food/src/components/ControllerTabs.vue

<template>
  <div>
    <!-- 弹出框 -->
    <el-dialog :title="dialogTitle" :visible.sync="dialogVisible" width="30%">
      <!-- 起飞设置弹出框 -->
      <template v-if="dialogItem == 'takeoffBox'">
        <el-slider class="w-100" v-model="takeoffValue" :show-tooltip="false" show-input :min="1" :max="100">
        </el-slider>
        <span slot="footer" class="dialog-footer">
          <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
          <el-button size="medium" type="primary"
            @click="publishFun(`{setPlaneState:{bit:6,state:1,count:1,param:[${takeoffValue}]}`); speakText('确认起飞')">确认起飞</el-button>
        </span>
      </template>
      <!-- 摄像头弹出框 -->
      <template v-if="dialogItem == 'cameraBox'">
        <div class="slider-container">
          <div class="m-l-10 m-r-10">俯</div>
          <el-slider @change="releaseCameraSlider('pitch')" @input="setCamera('pitch')" v-model="pitchValue"
            :show-tooltip="false" class="w-80"></el-slider>
          <div class="m-l-10 m-r-10">仰</div>
        </div>
        <div class="slider-container">
          <div class="m-l-10 m-r-10">左</div>
          <el-slider @change="releaseCameraSlider('yaw')" @input="setCamera('yaw')" v-model="yawValue"
            :show-tooltip="false" class="w-80"></el-slider>
          <div class="m-l-10 m-r-10">右</div>
        </div>
        <div class="slider-container">
          <div class="m-l-10 m-r-10">大</div>
          <el-slider @change="releaseCameraSlider('scale')" @input="setCamera('scale')" v-model="scaleValue"
            :show-tooltip="false" class="w-80"></el-slider>
          <div class="m-l-10 m-r-10">小</div>
        </div>
        <span slot="footer" class="dialog-footer">
          <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
        </span>
      </template>
    </el-dialog>
    <!-- 侧边 tab -->
    <div class="tab-container">
      <el-button size="medium" type="primary" :class="activeIndex === index ? 'butIconGroupBG' : ''"
        class="butIconGroup" v-for="(item, index) in controlItems" :key="index"
        @click="toggleContent(index, item.voice)">
        <i :class="item.icon" class="iconfont f-s-35"></i>
        <div class="m-t-5 fb">{{ item.title }}</div>
      </el-button>
      <!-- 子内容菜单 -->
      <div class="content" :class="{ 'active': activeIndex !== null }">
        <!-- 订单任务 -->
        <div v-if="activeIndex === 0" class="contentBox">
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-dingdanguanli f-s-22 m-r-5"></i>
            <span>送餐任务</span>
          </div>
          <!-- 内容 -->
          <el-form label-position="left" ref="questForm" :model="questForm" label-width="80px">
            <el-form-item label="已接订单">
              <el-select v-model="questForm.id" :filterable="isMobile" placeholder="请选择，也可输入搜索" :disabled="airLock">
                <el-option v-for="item in questList" :key="item.id" :label="item.id" :value="item.id"
                  :class="isWaring(item) ? 'danger-color' : ''">
                  <span class="l">{{ item.id }}</span>
                  <span class="l m-l-5">{{ item.receiver }}</span>
                  <span class="l m-l-5">{{ item.receive_site_name }}</span>
                </el-option>
              </el-select>
            </el-form-item>
            <el-form-item label="飞机操作">
              <el-button-group>
                <el-button size="mini" class="f-s-14" v-if="planeState.state & 1 && airLock" key="pubBut" type="info"
                  icon="iconfont el-icon-loading" disabled>
                  <font class="m-l-5">注册航线</font>
                </el-button>
                <el-button size="mini" class="f-s-14" v-if="planeState.state & 1 && !airLock" type="primary"
                  icon="f-s-14 iconfont icon-chakanzhihangrizhi" @click="checkQuest">
                  <font class="m-l-5">提交任务</font>
                </el-button>
                <el-button size="mini" class="f-s-14" v-if="planeState.state & 2" key="wirteBut" type="info"
                  :loading="true" disabled>
                  <font class="m-l-5">航点写入中···</font>
                </el-button>
                <el-button size="mini" class="f-s-14" v-if="planeState.state & 4 && !(planeState.state & 16)"
                  type="warning" icon="f-s-14 iconfont icon-jiesuo"
                  @click="publishFun('{setPlaneState:{bit:3,state:1,count:2,param:[1,0]}}'); speakText('解锁飞机')">
                  <font class="m-l-5">解锁飞机</font>
                </el-button>
                <el-button size="mini" class="f-s-14"
                  v-if="planeState.state & 16 && !(planeState.state & 1) && !(planeState.state & 2)" type="success"
                  icon="f-s-14 iconfont icon-yangshi_icon_tongyong_departure"
                  @click="publishFun('{setPlaneState:{bit:5,state:1}'); speakText('准备起飞，执行送餐任务')">
                  <font class="m-l-5">执行任务</font>
                </el-button>
              </el-button-group>
            </el-form-item>
            <el-form-item label="任务操作">
              <el-button-group>
                <el-button size="mini" class="f-s-14" type="danger" icon="iconfont icon-meiyoudingdan-01" key="celBUt"
                  @click="reQuest">
                  <font class="m-l-5">未送达</font>
                </el-button>
                <el-button size="mini" class="f-s-14" type="success" icon="iconfont icon-qiandai" key="bingBut"
                  @click="overQuest">
                  <font class="m-l-5">已送达</font>
                </el-button>
              </el-button-group>
            </el-form-item>
          </el-form>
        </div>
        <!-- 飞机操作 -->
        <template v-if="activeIndex === 1">
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-youxishoubing f-s-22 m-r-5"></i>
            <span>飞机控制</span>
          </div>
          <div class="butIconBox">
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{setPlaneState:{bit:3,state:1,count:2,param:[1,0]}}'); speakText('解锁飞机')">
              <i class="iconfont icon-jiesuo f-s-24"></i>
              <div class="m-t-5">解锁</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{setPlaneState:{bit:3,state:0,count:2,param:[0,21196]}}'); speakText('加锁,请注意安全')">
              <i class=" iconfont icon-suoding f-s-24"></i>
              <div class="m-t-5">加锁</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="dialogVisible = true; dialogTitle = '起飞高度(米)设置'; dialogItem = 'takeoffBox'; speakText('设置起飞高度')">
              <i class="iconfont icon-yangshi_icon_tongyong_departure f-s-24"></i>
              <div class="m-t-5">起飞</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{setPlaneState:{bit:7,state:1}'); speakText('悬停')">
              <i class="iconfont icon-fengzheng1 f-s-24"></i>
              <div class="m-t-5">悬停</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border" @click="speakText('继续执行航线')">
              <i class="iconfont icon-duandianxufei f-s-24"></i>
              <div class="m-t-5">复航</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{setPlaneState:{bit:9,state:1}'); speakText('返航')">
              <i class="iconfont icon-yijianfanhang f-s-24"></i>
              <div class="m-t-5">返航</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{setPlaneState:{bit:5,state:1}'); speakText('降落')">
              <i class="iconfont icon-yangshi_icon_tongyong_arriving f-s-24"></i>
              <div class="m-t-5">降落</div>
            </el-button>
          </div>
        </template>
        <!-- 附加模组操作 -->
        <template v-if="activeIndex === 2">
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-mianxingdiaogou f-s-22 m-r-5"></i>
            <span>挂载仓控制</span>
          </div>
          <div class="butIconBox">
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{hookConteroller:4}'); speakText('重置重量传感器')">
              <i class="iconfont icon-zhongliang f-s-24"></i>
              <div class="m-t-5">归零</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{hookConteroller:0}'); speakText('收钩')">
              <i class="iconfont icon-xiangshang f-s-24"></i>
              <div class="m-t-5">收钩</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{hookConteroller:3}'); speakText('继续放钩')">
              <i class="iconfont icon-qiyong f-s-24"></i>
              <div class="m-t-5">继续</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{hookConteroller:2}'); speakText('暂停放钩')">
              <i class="iconfont icon-xuanting-zanting f-s-24"></i>
              <div class="m-t-5">暂停</div>
            </el-button>
          </div>
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-shipinjiankong f-s-22 m-r-5"></i>
            <span>摄像头控制</span>
          </div>
          <div class="butIconBox">
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{cameraController:{item:0,val:0}}'); speakText('摄像头一键回中')">
              <i class="iconfont icon-icon-rotation f-s-24"></i>
              <div class="m-t-5">回中</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:-50}}'); speakText('摄像头一键俯瞰')">
              <i class="iconfont icon-down f-s-24"></i>
              <div class="m-t-5">俯瞰</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="dialogVisible = true; dialogTitle = '摄像头控制'; dialogItem = 'cameraBox'; speakText('手动调整摄像头')">
              <i class="iconfont icon-chukong f-s-24"></i>
              <div class="m-t-5">手动</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border"
              @click="dialogVisible = true; dialogTitle = '摄像头控制'; dialogItem = 'cameraBox'; speakText('调整镜头焦距')">
              <i class="iconfont icon-fangda f-s-24"></i>
              <div class="m-t-5">焦距</div>
            </el-button>
          </div>
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-tongzhi f-s-22 m-r-5"></i>
            <span>喇叭控制</span>
          </div>
          <div class="butIconBox">
            <el-button size="medium" type="primary" class="butIcon border">
              <i class="iconfont icon-icon-test f-s-24"></i>
              <div class="m-t-5">喊话</div>
            </el-button>
          </div>
        </template>
        <!-- 飞机调试 -->
        <template v-if="activeIndex === 3">
          <!-- 标题 -->
          <div class="clearB m-b-10 fb f-s-16 contentTit">
            <i class="iconfont icon-banshou_Line f-s-22 m-r-5"></i>
            <span>飞机调试</span>
          </div>
          <div class="butIconBox">
            <el-button size="medium" type="primary" class="butIcon border"
              @click="publishFun('{bit:11,state:1}'); speakText('校准磁罗盘')">
              <i class="iconfont icon-zhinanzhen f-s-24"></i>
              <div class="m-t-5">磁罗盘</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border" @click="speakText('校准加速度计')">
              <i class="iconfont icon-zuobiaozhoupeizhixiang f-s-24"></i>
              <div class="m-t-5">加速度计</div>
            </el-button>
            <el-button size="medium" type="primary" class="butIcon border" @click="speakText('写入参数')">
              <i class="iconfont icon-canshupeizhi f-s-24"></i>
              <div class="m-t-5">写入参数</div>
            </el-button>
          </div>
        </template>
      </div>
    </div>
  </div>
</template>

<script>
import { questAss } from '@/utils/api/table'
import mqtt from '@/utils/mqtt'
import { speakText } from '@/utils/index'

export default {
  name: 'TabController',
  data () {
    return {
      dialogTitle: '', // 弹出框 标题
      dialogItem: '', // 弹出框 项目类型判断
      dialogVisible: false, // 弹出框 显隐
      pitchValue: 50, // 摄像头控制滑动条 俯仰值
      yawValue: 50, // 摄像头控制滑动条 旋转值
      scaleValue: 50, // 摄像头控制滑动条 焦距值
      takeoffValue: 2, // 起飞高度
      controlItems: [// 菜单
        { title: '任务', icon: 'icon-songcanfuwu', voice: '设置送餐任务' },
        { title: '控制', icon: 'icon-youxishoubing', voice: '控制飞机' },
        { title: '扩展', icon: 'icon-linghuokuozhan', voice: '控制扩展组件' },
        { title: '调试', icon: 'icon-banshou_Line', voice: '调试飞机' }
      ],
      activeIndex: null, // 当前选中的菜单
      tabIsOpen: false, // 判断tab 是否弹出
      questForm: { // 送餐任务表单
        id: ''
      },
      planesId: this.$route.params.id, // 飞机id
      airLock: false, // 当前飞机是否被锁定
      planeState: {}// 飞机状态
    }
  },
  props: {
    plane: {
      typeof: 'Object',
      deep: true
    }
  },
  computed: {
    /**
     * @description: 终端平台是否是pc
     */
    isMobile () {
      return this.$store.state.app.isMobile
    },
    /**
     * @description: 已付款 已接单 未发起退款 订单列表
     */
    questList () {
      const plane = this.plane
      return plane ? this.$store.state.paidOrderList.filter((item) => item.shop_id === plane.shop_id && item.shipment_status === '已接单' && item.refund_status !== '申请中') : []
    },
    /**
     * @description: 已发货 订单列表
     */
    overQuestList () {
      return this.$store.state.paidOrderList.filter((item) => item.status === 'shipped')
    },
    /**
     * @description: 当前选中的订单
     */
    currentOrder () {
      if (this.questForm && this.questForm.id !== undefined) {
        return this.questList.find((item) => item.id === this.questForm.id) || null
      }
      return null
    },
    /**
     * @description: 航线列表
     */
    routeList () {
      return this.$store.state.routeList
    },
    /**
     * @description: 获取站点列表
     */
    siteList () {
      return this.$store.state.siteList
    }
  },
  methods: {
    questAss,
    speakText,
    /**
     * @description: 摄像头 滑动条松开
     * @param {string} item 项目
     */
    releaseCameraSlider (item) {
      if (item === 'pitch') {
        this.pitchValue = 50
        this.publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:0}}')
      } else if (item === 'yaw') {
        this.yawValue = 50
        this.publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:0}}')
      } else if (item === 'scale') {
        this.publishFun('{cameraController:{item:1,val:0}}')
        this.scaleValue = 50
      }
    },
    /**
     * @description: 摄像头 滑动条滚动 发送设置命令
     * @param {*} item 项目
     */
    setCamera (item) {
      if (item === 'pitch') { // 设置pitch轴
        const pitchV = (this.pitchValue - 50) * 2
        this.publishFun(`{cameraController:{item:2,yaw:0,pitch:${pitchV}}`)
      } else if (item === 'yaw') { // 设置yaw轴
        const yawV = (this.yawValue - 50) * 2
        this.publishFun(`{cameraController:{item:2,yaw:${yawV},pitch:0}`)
      } else if (item === 'scale') {
        if (this.scaleValue < 50) { // 焦距放大
          this.publishFun('{cameraController:{item:1,val:1}}')
        } else if (this.scaleValue > 50) {
          this.publishFun('{cameraController:{item:1,val:255}}')
        }
      }
    },
    /**
     * @description: 菜单切换 PS:UI
     * @param {*} index 序号
     * @param {*} voice 播放声音的文本
     */
    toggleContent (index, voice) {
      this.activeIndex = this.activeIndex === index ? null : index
      if (this.tabIsOpen) {
        if (index !== this.activeIndex) {
          this.tabIsOpen = false
          this.$emit('mapXOffset', -200)
        } else {
          this.speakText(voice)
        }
      } else {
        this.tabIsOpen = true
        this.$emit('mapXOffset', 200)
        this.speakText(voice)
      }
    },
    /**
     * @description: 发布 mqtt 信息
     * @param {*} jsonData {'item':val} // item: questAss飞行航点任务 setPlaneState 设置飞机状态 getPlaneState获取飞机状态 resetState设置飞机初始状态 chan1油门通道1 chan2油门通道2  chan3油门通道3  chan4油门通道4 hookConteroller钩子控制 cameraController云台相机控制
     */
    publishFun (jsonData) {
      if (this.plane) {
        const val = jsonData
        mqtt.publishFun(`cmd/${this.plane.macadd}`, val)
      } else {
        this.$message.warning('与飞机通信未接通,请稍后')
      }
    },
    /**
     * @description: 执行任务前 先检测订单是否 合法  例如：订单重量会不会超出飞机载重上限
     */
    checkQuest () {
      console.log(this.questForm.id)
      if (this.questForm.id === '') {
        this.$message.error('未选择订单任务!')
        return
      }
      if (!this.currentOrder) {
        this.$message.error('此订单已被申请退款或者订单已经被取消!')
        return
      }
      if (this.currentOrder.bind_route === null) { // 判断站点是否已经绑定站点 未绑定 中断操作
        this.$message.error('此站点，未绑定任务航点')
        return
      }
      if (Number(this.currentOrder.total_weight) >= Number(this.plane.weight_max)) { // 检查重量
        this.$confirm('此订单总重超出本飞机的载重上限', '检测订单', {
          confirmButtonText: '仍然提交',
          cancelButtonText: '放弃提交',
          type: 'warning'
        })
          .then(() => {
            this.$message({
              type: 'warning',
              message: '存在超重风险，仍然提交订单'
            })
            this.runQuest()// 提交订单
          })
          .catch(action => {
            this.$message({
              type: 'info',
              message: '取消提交订单'
            })
          })
      } else if (this.currentOrder.runing.split(',').some(item => item !== '')) { // 检查 此站点上有否有飞机正在执行任务
        this.$confirm('此订单的目标站点，已经有飞机正在执行任务。请注意安全！', '检测订单', {
          confirmButtonText: '仍然提交',
          cancelButtonText: '放弃提交',
          type: 'warning'
        })
          .then(() => {
            this.runQuest()// 提交订单
          })
          .catch(action => {
            this.$message({
              type: 'info',
              message: '取消提交订单'
            })
          })
      } else {
        // 合法 直接提交订单
        this.runQuest()
      }
    },
    /**
     * @description: 执行订单任务
     */
    runQuest () {
      /* 插入日志 */
      this.$store.dispatch('fetchLog', { content: `${this.plane.name} 开始执行 订单ID：${this.currentOrder.id}、叫餐号：${this.currentOrder.food_sn}号。` })
      /* 执行写在这里 */
      let routeData // 航线数据内容
      let newRuning // 执行飞机注册后的 running字段信息
      try {
        /* 站点正在执行任务runing 注册 */
        const runing = this.currentOrder.runing.split(',')
        let foundEmpty = false
        let selIndex // 记录执行飞机注册的索引 此索引对应 要使用的航线的索引
        runing.some((item, index, arr) => {
          if (item === '') {
            arr[index] = this.planesId
            foundEmpty = true
            selIndex = index
            return true // 找到空位后退出循环
          }
        })
        newRuning = runing.join(',')
        if (!foundEmpty) {
          this.$message({
            type: 'warning',
            message: '站点所有航线都已被占用！'
          })
          return // 退出外层函数
        }
        /* 航线选择 */
        const bindRoute = this.currentOrder.bind_route.split(',')
        routeData = this.routeList.find(element => element.id === bindRoute[selIndex]).route_data
        routeData = JSON.parse(routeData)// 反序列化
        // 处理声音航点 航点里面的表达式 如$food_sn$ 正则替换成订单对应的字段
        this.currentOrder.telTail = this.currentOrder.tel.substr(-4)// 手动加一个手机尾号telTail字段 从 tel字段截取后四位
        routeData.tasks.forEach((x, index) => {
          if (x.sound) {
            const str = this.voiceRouteParse(this.currentOrder, x.sound)
            routeData.tasks[index].sound = str// 重新写入声音航点
          }
        })
        routeData = JSON.stringify(routeData)// 重新序列化
      } catch (error) {
        this.$message.error('操作失败,请重新尝试')
      }
      this.publishFun(`{"questAss":${routeData}}`)// 发送航点信息主题
      this.questAss(this.currentOrder.id, 'shipment_status', '已发货')// 订单改为发货状态 并更新订单列表
      this.$store.dispatch('fetchLockSite', { id: this.currentOrder.receive_site_id, runing: newRuning })// 航线注册飞机 锁定送餐点
      this.speakText('提交任务，锁定航线。')
    },
    /**
     * @description: 匹配声音航点字符串 比如$food_sn$ food_sn匹配成 送餐订单里面的对应字段
     * @param {*} questItem 送餐的订单 ps:从数据库里拿的 订单信息对象
     * @param {*} voiceRouteStr 声音航点的字符串
     */
    voiceRouteParse (questItem, voiceRouteStr) {
      // 定义正则表达式
      const regex = /\$(.*?)\$/g
      // 使用replace()方法进行匹配和替换
      const replacedStr = voiceRouteStr.replace(regex, (match, p1) => {
        // match表示匹配到的字符串，p1表示捕获组中的内容
        return questItem[p1] // 用捕获组的内容替换匹配到的字符串
      })
      // 输出替换后的字符串
      return replacedStr // 输出 "请45号电话为13301115846的先生取餐"
    },
    /**
     * @description: 确认操作
     * @param {*}msg 提示的话语内容
     * @param {*}tit 提示框的标题
     * @param {*}instruct 需要发送的mqtt指令内容
     */
    confirmation (msg, tit, instruct) {
      this.$confirm(msg, tit, {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(() => {
        this.publishFun(instruct)
      }).catch(() => {
        this.$message.info('取消操作！')
      })
    },
    /**
     * @description: 取消任务
     */
    reQuest () {
      if (!this.airLock) { // 只有飞机锁定状态 才向下执行 "取消"操作
        return
      }
      this.$confirm('确认复位飞机状态，并清除航线的锁定?', '取消任务', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(() => {
        this.overQuestList.forEach((item) => {
          if (item.runing === this.planesId) {
            /* 插入日志 */
            this.$store.dispatch('fetchLog', { content: `订单ID：${item.id},送餐任务取消。` })
            /* 执行写在这里 */
            this.publishFun('{"resetState":1}')// 发送设置飞机状态主题 状态设为闲置
            this.questAss(item.id, 'status', 'pending')// 订单改回到发货状态之前 既“已付款状态”
            this.$store.dispatch('fetchLockSite', { id: item.receive_site_id, runing: 'null' })// 解锁航线
            this.questForm.id = ''// 选择框设置成 空的状态
            speakText('任务取消，退回未备货状态')
          }
        })
      }).catch(() => {
        this.$message.info('取消操作！')
      })
    },
    /**
   * @description: 已送达任务
   */
    overQuest () {
      if (!this.airLock) { // 只有飞机锁定状态 才向量下执行 "已送达"操作
        return
      }
      this.$confirm('确认将订单状态改为已送达吗?', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(() => {
        // 确认执行
        this.questList.map((item) => {
          if (item.runing === this.planesId) { // 找出当前飞机正在执行的任务
            /* 插入日志 */
            this.$store.dispatch('fetchLog', { content: `订单ID：${item.id} 送餐任务已完成。` })
            /* 执行写在这里 */
            this.publishFun('{"resetState":1}')// 发送设置飞机状态主题 状态设为闲置
            this.questAss(item.id, 'shipment_status', '已送达')// 订单改为已完成状态
            this.$store.dispatch('fetchLockSite', { id: item.receive_site_id, runing: 'null' })// 解锁航线
            this.speakText('任务完成')
          }
        })
      }).catch(() => {
        this.$message.info('取消操作！')
      })
    },
    /**
     * @description: 在地图上绘制航线
     */
    makeRouteForMap () {
      let bindRoute
      let routeData
      let found = false
      this.siteList.some(item => {
        const runing = item.runing.split(',')
        const index = runing.indexOf(this.planesId.toString())
        if (index !== -1) {
          found = true
          // 获取航点信息
          if (item.bind_route !== null) { // 判断站点是否已经绑定站点
            bindRoute = item.bind_route.split(',')
            this.$store.dispatch('fetchRouteList').then(res => { // 只能异步拿 虽然效率低一些
              routeData = res.find(element => element.id === bindRoute[index]).route_data
              this.$emit('makeRoute', JSON.parse(routeData))
            })
          } else {
            this.$message.error('此站点，未绑定任务航点')
          }
          return true // 找到匹配项后退出循环
        }
        return false // 继续循环
      })
      if (!found) {
        this.$message.error('未找到匹配的站点')
      }
    },
    /**
     * @description: 判断 已接订单下拉框 的任务 有疑问的 坐标集 class样式显示成红色
     * @param {*} item 对应下拉框的任务
     */
    isWaring (item) {
      const isOverWaight = Number(item.total_weight) >= Number(this.plane.weight_max)// 是否超重
      const isQuestIng = item.runing.split(',').some(i => i !== '')// 是否有飞机正在执行
      return isOverWaight || isQuestIng
    }
  },
  created () {
    // 初始化
    // 当站点列表 航线列表都载入之后 判断飞机的锁定状态airLock
    if (this.siteList && this.routeList) {
      this.airLock = this.siteList.some(item => {
        if (item.runing) {
          const runingArray = item.runing.split(',').map(str => str.trim()) // 将 item.runing 分割成数组并去除空格
          return runingArray.includes(this.planesId.toString()) // 比较数组中的元素和 this.planesId
        }
        return false
      })
    }
    // 主动获取飞机状态
    this.publishFun('{getPlaneState:1}')
  },
  watch: {
    airLock (val) {
      if (val) { // 如果当前飞机正在执行任务 把航线绘制到地图上
        this.makeRouteForMap()
      } else { // 如果没有执行任务 把地图上航线清除
        this.$emit('clearRoute')
      }
      this.$store.dispatch('fetchPaidOrderList')// 刷新订单列表
      this.$store.dispatch('fetchSiteList')// 刷新站点列表
    },
    siteList (val) {
      this.airLock = this.siteList.some(item => {
        if (item.runing) {
          const runingArray = item.runing.split(',').map(str => str.trim()) // 将 item.runing 分割成数组并去除空格
          return runingArray.includes(this.planesId.toString()) // 比较数组中的元素和 this.planesId
        }
        return false
      })
    },
    questList (val) {
      /* 任务列表更新时 判断还有没有当前选择的id 没有就清空 */
      const found = val.some(item => item.id === this.questForm.id)
      if (!found) {
        this.questForm.id = ''
      }
    },
    plane: {
      handler (val) {
        this.planeState = val.planeState// 实时更新飞机数据
      },
      deep: true
    }
  }

}
</script>

<style lang="scss" scoped>
@import "@/styles/theme.scss";

.danger-color {
  color: $danger-color;
  font-weight: bold;
}

.tab-container {
  height: 365px;
  width: 80px;
  display: flex;
  flex-direction: column;
  align-items: flex-end;
  position: fixed;
  right: 15px;
  top: 50%;
  transform: translateY(-50%);
  z-index: 1000;
}

.butIconGroup {
  color: $maintext-color;
  background-color: rgba(255, 255, 255, 0.5);
  border-radius: 15px;
  padding: 5px;
  width: 80px;
  height: 80px;
  text-align: center;
  margin-bottom: 20px;
  border: none;
  box-shadow: 0px 0px 4px rgba(0, 0, 0, 0.2);
}

.butIconGroupBG {
  color: $graylight-color;
  background-color: $brand-color;
}

.butIconGroup:last-of-type {
  margin-bottom: 0px;
}

.slider-container {
  display: flex;
  align-items: center;
  /* 水平垂直居中 */
}

.content {
  color: $maintext-color;
  border-radius: 15px;
  height: 100%;
  position: fixed;
  right: -400px;
  top: 50%;
  transform: translateY(-50%);
  width: 350px;
  background-color: rgba(255, 255, 255, 0.8);
  padding: 20px;
  box-shadow: 0px 0px 4px rgba(0, 0, 0, 0.2);
  transition: right 0.3s ease;
}

.content.active {
  right: 95px;
}

.contentTit i {
  vertical-align: middle;
}

.butIcon {
  border-radius: 10px;
  padding: 5px;
  width: 66px;
  height: 66px;
  text-align: center;
  border: none;
  float: left;
  margin: 0px !important;
  margin-bottom: 15px !important;
  margin-right: 15px !important;
}

.butIconBox .butIcon:nth-child(4n) {
  margin-right: 0 !important;
}
</style>