任务下发任务执行能正常执行版本

Infrastructure/CloudSdk/mqtt/MqttClientManager.cs

@@ -50,11 +50,13 @@ public class MqttClientManager
         var inboundOptions = new MqttClientOptionsBuilder()
             .WithClientId(Guid.NewGuid() + "_inbound")
             .WithTcpServer(server, port)
+            .WithKeepAlivePeriod(TimeSpan.FromSeconds(20))
             .WithCredentials(username, password)
             .Build();
         var outboundOptions = new MqttClientOptionsBuilder()
             .WithClientId(Guid.NewGuid() + "_outbound")
             .WithTcpServer(server, port)
+            .WithKeepAlivePeriod(TimeSpan.FromSeconds(20))
             .WithCredentials(username, password)
             .Build();
 
@@ -91,7 +93,6 @@ public class MqttClientManager
     /// <param name="message">json</param>
     public async Task PublishAsync(string topic, string message)
     {
-        Console.WriteLine($"Publish: {topic} - {message}");
         // MqttChannelAdapter 
         var mqttMsg = new MqttApplicationMessageBuilder()
             .WithTopic(topic)

OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs

@@ -100,7 +100,7 @@ public class ConfigSubscribe : IJob
                 switch (method)
                 {
                     case "storage_config_get":
-                        Console.WriteLine("进入临时凭证获取处理");
+                        Console.WriteLine($"进入临时凭证获取处理 {message}");
                         // {"bid":"afc5c13e-da1c-4a15-aec1-a765aac34c57",
                         // "data":{"module":0},
                         // "method":"storage_config_get",
@@ -135,11 +135,8 @@ public class ConfigSubscribe : IJob
                         };
                         // thing/product/{gateway_sn}/requests_reply
                         var tempTopic = $"thing/product/{sn}/requests_reply";
-                        //Console.WriteLine($"主题：{tempTopic} request:{JsonConvert.SerializeObject(storageConfigRequest)}");
-                        // todo  临时注释
                         await mqttClientManager.PublishAsync(tempTopic,
                             JsonConvert.SerializeObject(storageConfigRequest));
-                        //Console.WriteLine("临时凭证获取处理完成");
                         break;
                     case "flight_areas_get":
                         //Console.WriteLine("跳过自定义飞行区文件获取");
@@ -158,13 +155,13 @@ public class ConfigSubscribe : IJob
                         // http://175.27.168.120:6013/test/2025062209390863860047.kmz
                         // md5  585c833012ddb794eaac1050ef71aa31
                         // todo 这一小段运行异常
-                        /*var taskAssign = await sqlSugarClient
+                        var taskAssign = await sqlSugarClient
                             .Queryable<LasaTaskAssign>()
                             .Where(x => x.FlightId == flightId)
-                            .SingleAsync();*/
+                            .SingleAsync();
-                        //Console.WriteLine($"任务信息：{JsonConvert.SerializeObject(taskAssign)}");
+                        Console.WriteLine($"任务信息：{JsonConvert.SerializeObject(taskAssign)}");
                         /*var taskAssign =
-                            manageApp.GetTaskAssignByBidAndTid1(result.bid, result.tid, flightId);*/
+                            manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid, flightId);*/
                         var flightTaskResourceGetTopic = $"thing/product/{sn}/requests_reply";
                         dynamic outData = new ExpandoObject();
                         outData.result = 0;
@@ -172,8 +169,9 @@ public class ConfigSubscribe : IJob
                         {
                             file = new
                             {
-                                fingerprint = "585c833012ddb794eaac1050ef71aa31",
+                                fingerprint = taskAssign.Md5,
-                                url = "http://175.27.168.120:6013/test/2025062209390863860047.kmz"
+                                url = "http://175.27.168.120:6013/test/2025062415430484240112.kmz"
+                                // url = "http://175.27.168.120:6013/test/2025062209390863860047.kmz"
                             }
                         };
                         var outRequest = new TopicServicesRequest<object>()
@@ -245,8 +243,8 @@ public class ConfigSubscribe : IJob
                 {
                     case "flighttask_prepare": // 下发任务响应
                         // todo 同一prepare消息只能处理一次
-                        lock (locker)
+//lock (locker)
-                        {
+                        //  {
                         // 报错处理
                         Console.WriteLine("进入prepare订阅消息");
                         code = data.result;
@@ -294,7 +292,7 @@ public class ConfigSubscribe : IJob
                             };
                             sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns().ExecuteCommand();
                         }
-                        }
+                        //  }
 
                         break;
                     case "flighttask_execute": // 执行任务响应

OpenAuth.App/ServiceApp/ManageApp.cs

@@ -646,7 +646,7 @@ namespace OpenAuth.App.ServiceApp
             var md5 = await _minioService.GetMetaObject(wpml, "");
             // todo 临时固定代码
             // http://175.27.168.120:6013/test/2025062209390863860047.kmz
-            //wpml = await _minioService.GetObjectUrl("test", "2025062209390863860047.kmz");
+           // wpml = await _minioService.GetObjectUrl("test", "2025062209390863860047.kmz");
             data.file = new
             {
                 url = wpml,
@@ -676,7 +676,7 @@ namespace OpenAuth.App.ServiceApp
             }
 
             // 返航高度 {"max":1500,"min":20,"step":"","unit_name":"米 / m"}
-            data.rth_altitude = 50; // todo  取自任务
+            data.rth_altitude = 90; // todo  取自任务
             // 返航高度模式 {"0":"智能高度","1":"设定高度"}
             // 智能返航模式下，飞行器将自动规划最佳返航高度。大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光），飞行器将使用您设定的返航高度进行直线返航
             data.rth_mode = 0;