1. 修改无人机状态查询方法

2. 完成无人机状态上报

OpenAuth.App/ServiceApp/AI/AiAchievementServiceApp.cs

@@ -21,6 +21,7 @@ public class AiAchievementServiceApp : SqlSugarBaseApp<LasaAiAchievement, SugarD
         var page = await Repository.AsQueryable()
             .WhereIF(!string.IsNullOrEmpty(req.key), x => x.Title.Contains(req.key))
             .WhereIF(req.startTime != null, x => x.CreateTime >= req.startTime && x.CreateTime <= req.endTime)
+            .OrderByDescending(x => x.CreateTime)
             .ToPageListAsync(req.page, req.limit, total);
         return new Response<PageInfo<List<LasaAiAchievement>>>()
         {

OpenAuth.App/ServiceApp/DroneDocking/DroneDockApp.cs

@@ -654,27 +654,9 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
         /// </summary>
         /// <param name="req"></param>
         /// <returns></returns>
-        public async Task<ResData> GetDroneStatus(string deviceid)
+        public async Task<dynamic> GetDroneStatus(string deviceid)
         {
-            /*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""
-}
-";*/
-            dynamic data = new ExpandoObject();
+            dynamic result = new ExpandoObject();
             var dock = await Repository
                 .ChangeRepository<SugarRepositiry<LasaDronePort>>()
                 .AsQueryable()
@@ -682,14 +664,15 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
                 .Where((a, b) => b.Sn == deviceid).FirstAsync();
             if (dock == null) // 无人机不在线
             {
-                data.code = 200;
+                result.code = 200;
                 dynamic inData = new ExpandoObject();
+                result.data = inData;
                 inData.mode_code = 1; // 不在线
-                data.message = "获取无人机状态成功";
+                result.message = "获取无人机状态成功";
             }
             else
             {
-                data.code = 200;
+                result.code = 200;
                 var dockOsdTopic = $"thing/product/{dock.Sn}/osd";
                 var now = DateTime.Now;
                 var time = now.AddSeconds(-5);
@@ -754,14 +737,14 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
                                 < 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();
+                            result.data = inData;
+                            result.message = "获取无人机状态成功！";
+                            result.traceid = Guid.NewGuid().ToString();
                         }
                         else
                         {
-                            data.code = 502;
-                            data.message = "获取无人机状态失败";
+                            result.code = 502;
+                            result.message = "获取无人机状态失败";
                         }
                     }
                     else
@@ -786,39 +769,15 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
                             < 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";
+                        result.data = inData;
+                        result.traceid = Guid.NewGuid().ToString();
+                        result.code = 200;
+                        result.message = "获取无人机状态成功";
                     }
                 }
-            }
+            } // 设备在线
 
-            var response = new ResData();
-            if (data.code == 200)
-            {
-                string xLcSecret = _helper.getxseret();
-                // 转换为字节数组
-                byte[] bytes = Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(data));
-                var encryptedResData = _helper.Encrypt(bytes);
-                response.Result = encryptedResData;
-                response.Message = "获取无人机状态成功！";
-                response.Code = 200;
-                response.Secret = xLcSecret;
-                return response;
-            }
-            else
-            {
-                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 = "获取无人机状态失败！";
-                response.Code = 500;
-                response.Secret = xLcSecret;
-                return response;
-            }
+            return result;
         }
 
         /// <summary>
@@ -852,69 +811,86 @@ namespace OpenAuth.App.ServiceApp.DroneDocking
         }
 
         /// <summary>
-        /// 无人机机场设备注册/更新
+        /// 无人机状态上报
         /// </summary>
         /// <param name="req"></param>
         /// <returns></returns>
-        public async Task<Response<string>> reportDroneStatus(List<AirPortStatusApply> req)
+        public async Task<Response<bool>> ReportDroneStatus()
         {
-            Response<string> Response = new Response<string>();
-
-            var handler = new HttpClientHandler();
-            // 如果需要忽略服务器证书错误（仅测试环境）
-            handler.ServerCertificateCustomValidationCallback = (sender, cert, chain, sslPolicyErrors) => true;
-            using (var client = new HttpClient())
+            var droneList = await Repository
+                .ChangeRepository<SugarRepositiry<LasaUav>>()
+                .AsQueryable()
+                .Where(it => it.IsDelete == false)
+                .ToListAsync();
+            var dataList = new List<dynamic>();
+            foreach (var item in droneList)
             {
-                try
+                var originalData = await GetDroneStatus(item.Sn);
+                var inData = originalData.data;
+                // 转换状态值 mode_code -> onlinestate
+                // 0:在线；1:不在线；2:任务执行中 -> 设备在线状态，00:不在线；10:在线；20：任务执行中
+                // 增加设备id deviceid
+                inData.deviceid = item.Sn;
+                inData.onlinestate = inData.mode_code switch
                 {
-                    string url = configuration.GetSection("DroneDocking:Url").Value + "/droneAirport/reportDroneStatus";
-                    string x_lc_secret = _helper.getxseret();
-                    string centercode = "UAV32_LJY2FPMYDE6UDES3P3ZD7V3IKQ";
-                    string x_token = _helper.GetToken(centercode);
-
-                    // 序列化为 JSON 字符串
-                    string json = JsonSerializer.Serialize(req);
-
-                    // 转换为字节数组
-                    byte[] bytes = Encoding.UTF8.GetBytes(json);
-
-                    var encryptedData = _helper.Encrypt(bytes);
-                    // 创建请求体
-                    var httpContent = new StringContent(encryptedData, Encoding.UTF8, "application/json");
-
-                    // 添加请求头
-                    client.DefaultRequestHeaders.Add("x-lc-secret", x_lc_secret);
-                    client.DefaultRequestHeaders.Add("x-lc-token", x_token);
-
-                    //发送请求
-                    HttpResponseMessage response = await client.PostAsync(url, httpContent);
-                    response.EnsureSuccessStatusCode();
-
-                    // 获取响应头中的 x_cl_screte 参数
-                    string resx_cl_screte = GetHeaderValue(response, "x-lc-secret");
-
-                    // 读取响应内容并反序列化
-                    string responseBody = await response.Content.ReadAsStringAsync();
-                    var result = JsonSerializer.Deserialize<ReciveData<string>>(responseBody);
+                    0 => "10",
+                    1 => "00",
+                    2 => "20",
+                    _ => "00"
+                };
+                dataList.Add(inData);
+            }
 
-                    //解密数据
-                    byte[] resbytesx = Convert.FromBase64String(resx_cl_screte);
-                    byte[] resdatabytes = Convert.FromBase64String(result?.data);
-                    string data = _helper.Decrypt(resbytesx, resdatabytes);
+            using var client = new HttpClient();
+            try
+            {
+                // 无人机状态上报接口
+                var url = configuration.GetSection("DroneDocking:Url").Value +
+                          "/droneAirport/reportDroneStatus";
+                var xLcSecret = _helper.getxseret();
+                var centerCode = "UAV32_LJY2FPMYDE6UDES3P3ZD7V3IKQ";
+                var xToken = _helper.GetToken(centerCode);
+                // 序列化为 JSON 字符串
+                string json = JsonSerializer.Serialize(dataList);
+                // 转换为字节数组
+                byte[] bytes = Encoding.UTF8.GetBytes(json);
 
-                    Response.Result = data;
-                    Response.Message = result.message;
-                    Response.Code = result.code;
-                }
-                catch (HttpRequestException e)
+                var encryptedData = _helper.Encrypt(bytes);
+                // 创建请求体
+                var httpContent = new StringContent(encryptedData, Encoding.UTF8, "application/json");
+                // 添加请求头
+                client.DefaultRequestHeaders.Add("x-lc-secret", xLcSecret);
+                client.DefaultRequestHeaders.Add("x-lc-token", xToken);
+
+                //发送请求
+                HttpResponseMessage response = await client.PostAsync(url, httpContent);
+                response.EnsureSuccessStatusCode();
+
+                // 获取响应头中的 x_cl_screte 参数
+                var resxClScrete = GetHeaderValue(response, "x-lc-secret");
+
+                // 读取响应内容并反序列化
+                var responseBody = await response.Content.ReadAsStringAsync();
+                var result = JsonSerializer.Deserialize<ReciveData<string>>(responseBody);
+                //解密数据
+                byte[] resbytesx = Convert.FromBase64String(resxClScrete);
+                byte[] resdatabytes = Convert.FromBase64String(result?.data);
+                string data = _helper.Decrypt(resbytesx, resdatabytes);
+                // 结果
+            }
+            catch (HttpRequestException e)
+            {
+                return new Response<bool>()
                 {
-                    Console.WriteLine("\nException Caught!");
-                    Console.WriteLine("Message :{0} ", e.Message);
-                    Response.Result = "连接错误";
-                }
+                    Result = false,
+                    Message = e.Message
+                };
             }
 
-            return Response;
+            return new Response<bool>()
+            {
+                Result = true,
+            };
         }
 
 
@@ -1260,35 +1236,37 @@ 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
-            {
-                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
+                .WhereIF(!string.IsNullOrEmpty(keyWord),
+                    t => t.taskname.Contains(keyWord) || t.bizidname.Contains(keyWord))
+                .Select(t => new DroneDockRes
                 {
-                    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
+                    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 = 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.WebApi/Controllers/ServiceControllers/DroneDockController.cs

@@ -10,6 +10,7 @@ using OpenAuth.App.ServiceApp.Response;
 using OpenAuth.Repository.Domain;
 using Org.BouncyCastle.Ocsp;
 using System.Text;
+using Newtonsoft.Json;
 
 namespace OpenAuth.WebApi.Controllers.ServiceControllers
 {
@@ -311,18 +312,41 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
                 {
                     try
                     {
-                        var data = await _app.GetDroneStatus(deviceid);
-                        result.data = data.Result;
-                        result.code = data.Code;
-                        result.message = data.Message;
+                        var inResult = await _app.GetDroneStatus(deviceid);
+                        
+                        var response = new ResData();
+                        if (inResult.code == 200)
+                        {
+                            string xLcSecret = _helper.getxseret();
+                            // 转换为字节数组
+                            byte[] bytes = Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(result));
+                            var encryptedResData = _helper.Encrypt(bytes);
+                            response.Result = encryptedResData;
+                            response.Message = "获取无人机状态成功！";
+                            response.Code = 200;
+                            response.Secret = xLcSecret;
+                        }
+                        else
+                        {
+                            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 = "获取无人机状态失败！";
+                            response.Code = 500;
+                            response.Secret = xLcSecret;
+                        }
+                        result.data = inResult.Result;
+                        result.code = inResult.Code;
+                        result.message = inResult.Message;
                         result.traceid = Guid.NewGuid().ToString();
-                        Response.Headers.Add("x-lc-secret", data.Secret);
+                        Response.Headers.Add("x-lc-secret", inResult.Secret);
                     }
                     catch (Exception ex)
                     {
                         result.code = 200;
                         result.message = "error";
-
                         result.traceid = Guid.NewGuid().ToString();
                     }
                     return result;
@@ -338,26 +362,7 @@ namespace OpenAuth.WebApi.Controllers.ServiceControllers
             }
 
         }
-        /// <summary>
-        /// 无人机状态上报
-        /// </summary>
-        /// <returns></returns>
-        [HttpPost]
-        [AllowAnonymous]
-        public async Task<Response<string>> reportDroneStatus([FromBody] List<AirPortStatusApply> req)
-        {
-            var result = new Response<string>();
-            try
-            {
-                result = await _app.reportDroneStatus(req);
-            }
-            catch (Exception ex)
-            {
-                result.Code = 500;
-                result.Message = ex.Message;
-            }
-            return result;
-        }
+
         /// <summary>
         /// 无人机任务进度查询
         /// </summary>

OpenAuth.WebApi/SystemTask/DelayedExecutionService.cs

@@ -0,0 +1,47 @@
+using OpenAuth.App.ServiceApp.DroneDocking;
+
+namespace OpenAuth.WebApi.SystemTask;
+
+public class DelayedExecutionService : BackgroundService
+{
+    private readonly ILogger<DelayedExecutionService> _logger;
+    private readonly DroneDockApp _droneDockApp;
+
+    public DelayedExecutionService(ILogger<DelayedExecutionService> logger, DroneDockApp droneDockApp)
+    {
+        _logger = logger;
+        _droneDockApp = droneDockApp;
+    }
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        _logger.LogInformation("定时任务已启动，将每5秒执行一次");
+
+        while (!stoppingToken.IsCancellationRequested)
+        {
+            try
+            {
+                await PerformDelayedTask();
+                // 等待5秒
+                await Task.Delay(TimeSpan.FromSeconds(5), stoppingToken);
+            }
+            catch (OperationCanceledException)
+            {
+                _logger.LogInformation("定时任务被取消");
+                break;
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError(ex, "定时任务执行时发生错误");
+                // 即使出错也继续下一次执行
+                await Task.Delay(TimeSpan.FromSeconds(5), stoppingToken);
+            }
+        }
+    }
+
+    private async Task PerformDelayedTask()
+    {
+        await _droneDockApp.ReportDroneStatus();
+        await Task.CompletedTask;
+    }
+}