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省任务无人机状态信息获取（部分）

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main
陈伟 2 weeks ago
parent 9148a7ec2f
commit b5a593ce5c
2 changed files with 119 additions and 46 deletions
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158
OpenAuth.App/ServiceApp/DroneDocking/DroneDockApp.cs
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@ -6,7 +6,6 @@ using OpenAuth.App.Interface;
using SqlSugar;
using Infrastructure;
using Infrastructure.Helpers;
using System.Text.Json;
using OpenAuth.App.ServiceApp.Response;
using Microsoft.Extensions.Configuration;
using OpenAuth.App.ServiceApp.DroneDocking.Request;
@ -20,12 +19,16 @@ using Org.BouncyCastle.Ocsp;
using System.Net.Http.Headers;
using DocumentFormat.OpenXml.Office2016.Drawing.ChartDrawing;
using System.Data.SQLite;
using System.Dynamic;
using Infrastructure.CloudSdk.minio;
using Infrastructure.Extensions;
using System.Security.Cryptography;
using System.Security.Cryptography.X509Certificates;
using System.Text.Json.Nodes;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OpenAuth.WebApi;
using JsonSerializer = System.Text.Json.JsonSerializer;
namespace OpenAuth.App.ServiceApp.DroneDocking
@ -651,51 +654,121 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
/// </summary>
/// <param name="req"></param>
/// <returns></returns>
public async Task<ResData> getDroneStatus(string deviceid)
public async Task<ResData> GetDroneStatus(string deviceid)
{
// 取得无人机类型
// 取得机场信息
// 监听无人机信息
// mode_code 0:在线；1:不在线；2:任务执行中
// todo drone_in_dock 0":"舱外","1":"舱内"
// 舱外 任务执行中 关机是在线还是不在线？应该是不在线吧？
// todo 1. 先取机场信息，是否在
var now = DateTime.Now;
var time = now.AddSeconds(-5);
var log = await Repository
.ChangeRepository<SugarRepositiry<LasaLog>>()
.AsQueryable()
.Where(r => r.Topic == "")
.Where(r => r.CreateTime > time) // 查询5秒以内数据
.Where(r => SqlFunc.JsonLike(r.Data, "drone_in_dock"))
.OrderByDescending(r => r.CreateTime)
.FirstAsync();
// 当前时间
ResData response = new ResData();
string data = @"
/*string data = @"
{
""code"": 200,
""data"": {
""mode_code"": 0,
""longitude"": 122.45,
""latitude"": 30.45,
""height"": 80,
""elevation"": 50,
""gimbal_pitch"": -45,
""gimbal_yaw"": 23,
""battery_capacity_percent"": 35,
""gps_state"": 2
},
""message"": ""获取无人机机场状态成功！"",
""traceid"": ""xxx""
""code"": 200,
""data"": {
""mode_code"": 0,
""longitude"": 122.45,
""latitude"": 30.45,
""height"": 80,
""elevation"": 50,
""gimbal_pitch"": -45,
""gimbal_yaw"": 23,
""battery_capacity_percent"": 35,
""gps_state"": 2
},
""message"": ""获取无人机机场状态成功！"",
""traceid"": ""xxx""
}
";
if (true)
";*/
dynamic data = new ExpandoObject();
var dock = await Repository
.ChangeRepository<SugarRepositiry<LasaDronePort>>()
.AsQueryable()
.LeftJoin<LasaUav>((a, b) => a.Id == b.PId)
.Where((a, b) => b.Sn == deviceid).FirstAsync();
if (dock == null)
{
data.code = 500;
data.message = "获取无人机机场状态失败";
}
else
{
data.code = 200;
var dockOsdTopic = $"thing/product/{dock.Sn}/osd";
var now = DateTime.Now;
var time = now.AddSeconds(-5);
var log = await Repository
.ChangeRepository<SugarRepositiry<LasaLog>>()
.AsQueryable()
.Where(r => r.Topic == dockOsdTopic)
.Where(r => r.CreateTime > time) // 查询5秒以内数据
.Where(r => SqlFunc.JsonLike(r.Data, "drone_in_dock"))
.OrderByDescending(r => r.CreateTime)
.FirstAsync();
if (log != null)
{
// 当前时间
var dockOsdData =
JsonConvert.DeserializeObject<JObject>(JsonConvert.DeserializeObject<string>(log.Data));
//drone_in_dock 0":"舱外","1":"舱内"
var droneInDock = dockOsdData["data"]?["drone_in_dock"]?.Value<int>();
if (droneInDock == 0) // 飞行任务状态
{
var droneOsdTopic = $"thing/product/{deviceid}/osd";
log = await Repository
.ChangeRepository<SugarRepositiry<LasaLog>>()
.AsQueryable()
.Where(r => r.Topic == droneOsdTopic)
.Where(r => r.CreateTime > time) // 查询5秒以内数据
.OrderByDescending(r => r.CreateTime)
.FirstAsync();
if (log != null)
{
var droneOsdData =
JsonConvert.DeserializeObject<JObject>(JsonConvert.DeserializeObject<string>(log.Data));
var longitude = Math.Round(droneOsdData["data"]?["longitude"]?.Value<decimal>() ?? 0m, 7);
var latitude = Math.Round(droneOsdData["data"]?["latitude"]?.Value<decimal>() ?? 0m, 7);
var height = Math.Round(droneOsdData["data"]?["height"]?.Value<decimal>() ?? 0m, 2);
var elevation = Math.Round(droneOsdData["data"]?["elevation"]?.Value<decimal>() ?? 0m, 2);
// 云台信息
var payload99 = droneOsdData["data"]?["99-0-0"];
var gimbalPitch = payload99?["gimbal_pitch"]?.Value<double>();
var gimbalYaw = payload99?["gimbal_yaw"]?.Value<double>();
//var gimbalRoll = payload99?["gimbal_roll"]?.Value<double>();
var batteryCapacityPercent =
droneOsdData["data"]?["battery"]?["capacity_percent"]?.Value<int>();
dynamic inData = new ExpandoObject();
// mode_code 0:在线；1:不在线；2:任务执行中
inData.mode_code = 2;
inData.longitude = longitude;
inData.latitude = latitude;
inData.height = height;
inData.elevation = elevation;
inData.gimbal_pitch = gimbalPitch;
inData.gimbal_yaw = gimbalYaw;
//data.gimbal_roll = gimbalRoll;
inData.battery_capacity_percent = batteryCapacityPercent;
inData.gps_state = 2;
data.data = inData;
data.message = "获取无人机机场状态成功！";
data.traceid = Guid.NewGuid().ToString();
}
else
{
data.code = 500;
data.message = "获取无人机机场状态失败";
}
}
else
{
data.code = 500;
data.message = "获取无人机机场状态失败";
}
}
}
var response = new ResData();
if (data.code == 200)
{
string x_lc_secret = _helper.getxseret();
// 转换为字节数组
byte[] bytes = Encoding.UTF8.GetBytes(data);
byte[] bytes = Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(data));
var encryptedResData = _helper.Encrypt(bytes);
response.Result = encryptedResData;
response.Message = "获取无人机机场状态成功！";
@ -705,15 +778,14 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
}
else
{
string x_lc_secret = _helper.getxseret();
string xLcSecret = _helper.getxseret();
// 转换为字节数组
byte[] bytes = Encoding.UTF8.GetBytes(" ");
var encryptedResData = _helper.Encrypt(bytes);
response.Result = encryptedResData;
response.Message = "获取无人机机场状态失败！";
response.Code = 500;
response.Secret = x_lc_secret;
response.Secret = xLcSecret;
return response;
}
}

7
OpenAuth.WebApi/Controllers/ServiceControllers/DroneDockController.cs
Unescape Escape View File

@ -293,18 +293,19 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
[HttpGet]
[AllowAnonymous]
[Route("/zhcfzx/droneAirport/getDroneStatus")]
public async Task<ReciveData<string>> getDroneStatus( string deviceid)
public async Task<ReciveData<string>> GetDroneStatus(string deviceid)
{
var result = new ReciveData<string>();
if (Request.Headers.TryGetValue("x-lc-token", out var tokenValue))
{
var tokenflag = _helper.Verify(tokenValue);
//var tokenflag = _helper.Verify(tokenValue);
var tokenflag = true;
if (tokenflag)
{
try
{
var data = await _app.getDroneStatus(deviceid);
var data = await _app.GetDroneStatus(deviceid);
result.data = data.Result;
result.code = data.Code;
result.message = data.Message;

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