Merge remote-tracking branch 'origin/main'

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();
     }
 

Infrastructure/CloudSdk/mqtt/MqttClientManager.cs

@@ -7,6 +7,7 @@ using Microsoft.Extensions.Configuration;
 using Microsoft.Extensions.Logging;
 using MQTTnet;
 using MQTTnet.Client;
+using MQTTnet.Packets;
 using MQTTnet.Protocol;
 
 namespace OpenAuth.WebApi;
@@ -26,6 +27,7 @@ public class MqttClientManager
     // 指数退避参数
     private readonly TimeSpan _minReconnectInterval = TimeSpan.FromSeconds(1);
     private readonly TimeSpan _maxReconnectInterval = TimeSpan.FromMinutes(2);
+    private List<String> _topics = new();
 
 
     public MqttClientManager(ILogger<MqttClientManager> logger)
@@ -86,8 +88,21 @@ public class MqttClientManager
     {
         _logger?.LogInformation("MQTT 连接成功");
         _inboundReconnectAttempts = 0; // 重置重连计数
-        // todo  重新订阅主题
+        // 重新订阅主题
-        return null;
+        return ResubscribeTopicsAsync();
+    }
+
+    private async Task ResubscribeTopicsAsync()
+    {
+        if (!_inBoundClient.IsConnected || _topics.Count == 0)
+            return;
+
+        _logger?.LogInformation($"重新订阅 {_topics.Count} 个主题");
+        foreach (var topic in _topics)
+        {
+            await _inBoundClient.SubscribeAsync(topic, MqttQualityOfServiceLevel.AtLeastOnce,
+                _cancellationTokenSource.Token);
+        }
     }
 
     private async Task OnOutboundDisconnectedAsync(MqttClientDisconnectedEventArgs e)
@@ -179,6 +194,7 @@ public class MqttClientManager
     public async Task SubscribeAsync(string topic,
         Func<MqttApplicationMessageReceivedEventArgs, Task> handler)
     {
+        _topics.Add(topic);
         await _inBoundClient.SubscribeAsync(topic, MqttQualityOfServiceLevel.AtMostOnce, CancellationToken.None);
         _inBoundClient.ApplicationMessageReceivedAsync += handler;
     }
@@ -188,6 +204,7 @@ public class MqttClientManager
     {
         foreach (var topic in topics)
         {
+            _topics.Add(topic);
             await _inBoundClient.SubscribeAsync(topic, MqttQualityOfServiceLevel.AtMostOnce, CancellationToken.None);
             _inBoundClient.ApplicationMessageReceivedAsync += handler;
         }

OpenAuth.App/BaseApp/Subscribe/ConfigSubscribe.cs

@@ -32,15 +32,15 @@ public class ConfigSubscribe : IJob
 
     private async Task Subscribe()
     {
-       // 或者 thing/product/#
+        // 或者 thing/product/#
-       // sys/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<object>()
                         {
                             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(
+                        /*Console.WriteLine(
-                            $"topic: {flightTaskResourceGetTopic} 发送资源获取处理结果：{JsonConvert.SerializeObject(outRequest)}");
+                            $"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;
+                    case "file_upload_callback":
-                    // 处理航线进度 ，也有可能是失败
+                        // 文件上传
-                    if (code != 0)
+                        int flightType = int.Parse(data.flight_task.flight_type);
-                    {
+                        if (flightType == 1)
-                        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<object>()
                         {
-                            method = "flighttask_undo",
+                            break;
-                            tid = result.tid,
+                        }
-                            bid = result.bid,
+
-                            timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                        var fileUpload = new LasaMediaFile()
-                            data = new
+                        {
-                            {
+                            Id = Guid.NewGuid().ToString(),
-                                flight_ids = new[] { data.output.ext.flight_id }
+                            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,
+                        await _sqlSugarClient.Insertable(fileUpload).ExecuteCommandAsync();
-                            JsonConvert.SerializeObject(cancelTaskRequest));
+                        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 = $"thing/product/{sn}/services";
+                            var cancelTaskRequest = new TopicServicesRequest<object>()
+                            {
+                                method = "flighttask_undo",
+                                tid = result.tid,
+                                bid = result.bid,
+                                timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                                data = new
+                                {
+                                    flight_ids = new[] { data.output.ext.flight_id }
+                                }
+                            };
+                            await _mqttClientManager.PublishAsync(cancelTaskTopic,
+                                JsonConvert.SerializeObject(cancelTaskRequest));
+                            // todo  更新任务状态及失败原因？
+                        }
+                        else
+                        {
+                            Console.WriteLine($"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)
+                        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($"prepare 任务信息：{JsonConvert.SerializeObject(taskAssign)}");
-                        if (code == 0)
                         {
-                            if (taskAssign == null)
+                            // 报错处理
+                            Console.WriteLine("进入prepare订阅消息");
+                            code = data.result;
+                            var taskAssign = _manageApp.GetTaskAssignByBidAndTid(result.bid, result.tid);
+                            //Console.WriteLine($"prepare 任务信息：{JsonConvert.SerializeObject(taskAssign)}");
+                            if (code == 0)
                             {
-                                Console.WriteLine("已跳过prepare处理");
+                                if (taskAssign == null)
-                                return; // 不存在不操作
+                                {
-                            }
+                                    Console.WriteLine("已跳过prepare处理");
+                                    return; // 不存在不操作
+                                }
 
-                            var flightId = taskAssign.FlightId;
+                                var flightId = taskAssign.FlightId;
-                            var request = new TopicServicesRequest<object>();
+                                var request = new TopicServicesRequest<object>();
-                            dynamic data1 = new ExpandoObject();
+                                dynamic data1 = new ExpandoObject();
-                            data1.flight_id = flightId;
+                                data1.flight_id = flightId;
-                            // todo 检查设备是否在线
+                                // todo 检查设备是否在线
-                            request.SetMethod("flighttask_execute")
+                                request.SetMethod("flighttask_execute")
-                                .SetTid(result.tid)
+                                    .SetTid(result.tid)
-                                .SetBid(result.bid)
+                                    .SetBid(result.bid)
-                                .SetTimestamp(DateTimeOffset.Now.ToUnixTimeMilliseconds())
+                                    .SetTimestamp(DateTimeOffset.Now.ToUnixTimeMilliseconds())
-                                .SetData(data1);
+                                    .SetData(data1);
-                            // 任务执行
+                                // 任务执行
-                            _ = _mqttClientManager.PublishAsync($"thing/product/{sn}/services",
+                                _ = _mqttClientManager.PublishAsync($"thing/product/{sn}/services",
-                                JsonConvert.SerializeObject(request));
+                                    JsonConvert.SerializeObject(request));
-                            var taskAssignRecord = new LasaTaskAssign()
+                                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,
+                                // 错误处理
-                                Status = 1
+                                var errorMsg = ErrorMap[code];
-                            };
+                                var taskAssignRecord = new LasaTaskAssign()
-                            _sqlSugarClient.Updateable(taskAssignRecord).IgnoreNullColumns()
+                                {
-                                .ExecuteCommand();
+                                    Id = taskAssign.Id,
-                            // todo 锁定这个机场 ，不再执行其它任务
+                                    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;
                 }
 

OpenAuth.App/ServiceApp/ManageApp.cs

@@ -750,7 +750,6 @@ namespace OpenAuth.App.ServiceApp
             };
             await Repository.ChangeRepository<SugarRepositiry<LasaTaskAssign>>().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<SugarRepositiry<LasaTaskAssign>>()
-                .GetSingle(r => r.Bid == bid && r.Tid == tid && r.Status == 0);
+                .GetSingle(r => r.Bid == bid && r.Tid == tid && r.Status == status);
         }
 
 

OpenAuth.Repository/Domain/LasaMediaFile.cs

@@ -0,0 +1,88 @@
+using SqlSugar;
+
+namespace OpenAuth.Repository.Domain;
+
+using System;
+
+/// <summary>
+/// 媒体文件实体类
+/// </summary>
+[SugarTable("lasa_mediafile")]
+public class LasaMediaFile
+{
+    /// <summary>
+    /// 主键ID
+    /// </summary>
+    [SugarColumn(IsPrimaryKey = true, ColumnName = "Id")]
+    public string Id { get; set; }
+
+    /// <summary>
+    /// 计划ID
+    /// </summary>
+    public string FlightId { get; set; }
+
+    /// <summary>
+    /// 飞行器产品枚举
+    /// </summary>
+    public string DroneModelKey { get; set; }
+
+    /// <summary>
+    /// 是否是原图 0否1是
+    /// </summary>
+    public bool? IsOriginal { get; set; }
+
+    /// <summary>
+    /// 文件索引
+    /// </summary>
+    public long? MediaIndex { get; set; }
+
+    /// <summary>
+    /// 负载产品枚举
+    /// </summary>
+    public string PayloadModelKey { get; set; }
+
+    /// <summary>
+    /// 拍摄绝对高度
+    /// </summary>
+    public float? AbsoluteAltitude { get; set; }
+
+    /// <summary>
+    /// 云台偏航角
+    /// </summary>
+    public float? GimbalYawDegree { get; set; }
+
+    /// <summary>
+    /// 拍摄相对高度
+    /// </summary>
+    public float? RelativeAltitude { get; set; }
+
+    /// <summary>
+    /// 拍摄位置纬度
+    /// </summary>
+    public float? Lat { get; set; }
+
+    /// <summary>
+    /// 拍摄位置经度
+    /// </summary>
+    public float? Lng { get; set; }
+
+    /// <summary>
+    /// 文件名称
+    /// </summary>
+    public string Name { get; set; }
+
+    /// <summary>
+    /// 对象Key
+    /// </summary>
+    public string ObjectKey { get; set; }
+
+    /// <summary>
+    /// 路径
+    /// </summary>
+    public string Path { get; set; }
+
+    /// <summary>
+    /// 文件创建时间
+    /// </summary>
+    public DateTime? CreateTime { get; set; }
+}

OpenAuth.Repository/Domain/LasaTask.cs

@@ -47,7 +47,7 @@ namespace OpenAuth.Repository.Domain
         /// <summary>
         /// 返航失控动作
         /// </summary>
-        public string LossOfControlAction { get; set; }
+        public int LossOfControlAction { get; set; }
 
         /// <summary>
         /// 续飞模式
@@ -60,7 +60,7 @@ namespace OpenAuth.Repository.Domain
         public string AIInspection { get; set; }
 
         /// <summary>
-        /// 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？）
         /// </summary>
         public int Status { get; set; }
 
@@ -73,11 +73,57 @@ namespace OpenAuth.Repository.Domain
         /// 航线id
         /// </summary>
         public string AirLineId { get; set; }
+
         public long CreateId { get; set; }
         public DateTime? CreateTime { get; set; }
-        
+
+        /// <summary>
+        /// 航线精度类型
+        /// </summary>
         public int WaylinePrecisionType { get; set; }
 
-        // todo 关联openjob id 
+        public DateTime? ScheduledStartTime { get; set; }
+
+        /// <summary>
+        /// 
+        /// </summary>
+        public DateTime? ScheduledEndTime { get; set; }
+
+        /// <summary>
+        /// 实际开始时间
+        /// </summary>
+        public DateTime? ExecuteTime { get; set; }
+
+        /// <summary>
+        /// 实际结束时间
+        /// </summary>
+        public DateTime? CompletedTime { get; set; }
+
+        /// <summary>
+        ///计划执行时长
+        /// </summary>
+        public long PlanExecuteDuration { get; set; }
+
+        /// <summary>
+        /// 实际执行时长 todo  后面看实际情况修改
+        /// </summary>
+        public long ActualExecuteDuration { get; set; }
+
+        /// <summary>
+        /// 项目id
+        /// </summary>
+        public string WorkspaceId { get; set; }
+
+        /// <summary>
+        /// 期望媒体数量
+        /// </summary>
+        public int ExpectedFileCount { get; set; }
+
+        /// <summary>
+        /// 已上传媒体数量
+        /// </summary>
+        public int UploadedFileCount { get; set; }
+        
+        public string FlightId { get; set; }
     }
 }

OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs

@@ -429,6 +429,7 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
         /// <param name="taskId"></param>
         [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);
@@ -441,6 +442,7 @@ 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);
         }