1. 事件回复

2. 优化import
3. 排除可能的任务返航高度被更新问题
4. 订阅消息日志

Infrastructure/CloudSdk/FileUploadCallbackEventReply.cs

@@ -0,0 +1,24 @@
+namespace Infrastructure.CloudSdk;
+
+public class FileUploadCallbackEventReply<T>
+{
+    public string tid { get; set; }
+
+    public string bid { get; set; }
+
+    public long? timestamp { get; set; }
+    public string gateway { get; set; }
+    public string method { get; set; }
+    public T data { get; set; }
+
+    public override string ToString()
+    {
+        return $"CommonTopicRequest{{tid='{tid}', bid='{bid}', timestamp={timestamp}, data={data}}}";
+    }
+
+    public FileUploadCallbackEventReply<T> SetTid(string tid)
+    {
+        this.tid = tid;
+        return this;
+    }
+}

Infrastructure/CloudSdk/mqtt/MqttClientManager.cs

@@ -1,13 +1,7 @@
-using System;
+using Microsoft.Extensions.Configuration;
-using System.IO;
-using System.Net.Security;
-using System.Threading;
-using System.Threading.Tasks;
-using Microsoft.Extensions.Configuration;
 using Microsoft.Extensions.Logging;
 using MQTTnet;
 using MQTTnet.Client;
-using MQTTnet.Packets;
 using MQTTnet.Protocol;
 
 namespace OpenAuth.WebApi;

Infrastructure/CloudSdk/wayline/TopicServicesRequest.cs

@@ -32,6 +32,7 @@ public class TopicServicesRequest<T> : CommonTopicRequest<T>
         return this;
     }
     public string method { get; set; }
+    public int need_reply { get; set; }
     public TopicServicesRequest<T> SetMethod(string method)
     {
         this.method = method;

OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs

@@ -1,11 +1,14 @@
 using System.Dynamic;
 using System.Text;
 using Infrastructure.Cache;
+using Infrastructure.CloudSdk;
 using Infrastructure.CloudSdk.minio;
 using Infrastructure.CloudSdk.wayline;
-using MQTTnet;
+using Infrastructure.Extensions;
+using Microsoft.Extensions.Logging;
 using MQTTnet.Client;
 using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
 using OpenAuth.App.ServiceApp;
 using OpenAuth.Repository.Domain;
 using OpenAuth.WebApi;
@@ -22,15 +25,19 @@ public class ConfigSubscribe : IJob
     private readonly ManageApp _manageApp;
     private readonly MinioService _minioService;
     private object _locker = new();
+    private object _dockUploadFileLocker = new();
+    private readonly ILogger<ConfigSubscribe> _logger;
 
     public ConfigSubscribe(MqttClientManager mqttClientManager, ISqlSugarClient sqlSugarClient,
-        ICacheContext redisCacheContext, ManageApp manageApp, MinioService minioService)
+        ICacheContext redisCacheContext, ManageApp manageApp, MinioService minioService,
+        ILogger<ConfigSubscribe> logger)
     {
         _mqttClientManager = mqttClientManager;
         _sqlSugarClient = sqlSugarClient;
         _redisCacheContext = redisCacheContext as RedisCacheContext;
         _manageApp = manageApp;
         _minioService = minioService;
+        _logger = logger;
     }
 
     private async Task Subscribe()
@@ -42,16 +49,16 @@ public class ConfigSubscribe : IJob
             "thing/product/+/services_reply",
             "thing/product/+/events",
             "thing/product/+/requests",
-            "thing/product/+/osd",
+            //"thing/product/+/osd",
-            "thing/product/+/status"
+            //"thing/product/+/status"
         };
 
         await _mqttClientManager
             .SubscribeAsync(topicList,
                 async (args) =>
                 {
-                    args.IsHandled = false; // todo 待实验确定
+                    //args.IsHandled = false; // todo 待实验确定
-                    args.AutoAcknowledge = true; // todo 待实验确定
+                    //args.AutoAcknowledge = true; // todo 待实验确定
                     await HandleTopic(args, args.ApplicationMessage.Topic,
                         Encoding.UTF8.GetString(args.ApplicationMessage.Payload));
                 });
@@ -86,8 +93,7 @@ public class ConfigSubscribe : IJob
         var result = JsonConvert.DeserializeObject<TopicServicesRequest<dynamic>>(message);
         var method = result.method;
         var data = result.data;
-
+        _logger.LogInformation($"主题：{topic}\n消息：{message}");
-
         long code = 0;
         switch (tempStr)
         {
@@ -101,8 +107,9 @@ public class ConfigSubscribe : IJob
                 // todo 处理资源获取请求
                 switch (method)
                 {
+                    // 临时凭证上传
                     case "storage_config_get":
-                        Console.WriteLine($"进入临时凭证获取处理 {message}");
+                        _logger.LogInformation($"进入临时凭证获取处理");
                         // {"bid":"afc5c13e-da1c-4a15-aec1-a765aac34c57",
                         // "data":{"module":0},
                         // "method":"storage_config_get",
@@ -116,22 +123,21 @@ public class ConfigSubscribe : IJob
                             tid = result.tid,
                             bid = result.bid,
                             timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
-
                             data = new
                             {
                                 result = 0,
                                 output = new
                                 {
-                                    bucket = _minioService._bucketName,
+                                    bucket = "test",
-                                    endpoint = $"{_minioService.endPoint}",
+                                    endpoint = "http://175.27.168.120:6013",
-                                    object_key_prefix = Guid.NewGuid().ToString(), // todo 是否设计任务id ？
+                                    object_key_prefix = $"{Guid.NewGuid().ToString()}", // todo 是否设计任务id ？
                                     provider = "minio",
                                     region = "linyi",
                                     credentials = new
                                     {
-                                        access_key_id = _minioService.AccessKey,
+                                        access_key_id = "minioadmin",
-                                        access_key_secret = _minioService.SecretKey,
+                                        access_key_secret = "minioadmin",
-                                        expire = 7200,
+                                        expire = 480,
                                         security_token = ""
                                     }
                                 }
@@ -147,14 +153,8 @@ public class ConfigSubscribe : IJob
                         break;
                     // 获取航线
                     case "flighttask_resource_get":
-                        Console.WriteLine("进入资源获取处理");
                         string flightId = data.flight_id + "";
-                        Console.WriteLine($"任务ID：{flightId}");
+                        _logger.LogInformation($"进入资源获取处理: 任务id {flightId}");
-                        if (_sqlSugarClient != null)
-                        {
-                            Console.WriteLine("manageApp 注入没有问题");
-                        }
-
                         // eb87b257-5af1-4bf1-9aba-4267be9fdb12 flight 
                         // http://175.27.168.120:6013/test/2025062209390863860047.kmz
                         // md5  585c833012ddb794eaac1050ef71aa31
@@ -163,7 +163,7 @@ public class ConfigSubscribe : IJob
                             .Queryable<LasaTaskAssign>()
                             .Where(x => x.FlightId == flightId)
                             .SingleAsync();
-                        Console.WriteLine($"任务信息：{JsonConvert.SerializeObject(taskAssign)}");
+                        _logger.LogInformation($"任务信息：{JsonConvert.SerializeObject(taskAssign)}");
                         /*var taskAssign =
                             manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid, flightId);*/
                         var flightTaskResourceGetTopic = $"thing/product/{sn}/requests_reply";
@@ -194,7 +194,7 @@ public class ConfigSubscribe : IJob
                     case "config":
                         break;
                     default:
-                        Console.WriteLine($"未知请求：{message}");
+                        _logger.LogInformation($"未处理消息：{message}");
                         break;
                 }
 
@@ -204,50 +204,76 @@ public class ConfigSubscribe : IJob
                 {
                     case "file_upload_callback":
                         // 文件上传
-                        int flightType = int.Parse(data.flight_task.flight_type);
+                        Console.WriteLine("进入文件上传处理");
+                        Console.WriteLine($"文件上传处理：{message}");
+                        int flightType = data.flight_task.flight_type;
                         if (flightType == 1) // 不处理一键起飞媒体信息
                         {
                             break;
                         }
 
-                        string flightId = data.file.ext.flight_id;
+                        lock (_dockUploadFileLocker)
-                        string taskId = _manageApp.GetTaskAssignByFlightId(flightId).TaskId;
-                        var fileUpload = new LasaMediaFile()
                         {
-                            Id = Guid.NewGuid().ToString(),
+                            string flightId = data.file.ext.flight_id;
-                            FlightId = flightId, // 计划id
+                            string taskId = _manageApp.GetTaskAssignByFlightId(flightId).TaskId;
-                            TaskId = taskId, // 任务id 
+                            var fileUpload = new LasaMediaFile()
-                            DroneModelKey = data.file.ext.drone_model_key,
+                            {
-                            IsOriginal = data.file.ext.is_original,
+                                Id = Guid.NewGuid().ToString(),
-                            MediaIndex = data.file.ext.media_index,
+                                FlightId = flightId, // 计划id
-                            PayloadModelKey = data.file.ext.payload_model_key,
+                                TaskId = taskId, // 任务id 
-                            AbsoluteAltitude = data.file.metadata.absolute_altitude,
+                                DroneModelKey = data.file.ext.drone_model_key, // 无人机型号
-                            GimbalYawDegree = data.file.metadata.gimbal_yaw_degree, //云台偏航角度
+                                IsOriginal = data.file.ext.is_original,
-                            RelativeAltitude = data.file.metadata.relative_altitude,
+                                MediaIndex = data.file.ext.media_index,
-                            Lat = data.file.metadata.shoot_position.lat,
+                                PayloadModelKey = data.file.ext.payload_model_key, //这应该可以标明是什么设置
-                            Lng = data.file.metadata.shoot_position.lng,
+                                AbsoluteAltitude = data.file.metadata.absolute_altitude, // 拍摄绝对高度
-                            Name = data.file.name,
+                                GimbalYawDegree = data.file.metadata.gimbal_yaw_degree, //云台偏航角度
-                            ObjectKey = data.file.object_key,
+                                RelativeAltitude = data.file.metadata.relative_altitude, // 拍摄相对高度
-                            Path = data.file.path,
+                                Lat = data.file.metadata.shoot_position.lat,
-                            CreateTime = data.file.metadata.create_time.ToDateTime(),
+                                Lng = data.file.metadata.shoot_position.lng,
-                        };
+                                Name = data.file.name,
-                        await _sqlSugarClient.Insertable(fileUpload).ExecuteCommandAsync();
+                                ObjectKey = data.file.object_key,
-                        var expectFileCount = data.flight_task.expected_file_count;
+                                Path = data.file.path, // 目前这个好像没有值
-                        var uploadedFileCount = data.flight_task.uploaded_file_count;
+                                CreateTime = ((string)data.file.metadata.created_time).ToDateTime(),
+                            };
+                            // todo 添加事务
+                            _sqlSugarClient.Insertable(fileUpload).ExecuteCommand();
+                            if (result.need_reply.Equals(1))
+                            {
+                                var fileUploadCallbackEventReply = new FileUploadCallbackEventReply<object>()
+                                {
+                                    bid = result.bid,
+                                    tid = result.tid,
+                                    method = "file_upload_callback",
+                                    gateway = sn,
+                                    data = new
+                                    {
+                                        result = 0
+                                    },
+                                    timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                                };
+                                _ = _mqttClientManager.PublishAsync($"thing/product/{sn}/events_reply",
+                                    JsonConvert.SerializeObject(fileUploadCallbackEventReply));
+                            }
 
-                        var taskRecord = new LasaTask()
+                            var expectFileCount = data.flight_task.expected_file_count;
-                        {
+                            var uploadedFileCount = data.flight_task.uploaded_file_count;
-                            Id = taskId,
+
-                            ExpectedFileCount = expectFileCount, // 期望文件数量
+                            var taskRecord = new LasaTask()
-                            UploadedFileCount = uploadedFileCount // 已上传文件数量
+                            {
-                        };
+                                Id = taskId,
-                        //  当expectFileCount 等于uploadedFileCount时，则表示航线执行完成
+                                ExpectedFileCount = expectFileCount, // 期望文件数量
-                        if (uploadedFileCount.Equals(expectFileCount))
+                                UploadedFileCount = uploadedFileCount // 已上传文件数量
-                        {
+                            };
-                            taskRecord.Status = 5; // 成功状态
+                            //  当expectFileCount 等于uploadedFileCount时，则表示航线执行完成
+                            if (uploadedFileCount.Equals(expectFileCount))
+                            {
+                                taskRecord.Status = 5; // 成功状态
+                            }
+
+                            _sqlSugarClient.Updateable(taskRecord)
+                                .IgnoreNullColumns().ExecuteCommand();
                         }
-                        await _sqlSugarClient.Updateable(taskRecord)
+
-                            .IgnoreNullColumns().ExecuteCommandAsync();
                         break;
                     case "release_terminal_control_area":
                         //暂不处理
@@ -284,6 +310,24 @@ public class ConfigSubscribe : IJob
                         }
                         else
                         {
+                            if (result.need_reply.Equals(1))
+                            {
+                                var fileUploadCallbackEventReply = new FileUploadCallbackEventReply<object>()
+                                {
+                                    bid = result.bid,
+                                    tid = result.tid,
+                                    method = "flighttask_progress",
+                                    gateway = sn,
+                                    data = new
+                                    {
+                                        result = 0
+                                    },
+                                    timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                                };
+                                await _mqttClientManager.PublishAsync($"thing/product/{sn}/events_reply",
+                                    JsonConvert.SerializeObject(fileUploadCallbackEventReply));
+                            }
+
                             Console.WriteLine($"航线进度：{message}");
                         }
 
@@ -402,6 +446,7 @@ public class ConfigSubscribe : IJob
                         await _sqlSugarClient.Updateable(taskRecordExecute).IgnoreNullColumns().ExecuteCommandAsync();
                         break;
                 }
+
                 break;
             case "thing/product/*/osd":
                 Console.WriteLine($"osd消息: {message}");

OpenAuth.Repository/Domain/LasaTask.cs

@@ -47,12 +47,12 @@ namespace OpenAuth.Repository.Domain
         /// <summary>
         /// 返航高度
         /// </summary>
-        public int ReturnAltitude { get; set; }
+        public int? ReturnAltitude { get; set; }
 
         /// <summary>
         /// 返航失控动作
         /// </summary>
-        public int LossOfControlAction { get; set; }
+        public int? LossOfControlAction { get; set; }
 
         /// <summary>
         /// 续飞模式
@@ -67,7 +67,7 @@ namespace OpenAuth.Repository.Domain
         /// <summary>
         /// 状态  0-待执行任务 1-任务执行中 2-任务执行失败 3. 任务挂起（挂起的任务超时后，怎么处理？） 5. 成功
         /// </summary>
-        public int Status { get; set; }
+        public int? Status { get; set; }
 
         /// <summary>
         /// 周期公式
@@ -85,7 +85,7 @@ namespace OpenAuth.Repository.Domain
         /// <summary>
         /// 航线精度类型
         /// </summary>
-        public int WaylinePrecisionType { get; set; }
+        public int? WaylinePrecisionType { get; set; }
 
         public DateTime? ScheduledStartTime { get; set; }
 
@@ -122,15 +122,15 @@ namespace OpenAuth.Repository.Domain
         /// <summary>
         /// 期望媒体数量
         /// </summary>
-        public int ExpectedFileCount { get; set; }
+        public int? ExpectedFileCount { get; set; }
 
         /// <summary>
         /// 已上传媒体数量
         /// </summary>
-        public int UploadedFileCount { get; set; }
+        public int? UploadedFileCount { get; set; }
         
         public string FlightId { get; set; }
         
-        public string Reason { get; set; }
+        public string? Reason { get; set; }
     }
 }