diff --git a/Infrastructure/CloudSdk/minio/MinioService.cs b/Infrastructure/CloudSdk/minio/MinioService.cs index 8c3ec79..afb4b3c 100644 --- a/Infrastructure/CloudSdk/minio/MinioService.cs +++ b/Infrastructure/CloudSdk/minio/MinioService.cs @@ -15,6 +15,8 @@ public class MinioService public string _bucketName; public string endPoint; public bool UseSSL; + public string AccessKey; + public string SecretKey; public MinioService() { @@ -36,9 +38,11 @@ public class MinioService _bucketName = configuration["Minio:BucketName"]; endPoint = configuration["Minio:Endpoint"]; UseSSL = configuration["Minio:UseSSL"].ToBool(); + AccessKey = configuration["Minio:AccessKey"]; + SecretKey = configuration["Minio:SecretKey"]; _minioClient = new MinioClient() .WithEndpoint(endPoint) - .WithCredentials(configuration["Minio:AccessKey"], configuration["Minio:SecretKey"]) + .WithCredentials(AccessKey, SecretKey) .Build(); } diff --git a/OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs b/OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs index 265b395..f1ea9c6 100644 --- a/OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs +++ b/OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs @@ -32,15 +32,15 @@ public class ConfigSubscribe : IJob private async Task Subscribe() { - // 或者 thing/product/# - // sys/product/# + // 或者 thing/product/# + // sys/product/# string[] topicList = { "thing/product/+/services_reply", "thing/product/+/events", "thing/product/+/requests" }; - + await _mqttClientManager .SubscribeAsync(topicList, async (args) => @@ -57,7 +57,6 @@ public class ConfigSubscribe : IJob await Subscribe(); } - private async Task HandleTopic(MqttApplicationMessageReceivedEventArgs args, string topic, string message) @@ -74,7 +73,7 @@ public class ConfigSubscribe : IJob sys/product/{gateway_sn}/status 设备上下线、更新拓扑 thing/product/{gateway_sn}/property/set_reply 设备属性设置的响应 thing/product/{gateway_sn}/drc/up DRC 协议上行*/ - + var sn = topic.Split("/")[2]; var tempStr = topic.Replace(sn, "*"); //Console.WriteLine($"成功调用主题 [{topic}] 的消息: {message}"); @@ -105,6 +104,7 @@ public class ConfigSubscribe : IJob // "need_reply":0,"tid":"50e8102c-da72-42b1-a899-a82a519456d9", // "timestamp":1750575776430, // "gateway":"8UUXN5400A079H"} + //todo 配置中读取minio配置 var storageConfigRequest = new TopicServicesRequest() { method = "storage_config_get", @@ -118,7 +118,7 @@ public class ConfigSubscribe : IJob { bucket = "test", endpoint = "http://175.27.168.120:6013", - object_key_prefix = "xxx", // 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 @@ -180,8 +180,8 @@ public class ConfigSubscribe : IJob method = "flighttask_resource_get" }; - Console.WriteLine( - $"topic: {flightTaskResourceGetTopic} 发送资源获取处理结果：{JsonConvert.SerializeObject(outRequest)}"); + /*Console.WriteLine( + $"topic: {flightTaskResourceGetTopic} 发送资源获取处理结果：{JsonConvert.SerializeObject(outRequest)}");*/ await _mqttClientManager.PublishAsync(flightTaskResourceGetTopic, JsonConvert.SerializeObject(outRequest)); break; @@ -194,33 +194,89 @@ public class ConfigSubscribe : IJob break; case "thing/product/*/events": - if (method.Equals("flighttask_progress")) + switch (method) { - code = data.result; - // 处理航线进度 ，也有可能是失败 - if (code != 0) - { - Console.WriteLine($"航线进度错误信息：{ErrorMap[code]} {message}"); - // 取消任务 - var cancelTaskTopic = $"thing/product/{sn}/services"; - var cancelTaskRequest = new TopicServicesRequest() + case "file_upload_callback": + // 文件上传 + int flightType = int.Parse(data.flight_task.flight_type); + if (flightType == 1) { - method = "flighttask_undo", - tid = result.tid, - bid = result.bid, - timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(), - data = new - { - flight_ids = new[] { data.output.ext.flight_id } - } + break; + } + + var fileUpload = new LasaMediaFile() + { + Id = Guid.NewGuid().ToString(), + FlightId = data.file.ext.flight_id, + DroneModelKey = data.file.ext.drone_model_key, + IsOriginal = data.file.ext.is_original, + MediaIndex = data.file.ext.media_index, + PayloadModelKey = data.file.ext.payload_model_key, + AbsoluteAltitude = data.file.metadata.absolute_altitude, + GimbalYawDegree = data.file.metadata.gimbal_yaw_degree, //云台偏航角度 + RelativeAltitude = data.file.metadata.relative_altitude, + Lat = data.file.metadata.shoot_position.lat, + Lng = data.file.metadata.shoot_position.lng, + Name = data.file.name, + ObjectKey = data.file.object_key, + Path = data.file.path, + CreateTime = data.file.metadata.create_time.ToDateTime(), }; - await _mqttClientManager.PublishAsync(cancelTaskTopic, - JsonConvert.SerializeObject(cancelTaskRequest)); + await _sqlSugarClient.Insertable(fileUpload).ExecuteCommandAsync(); + var expectFileCount = data.flight_task.expected_file_count; + var uploadedFileCount = data.flight_task.uploaded_file_count; + var taskRecord = new LasaTask() + { + ExpectedFileCount = expectFileCount, + UploadedFileCount = uploadedFileCount + }; + await _sqlSugarClient.Updateable(taskRecord) + .Where(t => t.FlightId == fileUpload.FlightId) + .ExecuteCommandAsync(); + break; + case "release_terminal_control_area": + //暂不处理 + break; + case "flighttask_progress": + { + code = data.result; + // 处理航线进度 ，也有可能是失败 + if (code != 0) + { + Console.WriteLine($"航线进度错误信息：{ErrorMap[code]} {message}"); + // 取消任务 + var cancelTaskTopic = $"thing/product/{sn}/services"; + var cancelTaskRequest = new TopicServicesRequest() + { + method = "flighttask_undo", + tid = result.tid, + bid = result.bid, + timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(), + data = new + { + flight_ids = new[] { data.output.ext.flight_id } + } + }; + await _mqttClientManager.PublishAsync(cancelTaskTopic, + JsonConvert.SerializeObject(cancelTaskRequest)); + // todo 更新任务状态及失败原因？ + } + else + { + Console.WriteLine($"航线进度：{message}"); + } + + break; + } + default: + { + if (!method.Equals("hms")) + { + Console.WriteLine($"未处理事件events：{message}"); + } + + break; } - } - else if (!method.Equals("hms")) - { - Console.WriteLine($"未处理事件events：{message}"); } break; @@ -233,71 +289,87 @@ 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) - // { - // 报错处理 - Console.WriteLine("进入prepare订阅消息"); - code = data.result; - var taskAssign = _manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid); - Console.WriteLine($"prepare 任务信息：{JsonConvert.SerializeObject(taskAssign)}"); - if (code == 0) + lock (_locker) { - if (taskAssign == null) + // 报错处理 + Console.WriteLine("进入prepare订阅消息"); + code = data.result; + var taskAssign = _manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid); + //Console.WriteLine($"prepare 任务信息：{JsonConvert.SerializeObject(taskAssign)}"); + if (code == 0) { - Console.WriteLine("已跳过prepare处理"); - return; // 不存在不操作 - } + if (taskAssign == null) + { + Console.WriteLine("已跳过prepare处理"); + return; // 不存在不操作 + } - var flightId = taskAssign.FlightId; - var request = new TopicServicesRequest(); - dynamic data1 = new ExpandoObject(); - data1.flight_id = flightId; - // todo 检查设备是否在线 - request.SetMethod("flighttask_execute") - .SetTid(result.tid) - .SetBid(result.bid) - .SetTimestamp(DateTimeOffset.Now.ToUnixTimeMilliseconds()) - .SetData(data1); - // 任务执行 - _ = _mqttClientManager.PublishAsync($"thing/product/{sn}/services", - JsonConvert.SerializeObject(request)); - var taskAssignRecord = new LasaTaskAssign() + var flightId = taskAssign.FlightId; + var request = new TopicServicesRequest(); + dynamic data1 = new ExpandoObject(); + data1.flight_id = flightId; + // todo 检查设备是否在线 + request.SetMethod("flighttask_execute") + .SetTid(result.tid) + .SetBid(result.bid) + .SetTimestamp(DateTimeOffset.Now.ToUnixTimeMilliseconds()) + .SetData(data1); + // 任务执行 + _ = _mqttClientManager.PublishAsync($"thing/product/{sn}/services", + JsonConvert.SerializeObject(request)); + var taskAssignRecord = new LasaTaskAssign() + { + Id = taskAssign.Id, + Status = 1 + }; + _sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns() + .ExecuteCommand(); + var taskRecord = new LasaTask() + { + Id = taskAssign.TaskId, + FlightId = flightId, + }; + _sqlSugarClient.Updateable(taskRecord).IgnoreNullColumns() + .ExecuteCommand(); + // todo 锁定这个机场 ，不再执行其它任务 + } + else { - Id = taskAssign.Id, - Status = 1 - }; - _sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns() - .ExecuteCommand(); - // todo 锁定这个机场 ，不再执行其它任务 + // 错误处理 + var errorMsg = ErrorMap[code]; + var taskAssignRecord = new LasaTaskAssign() + { + Id = taskAssign.Id, + Reason = errorMsg, + Status = 2 + }; + _sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns().ExecuteCommand(); + } } - else - { - // 错误处理 - var errorMsg = ErrorMap[code]; - var taskAssignRecord = new LasaTaskAssign() - { - Id = taskAssign.Id, - Reason = errorMsg, - Status = 2 - }; - _sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns().ExecuteCommand(); - } - // } break; case "flighttask_execute": // 执行任务响应 code = data.result; + var taskAssignExecute = _manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid, 1); + var taskRecordExecute = new LasaTask() + { + Id = taskAssignExecute.TaskId, + }; if (code != 0) { var errorMsg = ErrorMap[code]; - Console.WriteLine($"任务失败: 错误码 {code} 错误信息 {errorMsg}"); + //Console.WriteLine($"任务失败: 错误码 {code} 错误信息 {errorMsg}"); // todo 任务执行失败 + // TOdo 和航线进度方法中返回的错误有没有区别 ？？？？ } else { + // 任务开始执行 + taskRecordExecute.Status = 1; // 任务执行中 Console.WriteLine($"任务执行响应 {code} {message}"); } + await _sqlSugarClient.Updateable(taskRecordExecute).ExecuteCommandAsync(); break; } diff --git a/OpenAuth.App/ServiceApp/ManageApp.cs b/OpenAuth.App/ServiceApp/ManageApp.cs index ecdd1e6..b8d81c6 100644 --- a/OpenAuth.App/ServiceApp/ManageApp.cs +++ b/OpenAuth.App/ServiceApp/ManageApp.cs @@ -750,7 +750,6 @@ namespace OpenAuth.App.ServiceApp }; await Repository.ChangeRepository>().InsertAsync(taskAssign); // todo 更新任务状态？ - } public async Task PendingFlyTask(string taskId) @@ -954,11 +953,11 @@ namespace OpenAuth.App.ServiceApp return droneDock; } - public LasaTaskAssign GetTaskAssignByBidAndTid(string bid, string tid) + public LasaTaskAssign GetTaskAssignByBidAndTid(string bid, string tid, int status = 0) { return Repository .ChangeRepository>() - .GetSingle(r => r.Bid == bid && r.Tid == tid && r.Status == 0); + .GetSingle(r => r.Bid == bid && r.Tid == tid && r.Status == status); } diff --git a/OpenAuth.Repository/Domain/LasaMediaFile.cs b/OpenAuth.Repository/Domain/LasaMediaFile.cs new file mode 100644 index 0000000..8b06092 --- /dev/null +++ b/OpenAuth.Repository/Domain/LasaMediaFile.cs @@ -0,0 +1,88 @@ +using SqlSugar; + +namespace OpenAuth.Repository.Domain; + +using System; + +/// +/// 媒体文件实体类 +/// +[SugarTable("lasa_mediafile")] +public class LasaMediaFile +{ + /// + /// 主键ID + /// + [SugarColumn(IsPrimaryKey = true, ColumnName = "Id")] + public string Id { get; set; } + + /// + /// 计划ID + /// + public string FlightId { get; set; } + + /// + /// 飞行器产品枚举 + /// + public string DroneModelKey { get; set; } + + /// + /// 是否是原图 0否1是 + /// + public bool? IsOriginal { get; set; } + + /// + /// 文件索引 + /// + public long? MediaIndex { get; set; } + + /// + /// 负载产品枚举 + /// + public string PayloadModelKey { get; set; } + + /// + /// 拍摄绝对高度 + /// + public float? AbsoluteAltitude { get; set; } + + /// + /// 云台偏航角 + /// + public float? GimbalYawDegree { get; set; } + + /// + /// 拍摄相对高度 + /// + public float? RelativeAltitude { get; set; } + + /// + /// 拍摄位置纬度 + /// + public float? Lat { get; set; } + + /// + /// 拍摄位置经度 + /// + public float? Lng { get; set; } + + /// + /// 文件名称 + /// + public string Name { get; set; } + + /// + /// 对象Key + /// + public string ObjectKey { get; set; } + + /// + /// 路径 + /// + public string Path { get; set; } + + /// + /// 文件创建时间 + /// + public DateTime? CreateTime { get; set; } +} \ No newline at end of file diff --git a/OpenAuth.Repository/Domain/LasaTask.cs b/OpenAuth.Repository/Domain/LasaTask.cs index 6613a55..048725d 100644 --- a/OpenAuth.Repository/Domain/LasaTask.cs +++ b/OpenAuth.Repository/Domain/LasaTask.cs @@ -47,7 +47,7 @@ namespace OpenAuth.Repository.Domain /// /// 返航失控动作 /// - public string LossOfControlAction { get; set; } + public int LossOfControlAction { get; set; } /// /// 续飞模式 @@ -60,7 +60,7 @@ namespace OpenAuth.Repository.Domain public string AIInspection { get; set; } /// - /// 状态 + /// 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？） /// public int Status { get; set; } @@ -73,11 +73,57 @@ namespace OpenAuth.Repository.Domain /// 航线id /// public string AirLineId { get; set; } + public long CreateId { get; set; } public DateTime? CreateTime { get; set; } - + + /// + /// 航线精度类型 + /// public int WaylinePrecisionType { get; set; } - // todo 关联openjob id + public DateTime? ScheduledStartTime { get; set; } + + /// + /// + /// + public DateTime? ScheduledEndTime { get; set; } + + /// + /// 实际开始时间 + /// + public DateTime? ExecuteTime { get; set; } + + /// + /// 实际结束时间 + /// + public DateTime? CompletedTime { get; set; } + + /// + ///计划执行时长 + /// + public long PlanExecuteDuration { get; set; } + + /// + /// 实际执行时长 todo 后面看实际情况修改 + /// + public long ActualExecuteDuration { get; set; } + + /// + /// 项目id + /// + public string WorkspaceId { get; set; } + + /// + /// 期望媒体数量 + /// + public int ExpectedFileCount { get; set; } + + /// + /// 已上传媒体数量 + /// + public int UploadedFileCount { get; set; } + + public string FlightId { get; set; } } } \ No newline at end of file diff --git a/OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs b/OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs index a32d07d..f4fda66 100644 --- a/OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs +++ b/OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs @@ -431,6 +431,7 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers /// [HttpPost] [AllowAnonymous] + // todo 根据项目设置的起飞条件设置是否起飞 public async Task ExecuteFlyTask(string taskId) { await _app.ExecuteFlyTask(taskId); @@ -443,6 +444,7 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers [HttpPost] public async Task PendingFlyTask(string taskId) { + // todo 先只针对立即任务实现 await _app.PendingFlyTask(taskId); }