      message.error('Input error')
      return
    }
    try {
      await flyToPoint(props.sn, {
        max_speed: flyToPointPopoverData.maxSpeed,
        points: [
          {
            latitude: flyToPointPopoverData.latitude,
            longitude: flyToPointPopoverData.longitude,
            height: flyToPointPopoverData.height
          }
        ]
      })
    } catch (error) {
    }
  }
  flyToPointPopoverData.visible = false
}

async function onStopFlyToPoint() {
  await stopFlyToPoint(props.sn)
}

const takeoffToPointPopoverData = reactive({
  visible: false,
  loading: false,
  latitude: null as null | number,
  longitude: null as null | number,
  height: null as null | number,
  securityTakeoffHeight: null as null | number,
  maxSpeed: MAX_SPEED,
  rthAltitude: null as null | number,
  rcLostAction: LostControlActionInCommandFLight.RETURN_HOME,
  exitWaylineWhenRcLost: WaylineLostControlActionInCommandFlight.EXEC_LOST_ACTION,
  rthMode: ERthMode.SETTING,
  commanderModeLostAction: ECommanderModeLostAction.CONTINUE,
  commanderFlightMode: ECommanderFlightMode.SETTING,
  commanderFlightHeight: null as null | number,
})

function onShowTakeoffToPointPopover() {
  takeoffToPointPopoverData.visible = !takeoffToPointPopoverData.visible
  takeoffToPointPopoverData.loading = false
  takeoffToPointPopoverData.latitude = null
  takeoffToPointPopoverData.longitude = null
  takeoffToPointPopoverData.height = null
  takeoffToPointPopoverData.securityTakeoffHeight = null
  takeoffToPointPopoverData.rthAltitude = null
  takeoffToPointPopoverData.rcLostAction = LostControlActionInCommandFLight.RETURN_HOME
  takeoffToPointPopoverData.exitWaylineWhenRcLost = WaylineLostControlActionInCommandFlight.EXEC_LOST_ACTION
  takeoffToPointPopoverData.rthMode = ERthMode.SETTING
  takeoffToPointPopoverData.commanderModeLostAction = ECommanderModeLostAction.CONTINUE
  takeoffToPointPopoverData.commanderFlightMode = ECommanderFlightMode.SETTING
  takeoffToPointPopoverData.commanderFlightHeight = null

  const info = props.deviceInfo?.dock?.basic_osd;
  if (info) {
    takeoffToPointPopoverData.latitude = info.latitude;
    takeoffToPointPopoverData.longitude = info.longitude;
  }
}

async function onTakeoffToPointConfirm(confirm: boolean) {
  if (confirm) {
    if (!takeoffToPointPopoverData.height ||
      !takeoffToPointPopoverData.latitude ||
      !takeoffToPointPopoverData.longitude ||
      !takeoffToPointPopoverData.securityTakeoffHeight ||
      !takeoffToPointPopoverData.rthAltitude ||
      !takeoffToPointPopoverData.commanderFlightHeight) {
      message.error('Input error')
      return
    }
    try {
      await takeoffToPoint(props.sn, {
        target_latitude: takeoffToPointPopoverData.latitude,
        target_longitude: takeoffToPointPopoverData.longitude,
        target_height: takeoffToPointPopoverData.height,
        security_takeoff_height: takeoffToPointPopoverData.securityTakeoffHeight,
        rth_altitude: takeoffToPointPopoverData.rthAltitude,
        max_speed: takeoffToPointPopoverData.maxSpeed,
        rc_lost_action: takeoffToPointPopoverData.rcLostAction,
        exit_wayline_when_rc_lost: takeoffToPointPopoverData.exitWaylineWhenRcLost,
        rth_mode: takeoffToPointPopoverData.rthMode,
        commander_mode_lost_action: takeoffToPointPopoverData.commanderModeLostAction,
        commander_flight_mode: takeoffToPointPopoverData.commanderFlightMode,
        commander_flight_height: takeoffToPointPopoverData.commanderFlightHeight,
      })
    } catch (error) {
    }
  }
  takeoffToPointPopoverData.visible = false
}

const deviceTopicInfo: DeviceTopicInfo = reactive({
  sn: props.sn,
  pubTopic: '',
  subTopic: ''
})

useMqtt(deviceTopicInfo)

// 飞行控制
// const drcState = computed(() => {
//   return store.state.deviceState?.dockInfo[props.sn]?.link_osd?.drc_state === DrcStateEnum.CONNECTED
// })
const flightController = ref(false)

async function onClickFightControl() {
  if (flightController.value) {
    exitFlightCOntrol()
    return
  }
  enterFlightControl()
}

// 进入飞行控制
async function enterFlightControl() {
  try {
    const { code, data } = await postDrcEnter({
      client_id: clientId.value,
      dock_sn: props.sn,
    })
    if (code === 0) {
      flightController.value = true
      if (data.sub && data.sub.length > 0) {
        deviceTopicInfo.subTopic = data.sub[0]
      }
      if (data.pub && data.pub.length > 0) {
        deviceTopicInfo.pubTopic = data.pub[0]
      }
      // 获取飞行控制权
      if (droneControlSource.value !== ControlSource.A) {
        await postFlightAuth(props.sn)
      }
      message.success('Get flight control successfully')
    }
  } catch (error: any) {
  }
}

// 退出飞行控制
async function exitFlightCOntrol() {
  try {
    const { code } = await postDrcExit({
      client_id: clientId.value,
      dock_sn: props.sn,
    })
    if (code === 0) {
      flightController.value = false
      deviceTopicInfo.subTopic = ''
      deviceTopicInfo.pubTopic = ''
      message.success('退出飞行控制')
    }
  } catch (error: any) {
  }
}

// drc mqtt message
const { drcInfo, errorInfo } = useDroneControlMqttEvent(props.sn)

const {
  handleKeyup,
  handleEmergencyStop,
  resetControlState,
} = useManualControl(deviceTopicInfo, flightController)

function onMouseDown(type: KeyCode) {
  handleKeyup(type)
}

function onMouseUp() {
  resetControlState()
}

// 负载控制
const payloadSelectInfo = {
  value: null as any,
  controlSource: undefined as undefined | ControlSource,
  options: [] as any,
  payloadIndex: '' as string,
  camera: undefined as undefined | DeviceOsdCamera // 当前负载osd信息
}

const handlePayloadChange = (value: string) => {
  const payload = props.payloads?.find(item => item.payload_sn === value)
  if (payload) {
    payloadSelectInfo.payloadIndex = payload.payload_index || ''
    payloadSelectInfo.controlSource = payload.control_source
    payloadSelectInfo.camera = undefined
  }
}

// function getCurrentCamera (cameraList: CameraListItem[], cameraIndex?: string):CameraListItem | null {
//   let camera = null
//   cameraList.forEach(item => {
//     if (item.camera_index === cameraIndex) {
//       camera = item
//     }
//   })
//   return camera
// }

// const currentCamera = computed(() => {
//   return getCurrentCamera(props.deviceInfo.dock.basic_osd.live_capacity?.device_list[0]?.camera_list as CameraListItem[], camera_index)
// })
// 更新负载信息
watch(() => props.payloads, (payloads) => {
  if (payloads && payloads.length > 0) {
    payloadSelectInfo.value = payloads[0].payload_sn
    payloadSelectInfo.controlSource = payloads[0].control_source || ControlSource.B
    payloadSelectInfo.payloadIndex = payloads[0].payload_index || ''
    payloadSelectInfo.options = payloads.map(item => ({ label: item.payload_name, value: item.payload_sn }))
    payloadSelectInfo.camera = undefined
  } else {
    payloadSelectInfo.value = null
    payloadSelectInfo.controlSource = undefined
    payloadSelectInfo.options = []
    payloadSelectInfo.payloadIndex = ''
    payloadSelectInfo.camera = undefined
  }
}, {
  immediate: true,
  deep: true
})
watch(() => props.deviceInfo.device, (droneOsd) => {
  if (droneOsd && droneOsd.cameras) {
    payloadSelectInfo.camera = droneOsd.cameras.find(item => item.payload_index === payloadSelectInfo.payloadIndex)
  } else {
    payloadSelectInfo.camera = undefined
  }
}, {
  immediate: true,
  deep: true
})

// ws 消息通知
const { droneControlSource, payloadControlSource } = useDroneControlWsEvent(props.sn, payloadSelectInfo.value)
watch(() => payloadControlSource, (controlSource) => {
  payloadSelectInfo.controlSource = controlSource.value
}, {
  immediate: true,
  deep: true
})
const {
  checkPayloadAuth,
  authPayload,
  resetGimbal,
  switchCameraMode,
  takeCameraPhoto,
  startCameraRecording,
  stopCameraRecording,
  changeCameraFocalLength,
  cameraAim,
} = usePayloadControl()

async function onAuthPayload() {
  const result = await authPayload(props.sn, payloadSelectInfo.payloadIndex)
  if (result) {
    payloadControlSource.value = ControlSource.A
  }
}

const gimbalResetPopoverData = reactive({
  visible: false,
  loading: false,
  resetMode: null as null | GimbalResetMode,
})

function onShowGimbalResetPopover() {
  gimbalResetPopoverData.visible = !gimbalResetPopoverData.visible
  gimbalResetPopoverData.loading = false
  gimbalResetPopoverData.resetMode = null
}

async function onGimbalResetConfirm(confirm: boolean) {
  if (confirm) {
    if (gimbalResetPopoverData.resetMode === null) {
      message.error('Please select reset mode')
      return
    }
    gimbalResetPopoverData.loading = true
    try {
      await resetGimbal(props.sn, {
        payload_index: payloadSelectInfo.payloadIndex,
        reset_mode: gimbalResetPopoverData.resetMode
      })
    } catch (err) {
    }
  }
  gimbalResetPopoverData.visible = false
}

async function onSwitchCameraMode() {
  if (!checkPayloadAuth(payloadSelectInfo.controlSource)) {
    return
  }
  const currentCameraMode = payloadSelectInfo.camera?.camera_mode
  await switchCameraMode(props.sn, {
    payload_index: payloadSelectInfo.payloadIndex,
    camera_mode: currentCameraMode === CameraMode.Photo ? CameraMode.Video : CameraMode.Photo
  })
}

async function onTakeCameraPhoto() {
  if (!checkPayloadAuth(payloadSelectInfo.controlSource)) {
    return
  }
  await takeCameraPhoto(props.sn, payloadSelectInfo.payloadIndex)
}

async function onStartCameraRecording() {
  if (!checkPayloadAuth(payloadSelectInfo.controlSource)) {
    return
  }
  await startCameraRecording(props.sn, payloadSelectInfo.payloadIndex)
}

async function onStopCameraRecording() {
  if (!checkPayloadAuth(payloadSelectInfo.controlSource)) {
    return
  }
  await stopCameraRecording(props.sn, payloadSelectInfo.payloadIndex)
}

const zoomFactorPopoverData = reactive({
  visible: false,
  loading: false,
  cameraType: null as null | CameraType,
  zoomFactor: null as null | number,
})

function onShowZoomFactorPopover() {
  zoomFactorPopoverData.visible = !zoomFactorPopoverData.visible
  zoomFactorPopoverData.loading = false
  zoomFactorPopoverData.cameraType = null
  zoomFactorPopoverData.zoomFactor = null
}

async function onZoomFactorConfirm(confirm: boolean) {
  if (confirm) {
    if (!zoomFactorPopoverData.zoomFactor || zoomFactorPopoverData.cameraType === null) {
      message.error('Please input Zoom Factor')
      return
    }
    zoomFactorPopoverData.loading = true
    try {
      await changeCameraFocalLength(props.sn, {
        payload_index: payloadSelectInfo.payloadIndex,
        camera_type: zoomFactorPopoverData.cameraType,
        zoom_factor: zoomFactorPopoverData.zoomFactor
      })
    } catch (err) {
    }
  }
  zoomFactorPopoverData.visible = false
}

const cameraAimPopoverData = reactive({
  visible: false,
  loading: false,
  cameraType: null as null | CameraType,
  locked: false,
  x: null as null | number,
  y: null as null | number,
})

function onShowCameraAimPopover() {
  cameraAimPopoverData.visible = !cameraAimPopoverData.visible
  cameraAimPopoverData.loading = false
  cameraAimPopoverData.cameraType = null
  cameraAimPopoverData.locked = false
  cameraAimPopoverData.x = null
  cameraAimPopoverData.y = null
}

function openLivestreamOthers() {
  store.commit('SET_LIVESTREAM_OTHERS_VISIBLE', true)
}

function openLivestreamAgora() {
  store.commit('SET_LIVESTREAM_AGORA_VISIBLE', true)
}

async function onCameraAimConfirm(confirm: boolean) {
  if (confirm) {
    if (cameraAimPopoverData.cameraType === null || cameraAimPopoverData.x === null || cameraAimPopoverData.y === null) {
      message.error('Input error')
      return
    }
    try {
      await cameraAim(props.sn, {
        payload_index: payloadSelectInfo.payloadIndex,
        camera_type: cameraAimPopoverData.cameraType,
        locked: cameraAimPopoverData.locked,
        x: cameraAimPopoverData.x,
        y: cameraAimPopoverData.y,
      })
    } catch (error) {
    }
  }
  cameraAimPopoverData.visible = false
}

watch(() => errorInfo, (errorInfo) => {
  if (errorInfo.value) {
    message.error(errorInfo.value)
    console.error(errorInfo.value)
    errorInfo.value = ''
  }
}, {
  immediate: true,
  deep: true
})
</script>

<style lang='scss' scoped>
.drone-control-wrapper {
  padding: 10px 10px 20px;
  border-top: 1px solid #515151;

  .drone-control-header {
    font-size: 14px;
    font-weight: 600;
    margin-bottom: 10px;
  }

  .drone-control-button {
    margin-bottom: 10px;
  }

  .drone-control-more {
    width: 48%;
    display: flex;
    justify-content: space-between;
    margin-bottom: 10px;

    .ant-btn {
      margin-right: 0;
      height: 32px;
    }

    .word {
      width: 14px;
      margin-left: 2px;
      font-size: 14px;
      color: #aaa;
    }
  }
}
</style>