LASAPlatform/OpenAuth.App/ServiceApp/Algo/DaHuaAiApp.cs

using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.EMMA;
using Infrastructure;
using Infrastructure.CloudSdk;
using Infrastructure.CloudSdk.minio;
using Infrastructure.Extensions;
using Infrastructure.Helpers;
using Microsoft.Extensions.Logging;
using Microsoft.Extensions.Logging.Log4Net.AspNetCore.Entities;
using Minio;
using Newtonsoft.Json;
using NPOI.SS.Formula.Functions;
using OpenAuth.App.BaseApp.Base;
using OpenAuth.App.Interface;
using OpenAuth.App.ServiceApp.Algo.Request;
using OpenAuth.App.ServiceApp.Algo.Response;
using OpenAuth.Repository;
using OpenAuth.Repository.Domain;
using OpenAuth.WebApi;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Drawing.Imaging;
using System.Linq;
using System.Net;
using System.Net.Http;
using System.Text;
using System.Text.Json.Nodes;
using System.Threading.Tasks;
using Microsoft.Extensions.Configuration;

namespace OpenAuth.App.ServiceApp.Algo
{

    public class DaHuaAiApp : SqlSugarBaseApp<LasaAlgorithmsRepository, SugarDbContext>
    {
        // 8192坐标系
        private const float STANDARD_WIDTH = 8192f;
        private const float STANDARD_HEIGHT = 8192f;
        public MinioService _minioService;
        private readonly ILogger<DaHuaAiApp> _logger;
        private readonly MqttClientManager _mqttClientManager;
        private readonly IConfiguration _configuration;
        public DaHuaAiApp(ISugarUnitOfWork<SugarDbContext> unitWork, MinioService minioService, ILogger<DaHuaAiApp> logger, MqttClientManager mqttClientManager,
        ISimpleClient<LasaAlgorithmsRepository> repository, IAuth auth,
        IConfiguration configuration) : base(unitWork, repository, auth)
        {
            _minioService = minioService;
            _logger = logger;
            _mqttClientManager = mqttClientManager;
            _configuration = configuration;
        }

        #region 大华算法
        //分析两次航线图片
        public async Task<Response<List<dynamic>>> BehaviorAlarm(string firstId, string secondId, string cdid)
        {
            using (var db = UnitWork.CreateContext())
            {
                var imageList1 = await db.LasaMediaFile.AsQueryable().Where(r => r.TaskId == firstId && r.AbsoluteAltitude != 0 && r.AbsoluteAltitude != null).OrderBy(r => r.CreateTime).ToListAsync();
                var imageList2 = await db.LasaMediaFile.AsQueryable().Where(r => r.TaskId == secondId && r.AbsoluteAltitude != 0 && r.AbsoluteAltitude != null).OrderBy(r => r.CreateTime).ToListAsync();
                //var imageList1 = await db.LasaMediaFile.AsQueryable().Where(r => r.Id == firstId && r.AbsoluteAltitude != 0 && r.AbsoluteAltitude != null).ToListAsync();
                //var imageList2 = await db.LasaMediaFile.AsQueryable().Where(r => r.Id == secondId && r.AbsoluteAltitude != 0 && r.AbsoluteAltitude != null).ToListAsync();
                List<dynamic> dataList = new List<dynamic>();
                if (imageList1.Count() != imageList2.Count())
                {
                    //删除检测记录
                    await db.Lasa_ChangeDetection.DeleteByIdAsync(cdid);
                    db.Commit();
                    throw new Exception("任务照片数量不对应，请重新选择任务");
                }
                for (int i = 0; i < imageList1.Count; i++)
                {
                    dataList.Add(new
                    {
                        @event = "event.capturePic",
                        uid = "1",
                        channelCode = "sdhc04",
                        recordId = "kQUXlb1Y8oDgCpZSo7l2yG175617335006157587",
                        sourceId = "kQUXlb1Y8oDgCpZSo7l2yG175617335006157587",
                        taskSource = 1,
                        taskId = "8ab0e1e213234a848e20d0d335559786",
                        capTime = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(),
                        taskTime = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(),
                        cdid = cdid,
                        imageInfo = new
                        {
                            imgSize = 1667235,
                            imgWidth = 4032,
                            imgHeight = 3024
                        },
                        imageInfoList = new[]
                        {
                            new {
                                imgUrl = "http://175.27.168.120:6013/test/"+imageList1[i].ObjectKey,
                                imgSize = imageList1[i].Size,
                                imgWidth = imageList1[i].Width,
                                imgHeight = imageList1[i].Height,
                                imgType = 0,
                                longitude = imageList1[i].Lng,
                                absAltitude = imageList1[i].AbsoluteAltitude,
                                latitude = imageList1[i].Lat,
                                zoom =  imageList1[i].DigitalZoomRatio,
                                yaw = imageList1[i].GimbalYawDegree,
                                pitch = imageList1[i].GimbalPitchDegree,
                                roll = imageList1[i].GimbalRollDegree,
                                focalLength = imageList1[i].FocalLength

                            },
                            new {
                                imgUrl = "http://175.27.168.120:6013/test/"+imageList2[i].ObjectKey,
                                imgSize = imageList2[i].Size,
                                imgWidth = imageList2[i].Width,
                                imgHeight = imageList2[i].Height,
                                imgType = 1,
                                longitude =imageList2[i].Lng,
                                absAltitude =  imageList2[i].AbsoluteAltitude,//拍摄绝对高度
                                latitude = imageList2[i].Lat,
                                zoom = imageList2[i].DigitalZoomRatio,//放大倍率
                                yaw =imageList2[i].GimbalYawDegree,//偏航角？
                                pitch = imageList2[i].GimbalPitchDegree,//滚角？
                                roll = imageList2[i].GimbalRollDegree,
                                focalLength = imageList2[i].FocalLength//焦距
                            }
                        }
                    });
                }
                return new Response<List<dynamic>>
                {
                    Result = dataList,
                    Message = "获取数据成功"
                };
            }
        }
        public async Task<Response<bool>> AddDaHuaImg(string info)
        {
            Console.WriteLine(info);
            _logger.LogError("耕地破坏报警数据;" + info);
            using (var db = UnitWork.CreateContext())
            {
                var data = JsonConvert.DeserializeObject<dynamic>(info);
                string cdid = data.cdid.ToString();
                var oldinfo = await db.LasaAiAchievement.GetFirstAsync(r => r.TaskId == cdid);
                var imageList = data.imageInfoList;
                string detectRegionJson = JsonConvert.SerializeObject(data.info.detectRegion);
                //string detectRegionJson = "[[0, 0],[8063, 647],[8017, 7774],[552, 8033]]";
                //string url = "http://123.132.248.154:6015/DroneEnforcement/2025/20250514/lQLPJyIVimQWGKnNA4PNA6Gw1D3q5gbxUvQIiumcIx4vAA_929_899.png";
                var regionArray = JsonConvert.DeserializeObject<int[][]>(detectRegionJson);
                var imaList = data.imgList;
                if (oldinfo != null)
                {
                    string compareGroupId = Guid.NewGuid().ToString();
                    int index = 0;
                    foreach (var item in imageList)
                    {
                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            Image = item.imgUrl,
                            AiAchievementId = oldinfo.Id,
                            Lng = (double?)item.longitude ?? 0.0,
                            Lat = (double?)item.latitude ?? 0.0,
                            CompareIndex = index,
                            GroupId = compareGroupId,
                            CompareCount = regionArray.Length

                        };
                        // 如果是第二张图片 -> 画区域 + 上传
                        if (index == 1)
                        {
                            Console.WriteLine(item.imgUrl);
                            Console.WriteLine(regionArray);
                            var imgurlend = await DrawingImgAndUpload1(item.imgUrl.ToString().Replace("\\", ""), imaList, cdid);
                            lasaAiAchievementDetail.Image = imgurlend;
                        }
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                        index++;
                    }
                }
                else
                {
                    string compareGroupId = Guid.NewGuid().ToString();
                    int index = 0;
                    LasaAiAchievement lasaAiAchievement = new LasaAiAchievement
                    {
                        Id = Guid.NewGuid().ToString(),
                        Title = "本地耕地破坏区域报警",
                        CreateTime = DateTime.Now,
                        AiModel = "DaHuaAi",
                        TaskId = cdid
                    };
                    foreach (var item in imageList)
                    {
                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            Image = item.imgUrl,
                            AiAchievementId = lasaAiAchievement.Id,
                            Lng = (double?)item.longitude ?? 0.0,
                            Lat = (double?)item.latitude ?? 0.0,
                            CompareIndex = index,
                            GroupId = compareGroupId,
                            CompareCount = regionArray.Length
                        };
                        // 如果是第二张图片 -> 画区域 + 上传 
                        if (index == 1)
                        {
                            Console.WriteLine(item.imgUrl);
                            Console.WriteLine(regionArray);
                            //var imgurlend = await DrawingImgAndUpload(item.imgUrl, regionArray);
                            var imgurlend = await DrawingImgAndUpload1(item.imgUrl.ToString().Replace("\\", ""), imaList, cdid);
                            lasaAiAchievementDetail.Image = imgurlend;
                        }
                        lasaAiAchievement.Lat = item.latitude;
                        lasaAiAchievement.Lng = item.longitude;
                        lasaAiAchievement.Cover = item.imgUrl;
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                        index++;
                    }
                    await db.LasaAiAchievement.InsertAsync(lasaAiAchievement);
                    //查询监测记录，然后更新监测记录的成果id
                    await db.Lasa_ChangeDetection.UpdateAsync(u => new Lasa_ChangeDetection
                    {
                        AiAchievementId = lasaAiAchievement.Id
                    }, u => u.Id == cdid);
                }

                if (db.Commit())
                    return new Response<bool>
                    {
                        Result = true,
                        Message = "添加成功"
                    };
                else
                    return new Response<bool>
                    {
                        Result = false,
                        Message = "添加失败"
                    };
            }
        }
        //public async Task<string> DrawingImgAndUpload(string url, int[][] regionArray)
        public async Task<string> DrawingImgAndUpload(string url, int[][] regionArray, string cdid)
        {
            //string url = "http://123.132.248.154:6015/DroneEnforcement/2025/20250514/lQLPJyIVimQWGKnNA4PNA6Gw1D3q5gbxUvQIiumcIx4vAA_929_899.png";

            // detectRegion JSON（可以直接替换成你的接口返回数据）
            //string detectRegionJson = "[[0, 0],[8063, 647],[8017, 7774],[552, 8033]]";
            //var regionArray = JsonConvert.DeserializeObject<int[][]>(detectRegionJson);
            //Console.WriteLine($"regionArray 是否为空");

            //if (regionArray == null || regionArray.Length == 0)
            //    throw new ArgumentException("detectRegion 参数无效");

            Point[] polygon = new Point[regionArray.Length];
            for (int i = 0; i < regionArray.Length; i++)
            {
                polygon[i] = new Point(regionArray[i][0], regionArray[i][1]);
            }

            using (HttpClient client = new HttpClient())
            {
                var bytes = await client.GetByteArrayAsync(url);
                using (var ms = new MemoryStream(bytes))
                using (var image = Image.FromStream(ms))
                using (var bmp = new Bitmap(image))
                using (var g = Graphics.FromImage(bmp))
                {
                    g.SmoothingMode = SmoothingMode.AntiAlias;

                    using (var pen = new Pen(Color.Red, 5))
                    {
                        g.DrawPolygon(pen, polygon);
                    }


                    using (var outputStream = new MemoryStream())
                    {
                        bmp.Save(outputStream, ImageFormat.Png);
                        outputStream.Position = 0;
                        string fileName = Path.GetFileName(new Uri(url).AbsolutePath);
                        // 上传到 MinIO（直接传 MemoryStream）
                        string uploadedUrl = await _minioService.UploadStreamFile(outputStream, fileName, "test", cdid);
                        Console.WriteLine("返回imgurl：" + uploadedUrl);
                        return uploadedUrl;
                    }
                }
            }
        }
        public async Task<string> DrawingImgAndUpload1(string url, dynamic rects, string cdid)
        {
            try
            {
                Console.WriteLine(url);
                // 下载图片
                //url = "http://123.132.248.154:6015/DroneEnforcement/2025/20250514/localStorage.jpg";
                using var stream = await httpClient.GetStreamAsync(url);
                using var image = Image.FromStream(stream);
                using var g = Graphics.FromImage(image);
                using var pen = new Pen(Color.Red, 5); // 红色粗线
                float scaleX = image.Width / STANDARD_WIDTH;
                float scaleY = image.Height / STANDARD_HEIGHT;
                foreach (var item in rects)
                {
                    // 画框
                    foreach (var rect in item.objectRect)
                    {
                        Console.WriteLine(JsonConvert.SerializeObject(rect));
                        int x = (int)(rect.objLeft * scaleX);
                        int y = (int)(rect.objTop * scaleY);
                        int width = (int)((rect.objRight - rect.objLeft) * scaleX);
                        int height = (int)((rect.objBottom - rect.objTop) * scaleY);

                        if (x < image.Width && y < image.Height && width > 0 && height > 0)
                        {
                            g.DrawRectangle(pen, x, y, width, height);
                        }
                    }
                }


                // 保存到内存流再上传
                using var outputStream = new MemoryStream();
                image.Save(outputStream, ImageFormat.Png);
                outputStream.Position = 0;

                string fileName = Path.GetFileName(new Uri(url).AbsolutePath);

                // 上传到 MinIO
                string uploadedUrl = await _minioService.UploadStreamFile(outputStream, fileName, "test", cdid);

                Console.WriteLine("返回 imgurl：" + uploadedUrl);
                return uploadedUrl;
            }
            catch (Exception ex)
            {
                Console.WriteLine($"处理图片失败: {url}, 错误: {ex.Message}");
                return string.Empty;
            }
        }
        public async void DrawingImgAsync()
        {
            string url = "http://123.132.248.154:6015/DroneEnforcement/2025/20250514/lQLPJyIVimQWGKnNA4PNA6Gw1D3q5gbxUvQIiumcIx4vAA_929_899.png";
            string savePath = "output.png";

            // detectRegion JSON（可以直接替换成你的接口返回数据）
            string detectRegionJson = "[[0, 0],[8063, 647],[8017, 7774],[552, 8033]]";

            // 解析 JSON
            var regionArray = JsonConvert.DeserializeObject<int[][]>(detectRegionJson);
            if (regionArray == null)
            {
                Console.WriteLine("解析 detectRegion 失败");
                return;
            }

            Point[] polygon = new Point[regionArray.Length];
            for (int i = 0; i < regionArray.Length; i++)
            {
                polygon[i] = new Point(regionArray[i][0], regionArray[i][1]);
            }

            using (HttpClient client = new HttpClient())
            {
                var bytes = await client.GetByteArrayAsync(url);

                using (var ms = new System.IO.MemoryStream(bytes))
                using (var image = Image.FromStream(ms))
                using (var bmp = new Bitmap(image))
                using (var g = Graphics.FromImage(bmp))
                {
                    g.SmoothingMode = SmoothingMode.AntiAlias;

                    using (var pen = new Pen(Color.Red, 5)) // 红色边框
                    using (var brush = new SolidBrush(Color.FromArgb(80, Color.Blue))) // 半透明填充
                    {
                        g.FillPolygon(brush, polygon);
                        g.DrawPolygon(pen, polygon);
                    }

                    bmp.Save(savePath, ImageFormat.Png);
                }
            }

            Console.WriteLine("已保存图片: " + savePath);
        }
        public async Task<Response<bool>> UpdateState(string id)
        {
            using (var db = UnitWork.CreateContext())
            {
                await db.Lasa_ChangeDetection.UpdateAsync(u => new Lasa_ChangeDetection
                {
                    IsFinish = true
                }, u => u.Id == id);
                if (db.Commit())
                    return new Response<bool>
                    {
                        Result = true,
                        Message = "检测完成"
                    };
                else
                    return new Response<bool>
                    {
                        Result = false,
                        Message = "检测完成"
                    };
            }
        }
        #endregion

        #region 烟雾报警
        private static readonly HttpClient httpClient = new HttpClient();
        public async Task<Response<bool>> AddDaHuaSmokeDetectionImg(string info)
        {
            Console.WriteLine(info);
            _logger.LogError("烟雾报警数据;" + info);
            var ImgUrlIp = _configuration["DaHua:ImgUrl"];
            using (var db = UnitWork.CreateContext())
            {
                var data = JsonConvert.DeserializeObject<dynamic>(info);
                var imageList = data.imageList;
                foreach (var img in imageList)
                {
                    //var uploadedUrl = await DrawRectanglesOnImageAsync(img.imgUrl.ToString().Replace("\\", ""), img.objectRect);
                    var uploadedUrl = await DrawRectanglesOnImageAsync(ImgUrlIp + img.imgUrl.ToString().Replace("\\", ""), img.objectRect);
                    Console.WriteLine($"已处理图片 {uploadedUrl}");
                    LasaAiAchievement lasaAiAchievement = new LasaAiAchievement();
                    lasaAiAchievement.Id = Guid.NewGuid().ToString();
                    lasaAiAchievement.CreateTime = DateTime.Now;
                    lasaAiAchievement.TaskId = "10";
                    lasaAiAchievement.AiModel = "DaHuaSmokeDetection";
                    lasaAiAchievement.Tag = "";
                    lasaAiAchievement.AlgoId = "";
                    lasaAiAchievement.Title = "烟雾报警";


                    //var confidence = tag.Select(r => r.confidence).Max();
                    //var confidence = item.confidence;
                    //if (confidence < 0.3)
                    //{
                    //    break;
                    //}
                    //lasaAiAchievement.ConfidenceLevel = (float)Math.Round(confidence, 2) * 100;

                    //插入详情
                    LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                    {
                        Id = Guid.NewGuid().ToString(),
                        Image = uploadedUrl,
                        AiAchievementId = lasaAiAchievement.Id,
                        //Lat = lat,
                        //Lng = lng
                    };
                    lasaAiAchievement.Cover = uploadedUrl;
                    //lasaAiAchievement.Lat = (float)lat;
                    //lasaAiAchievement.Lng = (float)lng;
                    await db.LasaAiAchievement.InsertAsync(lasaAiAchievement);
                    await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                }
                if (db.Commit())
                    return new Response<bool>
                    {
                        Result = true,
                        Message = "添加成功"
                    };
                else
                    return new Response<bool>
                    {
                        Result = false,
                        Message = "添加失败"
                    };
            }
        }
        /// <summary>
        /// 从 URL 下载图片并画框
        /// </summary>
        public async Task<string> DrawRectanglesOnImageAsync(string url, dynamic rects)
        {
            try
            {
                // 下载图片
                //url = "http://123.132.248.154:6015/DroneEnforcement/2025/20250514/localStorage.jpg";
                using var stream = await httpClient.GetStreamAsync(url);
                using var image = Image.FromStream(stream);
                using var g = Graphics.FromImage(image);
                using var pen = new Pen(Color.Red, 5); // 红色粗线
                float scaleX = image.Width / STANDARD_WIDTH;
                float scaleY = image.Height / STANDARD_HEIGHT;

                // 画框
                foreach (var rect in rects)
                {
                    int x = (int)(rect.objLeft * scaleX);
                    int y = (int)(rect.objTop * scaleY);
                    int width = (int)((rect.objRight - rect.objLeft) * scaleX);
                    int height = (int)((rect.objBottom - rect.objTop) * scaleY);

                    if (x < image.Width && y < image.Height && width > 0 && height > 0)
                    {
                        g.DrawRectangle(pen, x, y, width, height);
                    }
                }

                // 保存到内存流再上传
                using var outputStream = new MemoryStream();
                image.Save(outputStream, ImageFormat.Png);
                outputStream.Position = 0;

                string fileName = Path.GetFileName(new Uri(url).AbsolutePath);

                // 上传到 MinIO
                string uploadedUrl = await _minioService.UploadStreamFile(outputStream, fileName, "test", "yanwubaojing");

                Console.WriteLine("返回 imgurl：" + uploadedUrl);
                return uploadedUrl;
            }
            catch (Exception ex)
            {
                Console.WriteLine($"处理图片失败: {url}, 错误: {ex.Message}");
                return string.Empty;
            }
        }
        // 定义矩形对象
        public class ObjectRect
        {
            public int objBottom { get; set; }
            public int objLeft { get; set; }
            public int objRight { get; set; }
            public int objTop { get; set; }
        }

        // 定义 imageList 里的结构
        public class ImageInfo
        {
            public int imgHeight { get; set; }
            public int imgWidth { get; set; }
            public string imgUrl { get; set; }
            public List<ObjectRect> objectRect { get; set; }
        }

        public class Root
        {
            public List<ImageInfo> imageList { get; set; }
        }
        #endregion

        #region 本地模型
        /// <summary>
        /// 
        /// </summary>
        /// <param name="taskid">任务id</param>
        /// <param name="path">图片地址</param>
        /// <param name="aiid">算法id</param>
        /// <param name="drone_info">无人机信息</param>
        /// <param name="tag">标签信息</param>
        /// <returns></returns>
        public async Task<Response<bool>> AddImg(string taskid, string path, string aiid, dynamic drone_info, List<TagItem> tag)
        {
            using (var db = UnitWork.CreateContext())
            {
                _logger.LogError("标签信息：" + JsonConvert.SerializeObject(tag));
                _logger.LogError("aiid：" + aiid);
                var Ip = "http://" + _configuration["Minio:Endpoint"] + "/" + _configuration["Minio:BucketName"] + "/";
                foreach (var item in tag)
                {
                    var info = await db.LasaAiAchievement.GetFirstAsync(r => r.TaskId == taskid && r.Tag == item.class_id.ToString());
                    var modelinfo = await db.LasaModelLabel.AsQueryable().Where(r => r.PId == aiid).ToListAsync();
                    double lat = 0.0, lng = 0.0;
                    if (drone_info != null)
                    {
                        //var root = JsonNode.Parse(drone_info)?.AsObject();
                        //lat = root?["data"]?["latitude"]?.GetValue<double>() ?? 0.0;
                        //lng = root?["data"]?["longitude"]?.GetValue<double>() ?? 0.0;
                        lat = (double?)drone_info.data?.latitude ?? 0.0;
                        lng = (double?)drone_info.data?.longitude ?? 0.0;
                    }
                    if (info == null)
                    {
                        LasaAiAchievement lasaAiAchievement = new LasaAiAchievement();
                        lasaAiAchievement.Id = Guid.NewGuid().ToString();
                        lasaAiAchievement.CreateTime = DateTime.Now;
                        lasaAiAchievement.TaskId = taskid;
                        lasaAiAchievement.AiModel = "yolo12x";
                        lasaAiAchievement.Tag = item.class_id.ToString();
                        lasaAiAchievement.AlgoId = aiid;
                        var modelid = modelinfo.Where(r => r.EnumValue == item.class_id).FirstOrDefault();
                        if (modelid != null)
                        {
                            lasaAiAchievement.Title = modelid.Name;
                        }
                        else
                        {
                            lasaAiAchievement.Title = "";
                        }


                        //var confidence = tag.Select(r => r.confidence).Max();
                        var confidence = item.confidence;
                        if (confidence < 0.3)
                        {
                            break;
                        }
                        lasaAiAchievement.ConfidenceLevel = (float)Math.Round(confidence, 2) * 100;

                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            //Image = "http://175.27.168.120:6013/test/" + path,
                            Image = Ip + path,
                            AiAchievementId = lasaAiAchievement.Id,
                            Lat = lat,
                            Lng = lng
                        };
                        //lasaAiAchievement.Cover = "http://175.27.168.120:6013/test/" + path;
                        lasaAiAchievement.Cover = Ip + path;
                        lasaAiAchievement.Lat = (float)lat;
                        lasaAiAchievement.Lng = (float)lng;
                        await db.LasaAiAchievement.InsertAsync(lasaAiAchievement);
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                    }
                    else
                    {
                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            Image = Ip + path,
                            AiAchievementId = info.Id,
                            Lat = lat,
                            Lng = lng
                        };
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                    }

                }

                #region 推送到防火平台
                //await _mqttClientManager.PublishAsync("fireclueinfo", JsonConvert.SerializeObject(
                //    new
                //    {
                //        ReportPerson = "",
                //        Describe = "",
                //        Lng = "",
                //        La = "",
                //        Address = "",
                //        AreaName = "",
                //        Image = path,
                //        DegreeType = 3
                //    }));
                #endregion
                if (db.Commit())
                    return new Response<bool>
                    {
                        Result = true,
                        Message = "添加成功"
                    };
                else
                    return new Response<bool>
                    {
                        Result = false,
                        Message = "添加失败"
                    };
            }
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="taskid">任务id,改为算法任务id</param>
        /// <param name="path">图片地址</param>
        /// <param name="aiid">算法id</param>
        /// <param name="drone_info">无人机信息</param>
        /// <param name="tag">标签信息</param>
        /// <returns></returns>
        public async Task<Response<bool>> AddImgnew(string taskid, string path, string aiid, dynamic drone_info, List<TagItem> tag)
        {
            using (var db = UnitWork.CreateContext())
            {
                _logger.LogError("标签信息：" + JsonConvert.SerializeObject(tag));
                _logger.LogError("aiid：" + aiid);
                var Ip = "http://" + _configuration["Minio:Endpoint"] + "/" + _configuration["Minio:BucketName"] + "/";
                foreach (var item in tag)
                {
                    //var aitaskinfo = await db.LasaTaskAi.GetFirstAsync(r => r.AiTaskId == taskid);
                    //if (aitaskinfo == null)
                    //    continue;

                    var info = await db.LasaAiAchievement.GetFirstAsync(r => r.TaskId == taskid && r.Tag == item.class_id.ToString());
                    var modelinfo = await db.LasaModelLabel.AsQueryable().Where(r => r.PId == aiid).ToListAsync();
                    double lat = 0.0, lng = 0.0;
                    if (drone_info != null)
                    {
                        //var root = JsonNode.Parse(drone_info)?.AsObject();
                        //lat = root?["data"]?["latitude"]?.GetValue<double>() ?? 0.0;
                        //lng = root?["data"]?["longitude"]?.GetValue<double>() ?? 0.0;
                        lat = (double?)drone_info.data?.latitude ?? 0.0;
                        lng = (double?)drone_info.data?.longitude ?? 0.0;
                    }
                    if (info == null)
                    {
                        LasaAiAchievement lasaAiAchievement = new LasaAiAchievement();
                        lasaAiAchievement.Id = Guid.NewGuid().ToString();
                        lasaAiAchievement.CreateTime = DateTime.Now;
                        lasaAiAchievement.TaskId = taskid;
                        lasaAiAchievement.AiModel = "yolo12x";
                        lasaAiAchievement.Tag = item.class_id.ToString();
                        lasaAiAchievement.AlgoId = aiid;
                        var modelid = modelinfo.Where(r => r.EnumValue == item.class_id).FirstOrDefault();
                        if (modelid != null)
                        {
                            lasaAiAchievement.Title = modelid.Name;
                        }
                        else
                        {
                            lasaAiAchievement.Title = "";
                        }


                        //var confidence = tag.Select(r => r.confidence).Max();
                        var confidence = item.confidence;
                        if (confidence < 0.3)
                        {
                            break;
                        }
                        lasaAiAchievement.ConfidenceLevel = (float)Math.Round(confidence, 2) * 100;

                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            //Image = "http://175.27.168.120:6013/test/" + path,
                            Image = Ip + path,
                            AiAchievementId = lasaAiAchievement.Id,
                            Lat = lat,
                            Lng = lng
                        };
                        //lasaAiAchievement.Cover = "http://175.27.168.120:6013/test/" + path;
                        lasaAiAchievement.Cover = Ip + path;
                        lasaAiAchievement.Lat = (float)lat;
                        lasaAiAchievement.Lng = (float)lng;
                        await db.LasaAiAchievement.InsertAsync(lasaAiAchievement);
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                    }
                    else
                    {
                        //插入详情
                        LasaAiAchievementDetail lasaAiAchievementDetail = new LasaAiAchievementDetail()
                        {
                            Id = Guid.NewGuid().ToString(),
                            Image = Ip + path,
                            AiAchievementId = info.Id,
                            Lat = lat,
                            Lng = lng
                        };
                        await db.LasaAiAchievementDetail.InsertAsync(lasaAiAchievementDetail);
                    }

                }

                #region 推送到防火平台
                //await _mqttClientManager.PublishAsync("fireclueinfo", JsonConvert.SerializeObject(
                //    new
                //    {
                //        ReportPerson = "",
                //        Describe = "",
                //        Lng = "",
                //        La = "",
                //        Address = "",
                //        AreaName = "",
                //        Image = path,
                //        DegreeType = 3
                //    }));
                #endregion
                if (db.Commit())
                    return new Response<bool>
                    {
                        Result = true,
                        Message = "添加成功"
                    };
                else
                    return new Response<bool>
                    {
                        Result = false,
                        Message = "添加失败"
                    };
            }
        }
        public async void PublishMsg(List<string> topic, string payload)
        {
            foreach (var topicItem in topic)
            {
                await _mqttClientManager.PublishAsync(topicItem, payload);
            }
        }
        #endregion


    }
}