删除飞行任务时，如果任务已经下发，则取消任务

OpenAuth.App/ServiceApp/ManageApp.cs

@@ -422,13 +422,44 @@ namespace OpenAuth.App.ServiceApp
                 return new Response<bool> { Result = false, Message = "任务不存在" };
             }
 
-            if (task.CompletedTime != null) // 定时任务
+            if (task.CompletedTime != null) // 已完成任务（无论成功失败）
             {
                 return new Response<bool> { Result = false, Message = "已完成任务禁止删除" };
             }
 
             using (var db = UnitWork.CreateContext())
             {
+                // todo 如果任务已经开始取消任务
+                if (task.Status.Equals(1))
+                {
+                    var flightId = task.FlightId;
+                    if (!string.IsNullOrEmpty(flightId))
+                    {
+                        var dronePort = await Repository.ChangeRepository<SugarRepositiry<LasaDronePort>>()
+                            .GetByIdAsync(task.TaskDronePort);
+                        if (dronePort == null)
+                        {
+                            throw new Exception("指定机场不存在");
+                        }
+
+                        var serialNo = dronePort.Sn;
+                        // 取消任务
+                        var cancelTaskTopic = $"thing/product/{serialNo}/services";
+                        var cancelTaskRequest = new TopicServicesRequest<object>()
+                        {
+                            method = "flighttask_undo",
+                            tid = Guid.NewGuid().ToString(),
+                            bid = Guid.NewGuid().ToString(),
+                            timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds(),
+                            data = new
+                            {
+                                flight_ids = new[] { task.FlightId }
+                            }
+                        };
+                        await _mqttClientManager.PublishAsync(cancelTaskTopic,
+                            JsonConvert.SerializeObject(cancelTaskRequest));
+                    }
+                }
                 var flag = await db.LasaTask.DeleteAsync(it => it.Id == id);
                 var taskId = task.Id;
                 var mediaFileList = await db.LasaMediaFile.AsQueryable()