合并

OpenAuth.App/ServiceApp/DroneDocking/DroneDockApp.cs

@@ -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
@@ -651,69 +654,169 @@ 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) // 无人机不在线
             {
-                string x_lc_secret = _helper.getxseret();
+                data.code = 200;
+                dynamic inData = new ExpandoObject();
+                inData.mode_code = 1; // 不在线
+                data.message = "获取无人机状态成功";
+            }
+            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>();
+                            var quality = droneOsdData["data"]?["position_state"]?["quality"]?.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 = quality switch
+                            {
+                                < 2 => 1, // 低精度
+                                < 10 => 2, // 高精度
+                                _ => 3 // rtk定位
+                            };
+                            data.data = inData;
+                            data.message = "获取无人机状态成功！";
+                            data.traceid = Guid.NewGuid().ToString();
+                        }
+                        else
+                        {
+                            data.code = 502;
+                            data.message = "获取无人机状态失败";
+                        }
+                    }
+                    else
+                    {
+                        // 舱内 关机或者开机状态
+                        // 这里取机场osd日志信息
+                        dynamic inData = new ExpandoObject();
+                        inData.battery_capacity_percent =
+                            dockOsdData["data"]?["drone_charge_state"]?["capacity_percent"]?.Value<int>();
+                        inData.elevation = 0;
+                        inData.mode_code = 0;
+                        var longitude = Math.Round(dockOsdData["data"]?["longitude"]?.Value<decimal>() ?? 0m, 7);
+                        var latitude = Math.Round(dockOsdData["data"]?["latitude"]?.Value<decimal>() ?? 0m, 7);
+                        var height = Math.Round(dockOsdData["data"]?["height"]?.Value<decimal>() ?? 0m, 2);
+                        inData.longitude = longitude;
+                        inData.latitude = latitude;
+                        inData.height = height;
+                        var quality = dockOsdData["data"]?["position_state"]?["quality"]?.Value<int>();
+                        inData.gps_state = quality switch
+                        {
+                            < 2 => 1,
+                            < 10 => 2,
+                            _ => 3
+                        };
+                        data.data = inData;
+                        data.traceid = Guid.NewGuid().ToString();
+                        data.code = 200;
+                        data.message = "获取无人机状态成功";
+                    }
+                }
+            }
+
+            var response = new ResData();
+            if (data.code == 200)
+            {
+                string xLcSecret = _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！";
+                response.Message = "获取无人机状态成功！";
                 response.Code = 200;
-                response.Secret = x_lc_secret;
+                response.Secret = xLcSecret;
                 return response;
             }
             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.Message = "获取无人机状态失败！";
                 response.Code = 500;
-                response.Secret = x_lc_secret;
+                response.Secret = xLcSecret;
                 return response;
             }
         }
@@ -962,14 +1065,22 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
         public async void InsertDb(string taskid)
         {
             var sqliteconnect = configuration.GetSection("DroneDocking:DbFile").Value;
+            /*// 确保数据库文件存在
+            if (!File.Exists(sqliteconnect))
+            {
+                var directory = Path.GetDirectoryName(sqliteconnect);
+                if (!string.IsNullOrEmpty(directory) && !Directory.Exists(directory))
+                {
+                    Directory.CreateDirectory(directory);
+                }
+                SQLiteConnection.CreateFile(sqliteconnect);
+            }*/
             string _sqliteConnection = "DataSource = " + sqliteconnect + "; Version = 3; ";
             string sql = "select * from drone_docktaskdetail where taskid='" + taskid + "'";
             var filigtlist = _client.Ado.SqlQuery<DroneDocktaskdetail>(sql);
             using (var sqliteConn = new SQLiteConnection(_sqliteConnection))
             {
                 sqliteConn.Open();
-
-
                 string deleteDbinfo1 = "delete from JMXX";
                 using (var cmd2 = new SQLiteCommand(deleteDbinfo1, sqliteConn))
                 {
@@ -1149,21 +1260,35 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
         {
             RefAsync<int> totalCount = 0;
             var info = await base.Repository.AsQueryable()
-                .WhereIF(!string.IsNullOrEmpty(keyWord),
-                    t => t.taskname.Contains(keyWord) || t.bizidname.Contains(keyWord))
-                .Select(t => new DroneDockRes
+            .WhereIF(!string.IsNullOrEmpty(keyWord), t => t.taskname.Contains(keyWord)||t.bizidname.Contains(keyWord))
+            .Select(t=>new DroneDockRes
+            {
+                id= t.id,
+                bizidname= t.bizidname,
+                taskname= t.taskname,
+                createtime= t.createtime,
+                state= t.state,
+                datacode= t.datacode,
+                deviceid= t.deviceid,
+                taskid= t.taskid,
+                tasklist = SqlFunc.Subqueryable<DroneDocktaskdetail>().Where(r => r.taskid == t.id).LeftJoin<LasaTask>((r, s) => r.flighttaskid == s.FlightId).ToList((r,s)=> new DetailRes
                 {
-                    id = t.id,
-                    bizidname = t.bizidname,
-                    taskname = t.taskname,
-                    createtime = t.createtime,
-                    state = t.state,
-                    datacode = t.datacode,
-                    deviceid = t.deviceid,
-                    taskid = t.taskid,
-                    tasklist = SqlFunc.Subqueryable<DroneDocktaskdetail>().Where(r => r.taskid == t.id).ToList()
+                    id = r.id,
+                    bsm=r.bsm,
+                    Status=s.Status,
+                    bz=r.bz,
+                    dkbh=r.dkbh,
+                    dkfw=r.dkfw,
+                    dklx=r.dklx,
+                    dkmc=r.dkmc,
+                    dkmj=r.dkmj,
+                    flighttaskid=r.flighttaskid,
+                    taskid=r.taskid,
+                    xzqdm=r.xzqdm,
+                    zdkbh=r.zdkbh
                 })
-                .ToPageListAsync(page, limit, totalCount);
+            })
+            .ToPageListAsync(page, limit, totalCount);
             return new Response<PageInfo<List<DroneDockRes>>>
             {
                 Result = new PageInfo<List<DroneDockRes>>

OpenAuth.App/ServiceApp/DroneDocking/Response/DroneDockRes.cs

@@ -51,7 +51,85 @@ namespace OpenAuth.App.ServiceApp.DroneDocking.Response
         public int state { get; set; }
 
         public DateTime? createtime { get; set; }
-        public List<DroneDocktaskdetail> tasklist { get; set; }
+        public List<DetailRes> tasklist { get; set; }
+    }
+
+    public class DetailRes
+    {
+        public string id { get; set; }
+
+        /// <summary>
+        /// Desc:图斑标识码
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string bsm { get; set; }
+
+        /// <summary>
+        /// Desc:县级行政区代码
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string xzqdm { get; set; }
+
+        /// <summary>
+        /// Desc:地块编号
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string dkbh { get; set; }
+
+        /// <summary>
+        /// Desc:地块类型
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string dklx { get; set; }
+
+        /// <summary>
+        /// Desc:子地块编号
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string zdkbh { get; set; }
+
+        /// <summary>
+        /// Desc:地块名称
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string dkmc { get; set; }
+
+        /// <summary>
+        /// Desc:地块面积
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public decimal? dkmj { get; set; }
+
+        /// <summary>
+        /// Desc:地块范围，cgcs2000的经纬度坐标，wkt格式
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string dkfw { get; set; }
+
+        /// <summary>
+        /// Desc:备注
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string bz { get; set; }
+
+        /// <summary>
+        /// Desc:任务id，对应任务表id
+        /// Default:
+        /// Nullable:True
+        /// </summary>           
+        public string taskid { get; set; }
+        //飞行任务id
+        public string flighttaskid { get; set; }
+        public int? Status { get; set; }
     }
 
 

OpenAuth.App/ServiceApp/ManageApp.cs

@@ -601,7 +601,7 @@ namespace OpenAuth.App.ServiceApp
         }
 
         //添加航线
-        public async Task<Response<bool>> AddAirLine(LasaAirLine lasaAirLine)
+        public async Task<Response<string>> AddAirLine(LasaAirLine lasaAirLine)
         {
             using (var db = UnitWork.CreateContext())
             {
@@ -610,9 +610,9 @@ namespace OpenAuth.App.ServiceApp
                 lasaAirLine.CreateTime = DateTime.Now;
                 var flag = await db.LasaAirLine.InsertAsync(lasaAirLine);
                 if (db.Commit())
-                    return new Response<bool> { Result = true, Message = "添加成功" };
+                    return new Response<string> { Result = lasaAirLine.Id, Message = "添加成功" };
                 else
-                    return new Response<bool> { Result = false, Message = "添加失败" };
+                    return new Response<string> { Result = "", Message = "添加失败" };
             }
         }
 

OpenAuth.App/ServiceApp/Subscribe/ConfigSubscribe.cs

@@ -210,7 +210,8 @@ public class ConfigSubscribe : IJob
                         // 文件上传
                         _logger.LogDebug("进入文件上传处理");
                         _logger.LogDebug($"文件上传处理：{message}");
-                        //飞行任务 0 指令飞行 1 
+                        //飞行任务 0 手飞任务 1 
+                        // todo 如果是手飞任务，生成任务 关于任务类型？
                         int flightType = data.flight_task.flight_type;
                         string flightId = data.file.ext.flight_id;
                         // 关于flightId 没有值的问题怎么办？？？
@@ -265,6 +266,8 @@ public class ConfigSubscribe : IJob
                                 CreateTime = date,
                             };
                             await _sqlSugarClient.Insertable(parent1).ExecuteCommandAsync();
+                            
+                            // todo 关于生成手飞任务的问题
                         }
 
                         // 重复检测

OpenAuth.Repository/Domain/LasaAiAchievement.cs

@@ -31,10 +31,11 @@ public class LasaAiAchievement
 
     [SugarColumn(ColumnName = "AiModel")]
     public string AiModel { get; set; }
-    [SugarColumn(ColumnName = "TaskId")]
-    public string TaskId { get; set; }
-    [SugarColumn(ColumnName = "Tag")]
-    public string Tag { get; set; }
+    
+    [SugarColumn(ColumnName = "Cover")]
+    public string Cover { get; set; }
+    [SugarColumn(ColumnName = "Description")]
+    public string Description { get; set; }
 
     [SugarColumn(IsIgnore = true)] public List<LasaAiAchievementDetail> AiAchievementDetailList { get; set; }
 }

OpenAuth.WebApi/Controllers/ServiceControllers/DroneDockController.cs

@@ -290,21 +290,29 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
         }
 
 
+        /// <summary>
+        /// 省任务获取无人机状态信息
+        /// </summary>
+        /// <param name="deviceid"></param>
+        /// <returns></returns>
+        /// <exception cref="Exception"></exception>
         [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);
+                // todo 完成后，需要恢复
+                //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;
@@ -561,7 +569,6 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
 
         [HttpGet]
         [AllowAnonymous]
-
         public async Task<ReciveData<string>> dbupload (string taskid)
         {
             var result = new ReciveData<string>();

OpenAuth.WebApi/Controllers/ServiceControllers/ManageController.cs

@@ -365,7 +365,7 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
         /// </summary>
         /// <returns></returns>
         [HttpPost]
-        public async Task<Response<bool>> AddAirLine(LasaAirLine info)
+        public async Task<Response<string>> AddAirLine(LasaAirLine info)
         {
             return await _app.AddAirLine(info);
         }

OpenAuth.WebApi/OpenAuth.WebApi.csproj

@@ -25,6 +25,9 @@
 		<None Remove="log\**" />
 		<None Remove="wwwroot\**" />
 		<EmbeddedResource Include="index.html" />
+		<None Update="Sqlite.db">
+		  <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+		</None>
 	</ItemGroup>
 
 	<ItemGroup>

OpenAuth.WebApi/appsettings.json

@@ -84,6 +84,6 @@
   },
   "DroneDocking": {
     "Url": "https://wp.tianmu.cloud:5443/zhcfzx",
-    "DbFile": "E:\\Program Files (x86)\\DingDing\\DTalkFIle\\(371325)费县_20250628155400093.db"
+    "DbFile": "Sqlite.db"
   }
 }