package com.dji.sample.manage.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
import com.dji.sample.component.mqtt.model.EventsReceiver;
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.IWebSocketMessageService;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.manage.dao.IDeviceMapper;
import com.dji.sample.manage.model.dto.*;
import com.dji.sample.manage.model.entity.DeviceEntity;
import com.dji.sample.manage.model.entity.DeviceOrgEntity;
import com.dji.sample.manage.model.entity.UserOrgEntity;
import com.dji.sample.manage.model.enums.DeviceFirmwareStatusEnum;
import com.dji.sample.manage.model.enums.PropertySetFieldEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.param.DeviceQueryParam;
import com.dji.sample.manage.model.param.DeviceSearchParam;
import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
import com.dji.sample.manage.service.*;
import com.dji.sdk.cloudapi.device.*;
import com.dji.sdk.cloudapi.firmware.*;
import com.dji.sdk.cloudapi.firmware.api.AbstractFirmwareService;
import com.dji.sdk.cloudapi.property.api.AbstractPropertyService;
import com.dji.sdk.cloudapi.tsa.DeviceIconUrl;
import com.dji.sdk.cloudapi.tsa.TopologyDeviceModel;
import com.dji.sdk.common.*;
import com.dji.sdk.config.version.GatewayManager;
import com.dji.sdk.exception.CloudSDKException;
import com.dji.sdk.mqtt.IMqttTopicService;
import com.dji.sdk.mqtt.MqttGatewayPublish;
import com.dji.sdk.mqtt.events.EventsSubscribe;
import com.dji.sdk.mqtt.osd.OsdSubscribe;
import com.dji.sdk.mqtt.property.PropertySetReplyResultEnum;
import com.dji.sdk.mqtt.property.PropertySetSubscribe;
import com.dji.sdk.mqtt.requests.RequestsSubscribe;
import com.dji.sdk.mqtt.services.ServicesReplyData;
import com.dji.sdk.mqtt.services.ServicesSubscribe;
import com.dji.sdk.mqtt.services.TopicServicesResponse;
import com.dji.sdk.mqtt.state.StateSubscribe;
import com.dji.sdk.mqtt.status.StatusSubscribe;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.time.Instant;
import java.time.LocalDateTime;
import java.time.ZoneId;
import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.Set;
import java.util.stream.Collectors;

import static com.dji.sample.common.constant.DeviceConstant.CUSTOM_DOCK_START;
import static com.dji.sample.common.util.SecurityUtils.aboveSysAdminRole;
import static com.dji.sample.common.constant.DeviceConstant.CUSTOM_DOCK_LIST;
import static com.dji.sample.common.util.SecurityUtils.*;

/**
 *
 * @author sean.zhou
 * @version 0.1
 * @date 2021/11/10
 */
@Service
@Slf4j
@Transactional
public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> implements IDeviceService   {

    @Autowired
    private MqttGatewayPublish messageSender;

    @Autowired
    private IDeviceMapper mapper;

    @Autowired
    private IDeviceDictionaryService dictionaryService;

    @Autowired
    private IMqttTopicService topicService;

    @Autowired
    private IWorkspaceService workspaceService;

    @Autowired
    private IDevicePayloadService payloadService;

    @Autowired
    private IWebSocketMessageService webSocketMessageService;

    @Autowired
    private ObjectMapper objectMapper;

    @Autowired
    private IDeviceFirmwareService deviceFirmwareService;

    @Autowired
    private ICapacityCameraService capacityCameraService;

    @Autowired
    private IDeviceRedisService deviceRedisService;

    @Autowired
    private StatusSubscribe statusSubscribe;

    @Autowired
    private StateSubscribe stateSubscribe;

    @Autowired
    private OsdSubscribe osdSubscribe;

    @Autowired
    private ServicesSubscribe servicesSubscribe;

    @Autowired
    private EventsSubscribe eventsSubscribe;

    @Autowired
    private RequestsSubscribe requestsSubscribe;

    @Autowired
    private PropertySetSubscribe propertySetSubscribe;

    @Autowired
    private AbstractPropertyService abstractPropertyService;

    @Autowired
    private AbstractFirmwareService abstractFirmwareService;

    @Autowired
    private IDeviceOrgService deviceOrgService;

    @Autowired
    private IUserOrgService userOrgService;

    @Autowired
    private IDeviceDetailService deviceDetailService;

    @Override
    public void subDeviceOffline(String deviceSn) {
        // If no information about this device exists in the cache, the drone is considered to be offline.
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
        if (deviceOpt.isEmpty()) {
            log.debug("The drone is already offline.");
            return;
        }
        try {
            gatewayOnlineSubscribeTopic(SDKManager.getDeviceSDK(String.valueOf(deviceOpt.get().getParentSn())));
        } catch (CloudSDKException e) {
            log.debug("The gateway is already offline.", e);
        }
        deviceRedisService.subDeviceOffline(deviceSn);
        // Publish the latest device topology information in the current workspace.
        pushDeviceOfflineTopo(deviceOpt.get().getWorkspaceId(), deviceSn);
        clearLiveSessionManagersOnDeviceOffline(deviceSn);
        log.debug("{} offline.", deviceSn);
    }

    @Override
    public void gatewayOffline(String gatewaySn) {
        // If no information about this device exists in the cache, the drone is considered to be offline.
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(gatewaySn);
        if (deviceOpt.isEmpty()) {
            log.debug("The gateway is already offline.");
            return;
        }

        deviceRedisService.subDeviceOffline(deviceOpt.get().getChildDeviceSn());
        deviceRedisService.gatewayOffline(gatewaySn);
        offlineUnsubscribeTopic(SDKManager.getDeviceSDK(gatewaySn));
        // Publish the latest device topology information in the current workspace.
        pushDeviceOfflineTopo(deviceOpt.get().getWorkspaceId(), gatewaySn);
        clearLiveSessionManagersOnDeviceOffline(deviceOpt.get().getChildDeviceSn());
        clearLiveSessionManagersOnDeviceOffline(gatewaySn);
        log.debug("{} offline.", gatewaySn);
    }

    /**
     * 任一可直播设备离线后，清理该设备对应的直播会话管理 Redis key。
     * 仅按 SN 前缀清理，避免误删其他机器的会话。
     */
    private void clearLiveSessionManagersOnDeviceOffline(String sn) {
        if (!StringUtils.hasText(sn)) {
            return;
        }

        // 防御式校验：仅在该设备确实离线时执行清理
        if (deviceRedisService.checkDeviceOnline(sn)) {
            return;
        }

        clearLiveSessionKeysBySn(sn);
    }

    private void clearLiveSessionKeysBySn(String sn) {
        String pattern = RedisConst.LIVE_SESSION_PREFIX + sn + "_*";
        Set<String> keys = RedisOpsUtils.getAllKeys(pattern);
        if (CollectionUtils.isEmpty(keys)) {
            return;
        }
        keys.forEach(RedisOpsUtils::del);
        log.info("Cleared {} live session key(s) for sn={}", keys.size(), sn);
    }

    @Override
    public void gatewayOnlineSubscribeTopic(GatewayManager gateway) {
        statusSubscribe.subscribe(gateway);
        stateSubscribe.subscribe(gateway, true);
        osdSubscribe.subscribe(gateway, true);
        servicesSubscribe.subscribe(gateway);
        eventsSubscribe.subscribe(gateway, true);
        requestsSubscribe.subscribe(gateway);
        propertySetSubscribe.subscribe(gateway);
    }

    @Override
    public void subDeviceOnlineSubscribeTopic(GatewayManager gateway) {
        statusSubscribe.subscribe(gateway);
        stateSubscribe.subscribe(gateway, false);
        osdSubscribe.subscribe(gateway, false);
        servicesSubscribe.subscribe(gateway);
        eventsSubscribe.subscribe(gateway, false);
        requestsSubscribe.subscribe(gateway);
        propertySetSubscribe.subscribe(gateway);
    }

    /**
     * 无人机订阅mqtt topic
     * @param droneSn
     */
    @Override
    public void subDroneOnlineSubscribeTopic(String droneSn) {

        stateSubscribe.subscribe(droneSn);
        osdSubscribe.subscribe(droneSn);
        eventsSubscribe.subscribe(droneSn);

    }


    @Override
    public void offlineUnsubscribeTopic(GatewayManager gateway) {
        statusSubscribe.unsubscribe(gateway);
        stateSubscribe.unsubscribe(gateway);
        osdSubscribe.unsubscribe(gateway);
        servicesSubscribe.unsubscribe(gateway);
        eventsSubscribe.unsubscribe(gateway);
        requestsSubscribe.unsubscribe(gateway);
        propertySetSubscribe.unsubscribe(gateway);
    }

    @Override
    public List<DeviceDTO> getDevicesByParams(DeviceQueryParam param) {
        return mapper.selectList(
                new LambdaQueryWrapper<DeviceEntity>()
                        .eq(StringUtils.hasText(param.getDeviceSn()),
                                DeviceEntity::getDeviceSn, param.getDeviceSn())
                        .eq(param.getDeviceType() != null,
                                DeviceEntity::getDeviceType, param.getDeviceType())
                        .eq(param.getSubType() != null,
                                DeviceEntity::getSubType, param.getSubType())
                        .eq(StringUtils.hasText(param.getChildSn()),
                                DeviceEntity::getChildSn, param.getChildSn())
                        .and(!CollectionUtils.isEmpty(param.getDomains()), wrapper -> {
                            for (Integer domain : param.getDomains()) {
                                wrapper.eq(DeviceEntity::getDomain, domain).or();
                            }
                        })
                        .eq(StringUtils.hasText(param.getWorkspaceId()),
                                DeviceEntity::getWorkspaceId, param.getWorkspaceId())
                        .eq(param.getBoundStatus() != null, DeviceEntity::getBoundStatus, param.getBoundStatus())
                        .orderBy(param.isOrderBy(),
                                param.isAsc(), DeviceEntity::getId))
                .stream()
                .map(this::deviceEntityConvertToDTO)
                .collect(Collectors.toList());
    }

    @Override
    public List<DeviceDTO> getDevicesTopoForWeb(String workspaceId) {
        List<DeviceDTO> devicesList = this.getDevicesByParams(
                DeviceQueryParam.builder()
                        .workspaceId(workspaceId)
                        .domains(List.of(DeviceDomainEnum.REMOTER_CONTROL.getDomain(), DeviceDomainEnum.DOCK.getDomain()))
                        .build());

        devicesList.stream()
                .filter(gateway -> DeviceDomainEnum.DOCK == gateway.getDomain() ||
                        deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()))
                .forEach(this::spliceDeviceTopo);

        return devicesList;
    }

    @Override
    public void spliceDeviceTopo(DeviceDTO gateway) {

        gateway.setStatus(deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()));

        // sub device
        if (!StringUtils.hasText(gateway.getChildDeviceSn())) {
            return;
        }

        List<DeviceDTO> subDevices = getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build());
        if (CollectionUtils.isEmpty(subDevices)) {
            log.warn("sub device not found, gatewaySn={}, childDeviceSn={}", gateway.getDeviceSn(), gateway.getChildDeviceSn());
            return;
        }

        DeviceDTO subDevice = subDevices.get(0);
        subDevice.setStatus(deviceRedisService.checkDeviceOnline(subDevice.getDeviceSn()));
        gateway.setChildren(subDevice);

        // payloads
        subDevice.setPayloadsList(payloadService.getDevicePayloadEntitiesByDeviceSn(gateway.getChildDeviceSn()));
    }

    @Override
    public Optional<TopologyDeviceDTO> getDeviceTopoForPilot(String sn) {
        if (!StringUtils.hasText(sn)) {
            return Optional.empty();
        }
        List<TopologyDeviceDTO> topologyDeviceList = this.getDevicesByParams(
                DeviceQueryParam.builder()
                        .deviceSn(sn)
                        .build())
                .stream()
                .map(this::deviceConvertToTopologyDTO)
                .collect(Collectors.toList());
        if (topologyDeviceList.isEmpty()) {
            return Optional.empty();
        }
        return Optional.of(topologyDeviceList.get(0));
    }

    @Override
    public TopologyDeviceDTO deviceConvertToTopologyDTO(DeviceDTO device) {
        if (device == null) {
            return null;
        }
        return new TopologyDeviceDTO()
                    .setSn(device.getDeviceSn())
                    .setDeviceCallsign(device.getNickname())
                    .setDeviceModel(new TopologyDeviceModel()
                            .setDomain(device.getDomain())
                            .setSubType(device.getSubType())
                            .setType(device.getType())
                            .setDeviceModelKey(DeviceEnum.find(device.getDomain(), device.getType(), device.getSubType())))
                    .setIconUrls(device.getIconUrl())
                    .setOnlineStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()))
                    .setUserCallsign(device.getNickname())
                    .setBoundStatus(device.getBoundStatus())
                    .setModel(device.getDeviceName())
                    .setUserId(device.getUserId())
                    .setDomain(device.getDomain())
                    .setGatewaySn(device.getParentSn());
    }

    @Override
    public void pushDeviceOfflineTopo(String workspaceId, String deviceSn) {
        webSocketMessageService.sendBatch(
                workspaceId, null, com.dji.sdk.websocket.BizCodeEnum.DEVICE_OFFLINE.getCode(),
                new TopologyDeviceDTO().setSn(deviceSn).setOnlineStatus(false));
    }

    @Override
    public void pushDeviceOnlineTopo(String workspaceId, String gatewaySn, String deviceSn) {
        webSocketMessageService.sendBatch(
                workspaceId, null, com.dji.sdk.websocket.BizCodeEnum.DEVICE_ONLINE.getCode(),
                getDeviceTopoForPilot(deviceSn).orElseGet(TopologyDeviceDTO::new).setGatewaySn(gatewaySn));
    }

    @Override
    public void pushOsdDataToPilot(String workspaceId, String sn, DeviceOsdHost data) {
        webSocketMessageService.sendBatch(
                workspaceId, UserTypeEnum.PILOT.getVal(), com.dji.sdk.websocket.BizCodeEnum.DEVICE_OSD.getCode(),
                new DeviceOsdWsResponse()
                        .setSn(sn)
                        .setHost(data));
    }

    @Override
    public void pushOsdDataToWeb(String workspaceId, BizCodeEnum codeEnum, String sn, Object data) {
        webSocketMessageService.sendBatch(
                workspaceId, UserTypeEnum.WEB.getVal(), codeEnum.getCode(), TelemetryDTO.builder().sn(sn).host(data).build());
    }

    /**
     * Save the device information and update the information directly if the device already exists.
     * @param device
     * @return
     */
    public Boolean saveOrUpdateDevice(DeviceDTO device) {
        int count = mapper.selectCount(
                new LambdaQueryWrapper<DeviceEntity>()
                        .eq(DeviceEntity::getDeviceSn, device.getDeviceSn()));
        return count > 0 ? updateDevice(device) : saveDevice(device) > 0;
    }

    /**
     * Save the device information.
     * @param device
     * @return
     */
    public Integer saveDevice(DeviceDTO device) {
        DeviceEntity entity = deviceDTO2Entity(device);
        return mapper.insert(entity) > 0 ? entity.getId() : -1;
    }

    /**
     * Convert database entity object into device data transfer object.
     * @param entity
     * @return
     */
    private DeviceDTO deviceEntityConvertToDTO(DeviceEntity entity) {
        if (entity == null) {
            return null;
        }
        DeviceDTO.DeviceDTOBuilder builder = DeviceDTO.builder();
        try {
            DeviceEnum deviceEnum = DeviceEnum.find(entity.getDomain(), entity.getDeviceType(), entity.getSubType());
            builder
                    .deviceSn(entity.getDeviceSn())
                    .id(entity.getId())
                    .deviceEnum(deviceEnum.getDevice())
                    .deviceEnumName(deviceEnum.name())
                    .childDeviceSn(entity.getChildSn())
                    .deviceName(entity.getDeviceName())
                    .deviceDesc(entity.getDeviceDesc())
                    .controlSource(ControlSourceEnum.find(entity.getDeviceIndex()))
                    .workspaceId(entity.getWorkspaceId())
                    .orgId(entity.getOrgId())
                    .type(DeviceTypeEnum.find(entity.getDeviceType()))
                    .subType(DeviceSubTypeEnum.find(entity.getSubType()))
                    .domain(DeviceDomainEnum.find(entity.getDomain()))
                    .iconUrl(new DeviceIconUrl()
                            .setNormalIconUrl(entity.getUrlNormal())
                            .setSelectIconUrl(entity.getUrlSelect()))
                    .boundStatus(entity.getBoundStatus())
                    .loginTime(entity.getLoginTime() != null ?
                            LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getLoginTime()), ZoneId.systemDefault())
                            : null)
                    .boundTime(entity.getBoundTime() != null ?
                            LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBoundTime()), ZoneId.systemDefault())
                            : null)
                    .nickname(entity.getNickname())
                    .firmwareVersion(entity.getFirmwareVersion())
                    .workspaceName(entity.getWorkspaceId() != null ?
                            workspaceService.getWorkspaceByWorkspaceId(entity.getWorkspaceId())
                                    .map(WorkspaceDTO::getWorkspaceName).orElse("") : "")
                    .firmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE)
                    .thingVersion(entity.getVersion()).build();
        } catch (CloudSDKException e) {
            log.error(e.getLocalizedMessage() + "Entity: {}", entity);
        }
        DeviceDTO deviceDTO = builder.build();
        addFirmwareStatus(deviceDTO, entity);
        return deviceDTO;
    }

    private void addFirmwareStatus(DeviceDTO deviceDTO, DeviceEntity entity) {
        if (!StringUtils.hasText(entity.getFirmwareVersion())) {
            return;
        }
        // Query whether the device is updating firmware.
        Optional<EventsReceiver<OtaProgress>> progressOpt = deviceRedisService.getFirmwareUpgradingProgress(entity.getDeviceSn());
        if (progressOpt.isPresent()) {
            deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.UPGRADING);
            deviceDTO.setFirmwareProgress(progressOpt.map(EventsReceiver::getOutput)
                            .map(OtaProgress::getProgress)
                            .map(OtaProgressData::getPercent)
                            .orElse(0));
            return;
        }

        // First query the latest firmware version of the device model and compare it with the current firmware version
        // to see if it needs to be upgraded.
        Optional<DeviceFirmwareNoteDTO> firmwareReleaseNoteOpt = deviceFirmwareService.getLatestFirmwareReleaseNote(entity.getDeviceName());
        if (firmwareReleaseNoteOpt.isEmpty()) {
            deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE);
            return;
        }
        if (entity.getFirmwareVersion().equals(firmwareReleaseNoteOpt.get().getProductVersion())) {
            deviceDTO.setFirmwareStatus(entity.getCompatibleStatus() ?
                    DeviceFirmwareStatusEnum.NOT_UPGRADE :
                    DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE);
            return;
        }
        deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NORMAL_UPGRADE);
    }

    @Override
    public Boolean updateDevice(DeviceDTO deviceDTO) {
        int update = mapper.update(this.deviceDTO2Entity(deviceDTO),
                new LambdaUpdateWrapper<DeviceEntity>().eq(DeviceEntity::getDeviceSn, deviceDTO.getDeviceSn()));
        return update > 0;
    }

    @Override
    public Boolean bindDevice(DeviceDTO device) {
        device.setBoundStatus(true);
        device.setBoundTime(LocalDateTime.now());
        // 绑定设备补充orgId
        Optional<DeviceDTO> dbDeviceBySn = this.getDeviceBySn(device.getDeviceSn());
        if (dbDeviceBySn.isPresent()) {
            DeviceDTO dbDeviceDTO = dbDeviceBySn.get();
            if (!StringUtils.hasText(dbDeviceDTO.getOrgId())) {
                device.setOrgId(getOrgId());
            }
        }

        boolean isUpd = this.updateDevice(device);
        if (!isUpd) {
            return false;
        }

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(device.getDeviceSn());
        if (deviceOpt.isEmpty()) {
            return false;
        }

        DeviceDTO redisDevice = deviceOpt.get();
        redisDevice.setWorkspaceId(device.getWorkspaceId());
        deviceRedisService.setDeviceOnline(redisDevice);

        String gatewaySn, deviceSn;
        if (DeviceDomainEnum.REMOTER_CONTROL == redisDevice.getDomain()) {
            gatewaySn = device.getDeviceSn();
            deviceSn = redisDevice.getChildDeviceSn();
        } else {
            gatewaySn = redisDevice.getParentSn();
            deviceSn = device.getDeviceSn();
        }

        pushDeviceOnlineTopo(device.getWorkspaceId(), gatewaySn, deviceSn);
        subDeviceOnlineSubscribeTopic(SDKManager.getDeviceSDK(gatewaySn));
        return true;
    }

    @Override
    public PaginationData<DeviceDTO> getBoundDevicesWithDomain(String workspaceId, Long page, Long pageSize, Integer domain) {

        return getBoundDevicesWithDomain(workspaceId, null, page, pageSize, domain);
    }
    @Override
    public PaginationData<DeviceDTO> getBoundDevicesWithDomain(String workspaceId,
                                                               String deviceName,
                                                               Long page,
                                                               Long pageSize, Integer domain) {

        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<DeviceEntity>()
                .eq(DeviceEntity::getDomain, domain)
                .eq(DeviceEntity::getWorkspaceId, workspaceId)
                .eq(DeviceEntity::getBoundStatus, true);
        if (StringUtils.hasText(deviceName)) {
            wrapper.like(DeviceEntity::getDeviceName, deviceName);
        }
        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
                .peek(device -> {
                    device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
                    if (StringUtils.hasText(device.getChildDeviceSn())) {
                        Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
                        childOpt.ifPresent(child -> {
                            child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
                            child.setWorkspaceName(device.getWorkspaceName());
                            device.setChildren(child);
                        });
                    }
                })
                .collect(Collectors.toList());
        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
    }

    @Override
    public PaginationData<DeviceDTO> getDevicesWithDomain(String workspaceId,
                                                               String deviceName,
                                                               Long page,
                                                               Long pageSize, Integer domain) {

        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<DeviceEntity>()
                .eq(DeviceEntity::getDomain, domain)
                .eq(DeviceEntity::getWorkspaceId, workspaceId);

        if (StringUtils.hasText(deviceName)) {
            wrapper.like(DeviceEntity::getDeviceName, deviceName);
        }
        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
                .peek(this::enrichDeviceGatewayRelation)
                .collect(Collectors.toList());
        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
    }

    /**
     * 补充网关/子机关系：机场与 RC 挂 children；飞行器反查 parent_sn（Pilot 模拟机场用 RC SN 下发任务）。
     */
    private void enrichDeviceGatewayRelation(DeviceDTO device) {
        if (device == null || !StringUtils.hasText(device.getDeviceSn())) {
            return;
        }
        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
        if (StringUtils.hasText(device.getChildDeviceSn())) {
            Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
            childOpt.ifPresent(child -> {
                child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
                child.setWorkspaceName(device.getWorkspaceName());
                child.setParentSn(device.getDeviceSn());
                device.setChildren(child);
            });
        }
        if (DeviceDomainEnum.DRONE == device.getDomain() && !StringUtils.hasText(device.getParentSn())) {
            List<DeviceDTO> parents = this.getDevicesByParams(
                    DeviceQueryParam.builder().childSn(device.getDeviceSn()).build());
            if (!parents.isEmpty()) {
                device.setParentSn(parents.get(0).getDeviceSn());
            }
        }
    }

    @Override
    public PaginationData<DeviceDTO> getDevicesByParam(DeviceSearchParam param,
                                                       String workspaceId,
                                                       Long page,
                                                       Long pageSize) {

        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<>();

        wrapper.eq(DeviceEntity::getDomain, param.getDomain());
        wrapper.eq(DeviceEntity::getWorkspaceId, workspaceId);

        // 设备名称
        if (StringUtils.hasText(param.getDeviceName())) {
            wrapper.like(DeviceEntity::getDeviceName, param.getDeviceName());
        }
        // 昵称
        if (StringUtils.hasText(param.getNickname())) {
            wrapper.like(DeviceEntity::getNickname, param.getNickname());
        }
        // 绑定状态
        if (param.getBoundStatus() != null) {
            wrapper.like(DeviceEntity::getBoundStatus, param.getBoundStatus());
        }

        if (StringUtils.hasText(param.getOrgId())) {
            // 查询 指定团队的设备
            LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getOrgId, param.getOrgId());
            List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
            if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            List<String> deviceSnList = deviceOrgEntities.stream().map(DeviceOrgEntity::getDeviceSn).distinct().collect(Collectors.toList());
            if (CollectionUtils.isEmpty(deviceSnList)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            wrapper.in(DeviceEntity::getDeviceSn, deviceSnList);
        } else {
            // 假如不是超级管理员 只能查询自己所属团队的设备
            if (aboveSysAdminRole()) {

            } else {
                // 查询自己团队
                LambdaQueryWrapper<UserOrgEntity> userOrgQueryWrapper = new LambdaQueryWrapper<>();
                userOrgQueryWrapper.eq(UserOrgEntity::getUserId, getUserId());
                userOrgQueryWrapper.eq(UserOrgEntity::getWorkspaceId, workspaceId);

                List<UserOrgEntity> userOrgEntities = userOrgService.list(userOrgQueryWrapper);
                if (CollectionUtils.isEmpty(userOrgEntities)) {
                    return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
                }
                List<String> userOrgIdList = userOrgEntities.stream().map(UserOrgEntity::getOrgId).distinct().collect(Collectors.toList());
                if (CollectionUtils.isEmpty(userOrgIdList)) {
                    return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
                }

                // 查询 团队的设备
                LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
                deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
                deviceOrgQueryWrapper.in(DeviceOrgEntity::getOrgId, userOrgIdList);

                List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
                if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                    return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
                }
                List<String> deviceSnList = deviceOrgEntities.stream().map(DeviceOrgEntity::getDeviceSn).distinct().collect(Collectors.toList());
                if (CollectionUtils.isEmpty(deviceSnList)) {
                    return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
                }
                wrapper.in(DeviceEntity::getDeviceSn, deviceSnList);
            }
        }

        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
                .peek(this::enrichDeviceGatewayRelation)
                .collect(Collectors.toList());
        return new PaginationData<>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
    }

    @Override
    public List<DeviceDTO> getDeviceListByParam(DeviceSearchParam param,
                                                       String workspaceId) {

        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<>();

        wrapper.eq(DeviceEntity::getDomain, param.getDomain());
        wrapper.eq(DeviceEntity::getWorkspaceId, workspaceId);

        // 设备名称
        if (StringUtils.hasText(param.getDeviceName())) {
            wrapper.like(DeviceEntity::getDeviceName, param.getDeviceName());
        }
        // 昵称
        if (StringUtils.hasText(param.getNickname())) {
            wrapper.like(DeviceEntity::getNickname, param.getNickname());
        }
        // 绑定状态
        if (param.getBoundStatus() != null) {
            wrapper.like(DeviceEntity::getBoundStatus, param.getBoundStatus());
        }

        if (StringUtils.hasText(param.getOrgId())) {
            // 查询 指定团队的设备
            LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getOrgId, param.getOrgId());
            List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
            if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                return new ArrayList<>();
            }
            List<String> deviceSnList = deviceOrgEntities.stream().map(DeviceOrgEntity::getDeviceSn).distinct().collect(Collectors.toList());
            if (CollectionUtils.isEmpty(deviceSnList)) {
                return new ArrayList<>();
            }
            wrapper.in(DeviceEntity::getDeviceSn, deviceSnList);
        } else {
            // 假如不是超级管理员 只能查询自己所属团队的设备
            if (aboveSysAdminRole()) {

            } else {
                // 查询自己团队
                LambdaQueryWrapper<UserOrgEntity> userOrgQueryWrapper = new LambdaQueryWrapper<>();
                userOrgQueryWrapper.eq(UserOrgEntity::getUserId, getUserId());
                userOrgQueryWrapper.eq(UserOrgEntity::getWorkspaceId, workspaceId);

                List<UserOrgEntity> userOrgEntities = userOrgService.list(userOrgQueryWrapper);
                if (CollectionUtils.isEmpty(userOrgEntities)) {
                    return new ArrayList<>();
                }
                List<String> userOrgIdList = userOrgEntities.stream().map(UserOrgEntity::getOrgId).distinct().collect(Collectors.toList());
                if (CollectionUtils.isEmpty(userOrgIdList)) {
                    return new ArrayList<>();
                }

                // 查询 团队的设备
                LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
                deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
                deviceOrgQueryWrapper.in(DeviceOrgEntity::getOrgId, userOrgIdList);

                List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
                if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                    return new ArrayList<>();
                }
                List<String> deviceSnList = deviceOrgEntities.stream().map(DeviceOrgEntity::getDeviceSn).distinct().collect(Collectors.toList());
                if (CollectionUtils.isEmpty(deviceSnList)) {
                    return new ArrayList<>();
                }
                wrapper.in(DeviceEntity::getDeviceSn, deviceSnList);
            }
        }

        List<DeviceEntity> deviceEntityList = this.list(wrapper);
        List<DeviceDTO> devicesList = deviceEntityList.stream().map(this::deviceEntityConvertToDTO)
                .peek(this::enrichDeviceGatewayRelation)
                .collect(Collectors.toList());
        return devicesList;
    }

    /**
     * Get the devices list no workspace.
     * @param workspaceId
     * @param deviceName 设备名称
     * @param page
     * @param pageSize
     * @param domain
     * @return
     */
    @Override
    public PaginationData<DeviceDTO> getNoWorkspaceDevices(String workspaceId , String deviceName, Long page, Long pageSize, Integer domain) {
        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<>();

        wrapper.isNull(DeviceEntity::getWorkspaceId).or().eq(DeviceEntity::getWorkspaceId, "");

        if (domain != null) {
            wrapper.eq(DeviceEntity::getDomain, domain);
        }

        if (StringUtils.hasText(deviceName)) {
            wrapper.like(DeviceEntity::getDeviceName, deviceName);
        }
        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
                .peek(device -> {
                    if (StringUtils.hasText(device.getDeviceSn())) {
                        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
                    }
                    if (StringUtils.hasText(device.getChildDeviceSn())) {
                        Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
                        childOpt.ifPresent(child -> {
                            child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
                            child.setWorkspaceName(device.getWorkspaceName());
                            device.setChildren(child);
                        });
                    }
                })
                .collect(Collectors.toList());
        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));

    }


    @Override
    public void unbindDevice(String deviceSn) {

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
        if (deviceOpt.isPresent()) {
            subDeviceOffline(deviceSn);
        } else {
            deviceOpt = getDeviceBySn(deviceSn);
        }
        if (deviceOpt.isEmpty()) {
            return;
        }
        DeviceDTO device = DeviceDTO.builder()
                .deviceSn(deviceSn)
                .workspaceId("")
                .userId("")
                .boundStatus(false)
                .build();
        this.updateDevice(device);
    }

    @Override
    public boolean deleteDevice(String deviceSn) {

        LambdaQueryWrapper<DeviceEntity> queryWrapper = new LambdaQueryWrapper<>();
        queryWrapper.eq(DeviceEntity::getDeviceSn, deviceSn);

        boolean deleteRes;
        DeviceEntity dbDevice = this.getOne(queryWrapper);
        if (dbDevice == null) {
            return true;
        }
        if (aboveSysAdminRole()) {
            // 超级管理员 直接删除设备

            deleteRes = this.remove(queryWrapper);

            // 删除 全部相关的权限
            LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getDeviceSn, deviceSn);
            boolean deviceOrgRemove = deviceOrgService.remove(deviceOrgQueryWrapper);

            return deleteRes;
        } else {
            // 普通管理员 删除设备，只删设备当前组织，当唯一关联才删设备

            LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getDeviceSn, deviceSn);
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, dbDevice.getWorkspaceId());
            List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);

            // 没有组织关系 直接删除
            if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                deleteRes = this.removeById(dbDevice.getId());
            } else {
                // 判断是否 有其他组织关系
                List<DeviceOrgEntity> curDeviceOrgList = deviceOrgEntities.stream().filter(x -> getOrgId().equals(x.getOrgId())).collect(Collectors.toList());
                List<DeviceOrgEntity> otherDeviceOrgList = deviceOrgEntities.stream().filter(x -> !getOrgId().equals(x.getOrgId())).collect(Collectors.toList());

                if (!CollectionUtils.isEmpty(curDeviceOrgList)) {
                    // 删除相关用户组织表
                    LambdaQueryWrapper<DeviceOrgEntity> delDeviceOrgQueryWrapper = new LambdaQueryWrapper<>();
                    delDeviceOrgQueryWrapper.eq(DeviceOrgEntity::getDeviceSn, dbDevice.getDeviceSn());
                    delDeviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, dbDevice.getWorkspaceId());
                    delDeviceOrgQueryWrapper.eq(DeviceOrgEntity::getOrgId, getOrgId());
                    boolean deviceOrgDelRes = deviceOrgService.remove(delDeviceOrgQueryWrapper);
                }
                // 没有其他组织 则删除设备
                if (CollectionUtils.isEmpty(otherDeviceOrgList)) {
                    deleteRes = this.removeById(dbDevice.getId());
                }
            }

        }
        return true;
    }

    @Override
    public boolean deleteDeviceById(String workspaceId, Integer id) {
        LambdaQueryWrapper<DeviceEntity> queryWrapper = new LambdaQueryWrapper<>();
        queryWrapper.eq(DeviceEntity::getWorkspaceId, workspaceId);
        queryWrapper.eq(DeviceEntity::getId, id);
        DeviceEntity dbDevice = this.getOne(queryWrapper);

        return deleteDevice(dbDevice.getDeviceSn());
    }

    @Override
    public Optional<DeviceDTO> getDeviceBySn(String sn) {
        List<DeviceDTO> devicesList = this.getDevicesByParams(DeviceQueryParam.builder().deviceSn(sn).build());
        if (devicesList.isEmpty()) {
            return Optional.empty();
        }
        DeviceDTO device = devicesList.get(0);
        device.setStatus(deviceRedisService.checkDeviceOnline(sn));
        // 查询 无人机
        if (StringUtils.hasText(device.getChildDeviceSn())) {
            List<DeviceDTO> childrenList = this.getDevicesByParams(DeviceQueryParam.builder().deviceSn(device.getChildDeviceSn()).build());
            if (!childrenList.isEmpty()) {
                device.setChildren(childrenList.get(0));
            }
        }
        return Optional.of(device);
    }

    @Override
    public HttpResultResponse createDeviceOtaJob(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS) {
        List<OtaCreateDevice> deviceOtaFirmwares = deviceFirmwareService.getDeviceOtaFirmware(workspaceId, upgradeDTOS);
        if (deviceOtaFirmwares.isEmpty()) {
            return HttpResultResponse.error();
        }

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceOtaFirmwares.get(0).getSn());
        if (deviceOpt.isEmpty()) {
            throw new RuntimeException("Device is offline.");
        }
        DeviceDTO device = deviceOpt.get();
        String gatewaySn = DeviceDomainEnum.DOCK == device.getDomain() ? device.getDeviceSn() : device.getParentSn();

        checkOtaConditions(gatewaySn);

        TopicServicesResponse<ServicesReplyData<OtaCreateResponse>> response = abstractFirmwareService.otaCreate(
                SDKManager.getDeviceSDK(gatewaySn), new OtaCreateRequest().setDevices(deviceOtaFirmwares));
        ServicesReplyData<OtaCreateResponse> serviceReply = response.getData();
        String bid = response.getBid();
        if (!serviceReply.getResult().isSuccess()) {
            return HttpResultResponse.error(serviceReply.getResult());
        }

        // Record the device state that needs to be updated.
        deviceOtaFirmwares.forEach(deviceOta -> deviceRedisService.setFirmwareUpgrading(deviceOta.getSn(),
                EventsReceiver.<OtaProgress>builder().bid(bid).sn(deviceOta.getSn()).build()));
        return HttpResultResponse.success();
    }

    /**
     * Determine whether the firmware can be upgraded.
     * @param dockSn
     */
    private void checkOtaConditions(String dockSn) {
        Optional<OsdDock> deviceOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDock.class);
        if (deviceOpt.isEmpty()) {
            throw new RuntimeException("Dock is offline.");
        }
        boolean emergencyStopState = deviceOpt.get().getEmergencyStopState();
        if (emergencyStopState) {
            throw new RuntimeException("The emergency stop button of the dock is pressed and can't be upgraded.");
        }

        DockModeCodeEnum dockMode = this.getDockMode(dockSn);
        if (DockModeCodeEnum.IDLE != dockMode) {
            throw new RuntimeException("The current status of the dock can't be upgraded.");
        }
    }

    @Override
    public int devicePropertySet(String workspaceId, String dockSn, JsonNode param) {
        String property = param.fieldNames().next();
        PropertySetFieldEnum propertyEnum = PropertySetFieldEnum.find(property);

        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (dockOpt.isEmpty()) {
            throw new RuntimeException("Dock is offline.");
        }
        String childSn = dockOpt.get().getChildDeviceSn();
        Optional<OsdDockDrone> osdOpt = deviceRedisService.getDeviceOsd(childSn, OsdDockDrone.class);
        if (osdOpt.isEmpty()) {
            throw new RuntimeException("Device is offline.");
        }

        // Make sure the data is valid.
        BasicDeviceProperty basicDeviceProperty = objectMapper.convertValue(param.get(property), propertyEnum.getClazz());
        boolean valid = basicDeviceProperty.valid();
        if (!valid) {
            throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getMessage());
        }
        boolean isPublish = basicDeviceProperty.canPublish(osdOpt.get());
        if (!isPublish) {
            return PropertySetReplyResultEnum.SUCCESS.getResult();
        }
        BaseModel baseModel = objectMapper.convertValue(param, propertyEnum.getProperty().getClazz());
        PropertySetReplyResultEnum result = abstractPropertyService.propertySet(
                SDKManager.getDeviceSDK(dockSn), propertyEnum.getProperty(), baseModel);
        return result.getResult();
    }

    @Override
    public DockModeCodeEnum getDockMode(String dockSn) {
        return deviceRedisService.getDeviceOsd(dockSn, OsdDock.class)
                .map(OsdDock::getModeCode).orElse(null);
    }

    @Override
    public DroneModeCodeEnum getDeviceMode(String deviceSn) {
        Optional<OsdDockDrone> dockDrone = deviceRedisService.getDeviceOsd(deviceSn, OsdDockDrone.class);
        if (dockDrone.isPresent() && dockDrone.get().getModeCode() != null) {
            return dockDrone.get().getModeCode();
        }
        return deviceRedisService.getDeviceOsd(deviceSn, OsdRcDrone.class)
                .map(OsdRcDrone::getModeCode)
                .orElse(DroneModeCodeEnum.DISCONNECTED);
    }

    @Override
    public Optional<Object> getDeviceOsd(String workspaceId, String deviceSn) {
        Optional<DeviceDTO> deviceOpt = getDeviceBySn(deviceSn);
        if (deviceOpt.isEmpty()) {
            return Optional.empty();
        }
        DeviceDTO device = deviceOpt.get();
        // Validate that the device belongs to the specified workspace
        if (!workspaceId.equals(device.getWorkspaceId())) {
            log.warn("Device {} does not belong to workspace {}", deviceSn, workspaceId);
            return Optional.empty();
        }
        DeviceDomainEnum domain = device.getDomain();
        if (domain == null) {
            return Optional.empty();
        }
        switch (domain) {
            case DOCK:
                return deviceRedisService.getDeviceOsd(deviceSn, OsdDock.class).map(osd -> osd);
            case DRONE:
                // Try DockDrone first, then RcDrone
                Optional<OsdDockDrone> dockDrone = deviceRedisService.getDeviceOsd(deviceSn, OsdDockDrone.class);
                if (dockDrone.isPresent()) {
                    return dockDrone.map(osd -> osd);
                }
                return deviceRedisService.getDeviceOsd(deviceSn, OsdRcDrone.class).map(osd -> osd);
            case REMOTER_CONTROL:
                return deviceRedisService.getDeviceOsd(deviceSn, OsdRemoteControl.class).map(osd -> osd);
            default:
                return Optional.empty();
        }
    }

    @Override
    public Boolean checkDockDrcMode(String dockSn) {

        if (CUSTOM_DOCK_LIST.contains(dockSn) || dockSn.contains("12345")) {
            return true;
        }
        if (StringUtils.hasText(dockSn) && dockSn.startsWith(CUSTOM_DOCK_START)) {
            return true;
        }

        // Pilot RC：无 OsdDock.drc_state，用 Redis 记录是否已进入 DRC
        Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (gatewayOpt.isPresent() && DeviceDomainEnum.REMOTER_CONTROL == gatewayOpt.get().getDomain()) {
            return RedisOpsUtils.checkExist(RedisConst.DRC_PREFIX + dockSn);
        }

        return deviceRedisService.getDeviceOsd(dockSn, OsdDock.class)
                .map(OsdDock::getDrcState)
                .orElse(DrcStateEnum.DISCONNECTED) != DrcStateEnum.DISCONNECTED;
    }

    @Override
    public Boolean checkAuthorityFlight(String gatewaySn) {
        return deviceRedisService.getDeviceOnline(gatewaySn).map(gateway -> {
            // Pilot RC：controlSource 表示遥控器本控 A/B，不能当作云端已获飞控权
            if (DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain()) {
                return false;
            }
            return DeviceDomainEnum.DOCK == gateway.getDomain()
                    && ControlSourceEnum.A == gateway.getControlSource();
        }).orElse(false);
    }

    @Override
    public void updateFlightControl(DeviceDTO gateway, ControlSourceEnum controlSource) {
        if (controlSource == gateway.getControlSource()) {
            return;
        }
        gateway.setControlSource(controlSource);
        deviceRedisService.setDeviceOnline(gateway);

        webSocketMessageService.sendBatch(gateway.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.CONTROL_SOURCE_CHANGE.getCode(),
                DeviceAuthorityDTO.builder()
                        .controlSource(gateway.getControlSource())
                        .sn(gateway.getDeviceSn())
                        .type(DroneAuthorityEnum.FLIGHT)
                        .build());
    }

    /**
     * Convert device data transfer object into database entity object.
     * @param dto
     * @return
     */
    private DeviceEntity deviceDTO2Entity(DeviceDTO dto) {
        DeviceEntity.DeviceEntityBuilder builder = DeviceEntity.builder();
        if (dto == null) {
            return builder.build();
        }

        return builder.deviceSn(dto.getDeviceSn())
                .id(dto.getId())
                .deviceIndex(Optional.ofNullable(dto.getControlSource())
                        .map(ControlSourceEnum::getControlSource).orElse(null))
                .deviceName(dto.getDeviceName())
                .version(dto.getThingVersion())
                .userId(dto.getUserId())
                .nickname(dto.getNickname())
                .workspaceId(dto.getWorkspaceId())
                .orgId(dto.getOrgId())
                .boundStatus(dto.getBoundStatus())
                .domain(Optional.ofNullable(dto.getDomain()).map(DeviceDomainEnum::getDomain).orElse(null))
                .deviceType(Optional.ofNullable(dto.getType()).map(DeviceTypeEnum::getType).orElse(null))
                .subType(Optional.ofNullable(dto.getSubType()).map(DeviceSubTypeEnum::getSubType).orElse(null))
                .loginTime(dto.getLoginTime() != null ?
                        dto.getLoginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : null)
                .boundTime(dto.getBoundTime() != null ?
                        dto.getBoundTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : null)
                .childSn(dto.getChildDeviceSn())
                .firmwareVersion(dto.getFirmwareVersion())
                .compatibleStatus(dto.getFirmwareStatus() == null ? null :
                        DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != dto.getFirmwareStatus())
                .deviceDesc(dto.getDeviceDesc())
                .build();
    }


    @Transactional(rollbackFor = Exception.class)
    @Override
    public boolean addDrone(DeviceDTO drone) {

        DeviceEntity deviceEntity = new DeviceEntity();

        String droneDeviceSn = drone.getDeviceSn();
        if (StringUtils.hasText(droneDeviceSn)) {
            // sn码不重复
            List<DeviceEntity> dbDroneList = mapper.selectList(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getDeviceSn, droneDeviceSn));
            if (!CollectionUtils.isEmpty(dbDroneList)) {
                if (dbDroneList.size() != 1) {
                    throw new RuntimeException("droneSn is already exit");
                }
                DeviceEntity dbDrone = dbDroneList.get(0);
                // throw new RuntimeException("droneSn is already exit");
                if (StringUtils.hasText(dbDrone.getWorkspaceId())) {
                    throw new RuntimeException("droneSn is already exit");
                }
                // 修改当前无人机数据
                DeviceEntity updateDrone = new DeviceEntity();
                updateDrone.setId(dbDrone.getId());
                updateDrone.setWorkspaceId(drone.getWorkspaceId());
                updateDrone.setOrgId(StringUtils.hasText(drone.getOrgId()) ? drone.getOrgId() : getOrgId());

                updateDrone.setNickname(drone.getNickname());
                deviceEntity.setDeviceName(drone.getDeviceName());
                // 类型
                updateDrone.setDomain(DeviceDomainEnum.DRONE.getDomain());
                updateDrone.setDeviceType(drone.getType().getType());
                updateDrone.setSubType(drone.getSubType().getSubType());

                updateDrone.setBoundStatus(true);
                updateDrone.setBoundTime(System.currentTimeMillis());
                int update = this.mapper.updateById(updateDrone);

                // 增加 无人机和团队的关联关系
                DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
                deviceOrgEntity.setWorkspaceId(updateDrone.getWorkspaceId());
                deviceOrgEntity.setOrgId(StringUtils.hasText(drone.getOrgId()) ? drone.getOrgId() : getOrgId());
                deviceOrgEntity.setDeviceSn(updateDrone.getDeviceSn());
                deviceOrgEntity.setDeviceId(dbDrone.getId());
                deviceOrgEntity.setIsShared(0);
                deviceOrgEntity.setCreatorId(getUserId());
                deviceOrgEntity.setCreatorName(getUsername());
                deviceOrgEntity.setCreateTime(System.currentTimeMillis());
                deviceOrgEntity.setUpdaterId(getUserId());
                deviceOrgEntity.setUpdaterName(getUsername());
                deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

                boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);

                return update > 0;
            }
        }

        // 名称 sn码 飞机类型
        deviceEntity.setDeviceSn(droneDeviceSn);
        // M350(DeviceDomainEnum.DRONE, DeviceTypeEnum.M350, DeviceSubTypeEnum.ZERO),
        deviceEntity.setNickname(drone.getNickname());
        deviceEntity.setWorkspaceId(drone.getWorkspaceId());
        deviceEntity.setOrgId(StringUtils.hasText(drone.getOrgId()) ? drone.getOrgId() : getOrgId());
        // 类型
        deviceEntity.setDomain(DeviceDomainEnum.DRONE.getDomain());
        deviceEntity.setDeviceType(drone.getType().getType());
        deviceEntity.setSubType(drone.getSubType().getSubType());
        deviceEntity.setDeviceName(drone.getDeviceName());
        // deviceEntity.setUserId();
        //        firmware_version
        //        version
        //        child_sn		The device controlled by the gateway.
        deviceEntity.setCompatibleStatus(drone.getFirmwareStatus() == null ? null :
                DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != drone.getFirmwareStatus());

        // deviceEntity.setDeviceIndex(drone.getControlSource().getControlSource());
//        device_index	Control of the drone, A control or B control.
        deviceEntity.setCreateTime(System.currentTimeMillis());
        deviceEntity.setUpdateTime(System.currentTimeMillis());

//        bound_time	bigint
//        bound_status The status when the device is bound to the workspace. 1: bound; 0: not bound;
        deviceEntity.setBoundStatus(true);
        deviceEntity.setBoundTime(System.currentTimeMillis());
        // deviceEntity.setDeviceDesc(drone.getDeviceDesc());
//        url_normal		The icon displayed on the remote control.
//        url_select			The icon displayed on the remote control when it is selected.

        int insert = this.mapper.insert(deviceEntity);

        // 增加 无人机和团队的关联关系
        DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
        deviceOrgEntity.setWorkspaceId(deviceEntity.getWorkspaceId());
        deviceOrgEntity.setOrgId(StringUtils.hasText(drone.getOrgId()) ? drone.getOrgId() : getOrgId());
        deviceOrgEntity.setDeviceSn(deviceEntity.getDeviceSn());
        deviceOrgEntity.setDeviceId(deviceEntity.getId());
        deviceOrgEntity.setIsShared(0);
        deviceOrgEntity.setCreatorId(getUserId());
        deviceOrgEntity.setCreatorName(getUsername());
        deviceOrgEntity.setCreateTime(System.currentTimeMillis());
        deviceOrgEntity.setUpdaterId(getUserId());
        deviceOrgEntity.setUpdaterName(getUsername());
        deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

        boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);

        return insert > 0;
    }

    @Transactional(rollbackFor = Exception.class)
    @Override
    public boolean editDrone(DeviceDTO drone) {

        // 查询数据库
        LambdaQueryWrapper<DeviceEntity> queryWrapper = new LambdaQueryWrapper<>();
        queryWrapper.eq(DeviceEntity::getId, drone.getId());
        DeviceEntity deviceEntity = this.mapper.selectOne(queryWrapper);
        if (deviceEntity == null) {
            return true;
        }

        DeviceEntity updateEntity = new DeviceEntity();
        // 是否更改sn
        if (StringUtils.hasText(drone.getDeviceSn()) && !drone.getDeviceSn().equals(deviceEntity.getDeviceSn())) {
            // 查询数据库
            LambdaQueryWrapper<DeviceEntity> deviceSnQueryWrapper = new LambdaQueryWrapper<>();
            deviceSnQueryWrapper.eq(DeviceEntity::getDeviceSn, drone.getDeviceSn());

            List<DeviceEntity> snList = this.mapper.selectList(deviceSnQueryWrapper);

            if (!CollectionUtils.isEmpty(snList)) {
                throw new RuntimeException("droneSn is already exit");
            }

            updateEntity.setDeviceSn(drone.getDeviceSn());

            // 还需要修改机场绑定的sn码

            LambdaUpdateWrapper<DeviceEntity> updateDockWrapper = new LambdaUpdateWrapper<>();
            updateDockWrapper.set(DeviceEntity::getChildSn, drone.getDeviceSn());
            updateDockWrapper.eq(DeviceEntity::getChildSn, deviceEntity.getDeviceSn());

            int updateDockResult = this.mapper.update(new DeviceEntity(), updateDockWrapper);


        }


        LambdaUpdateWrapper<DeviceEntity> updateWrapper = new LambdaUpdateWrapper<>();

        if (StringUtils.hasText(drone.getNickname())) {
            // updateWrapper.set(DeviceEntity::getNickname, drone.getNickname());
            updateEntity.setNickname(drone.getNickname());
        }
        // updateWrapper.set(DeviceEntity::getDeviceSn, drone.getDeviceSn());
        updateEntity.setDeviceSn(drone.getDeviceSn());

        updateWrapper.eq(DeviceEntity::getId, drone.getId());

        int update = this.mapper.update(updateEntity, updateWrapper);


        return update > 0;
    }
    @Transactional(rollbackFor = Exception.class)
    @Override
    public boolean addAirport(DeviceDTO dock) {

        DeviceEntity addDockEntity = new DeviceEntity();

        String dockSn = dock.getDeviceSn();

        boolean isUpdateDock = false;
        if (StringUtils.hasText(dockSn)) {
            // sn码不重复
            List<DeviceEntity> dbDockList = mapper.selectList(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getDeviceSn, dockSn));
            if (!CollectionUtils.isEmpty(dbDockList)) {
                if (dbDockList.size() != 1) {
                    throw new RuntimeException("dockSn is already exit");
                }
                DeviceEntity dbDock = dbDockList.get(0);
                if (StringUtils.hasText(dbDock.getWorkspaceId())) {
                    throw new RuntimeException("dockSn is already exit");
                }
                // 修改当前机场数据
                DeviceEntity updateDock = new DeviceEntity();
                updateDock.setId(dbDock.getId());
                updateDock.setWorkspaceId(dock.getWorkspaceId());
                updateDock.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
                updateDock.setNickname(dock.getNickname());
                // 类型
                updateDock.setDomain(dock.getDomain().getDomain());
                updateDock.setDeviceType(dock.getType().getType());
                updateDock.setSubType(dock.getSubType().getSubType());

                updateDock.setChildSn(dock.getChildDeviceSn());
                updateDock.setDeviceIndex(ControlSourceEnum.A.getControlSource());

                updateDock.setBoundStatus(true);
                updateDock.setBoundTime(System.currentTimeMillis());
                boolean updateById = this.updateById(updateDock);

                // 增加 机场和团队的关联关系
                DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
                deviceOrgEntity.setWorkspaceId(updateDock.getWorkspaceId());
                deviceOrgEntity.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
                deviceOrgEntity.setDeviceSn(updateDock.getDeviceSn());
                deviceOrgEntity.setDeviceId(dbDock.getId());
                deviceOrgEntity.setIsShared(0);
                deviceOrgEntity.setCreatorId(getUserId());
                deviceOrgEntity.setCreatorName(getUsername());
                deviceOrgEntity.setCreateTime(System.currentTimeMillis());
                deviceOrgEntity.setUpdaterId(getUserId());
                deviceOrgEntity.setUpdaterName(getUsername());
                deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

                boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);

                isUpdateDock = true;
            }
        }

        // 机场还需要绑定 飞机
        String droneSn = dock.getChildDeviceSn();
        if (!StringUtils.hasText(droneSn)) {
            // throw new RuntimeException("the drone doesn't exist");
        }
        if (StringUtils.hasText(droneSn)) {
            DeviceEntity drone = mapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getDeviceSn, droneSn));

            // 飞机绑定了其他设备

            // 飞机不存在？ 新建飞机？
            if (drone == null) {
                DeviceEntity newDrone = new DeviceEntity();
                newDrone.setDeviceSn(droneSn);


                newDrone.setWorkspaceId(dock.getWorkspaceId());
                newDrone.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
                // 飞机型号

                DeviceDTO children = dock.getChildren();
                // 飞机名称
                newDrone.setNickname(children.getNickname());

                newDrone.setDeviceName(children.getDeviceName());
                newDrone.setDomain(children.getDomain().getDomain());
                newDrone.setDeviceType(children.getType().getType());
                newDrone.setSubType(children.getSubType().getSubType());

                newDrone.setCreateTime(System.currentTimeMillis());
                newDrone.setUpdateTime(System.currentTimeMillis());

                newDrone.setBoundStatus(true);
                newDrone.setBoundTime(System.currentTimeMillis());

                int droneInsert = mapper.insert(newDrone);

                // 增加 无人机和团队的关联关系
                DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
                deviceOrgEntity.setWorkspaceId(newDrone.getWorkspaceId());
                deviceOrgEntity.setOrgId(StringUtils.hasText(newDrone.getOrgId()) ? newDrone.getOrgId() : getOrgId());
                deviceOrgEntity.setDeviceSn(newDrone.getDeviceSn());
                deviceOrgEntity.setDeviceId(newDrone.getId());
                deviceOrgEntity.setIsShared(0);
                deviceOrgEntity.setCreatorId(getUserId());
                deviceOrgEntity.setCreatorName(getUsername());
                deviceOrgEntity.setCreateTime(System.currentTimeMillis());
                deviceOrgEntity.setUpdaterId(getUserId());
                deviceOrgEntity.setUpdaterName(getUsername());
                deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

                boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);
            } else {
                // 飞机存在

                if (StringUtils.hasText(drone.getWorkspaceId())) {

                    // 假如是绑定了其他客户的设备 那么报错
                    if (!drone.getWorkspaceId().equals(dock.getWorkspaceId())) {
                        throw new RuntimeException("The current drone has been bound");
                    } else {
                        // 绑定了自己的设备

                        // 是否需要改动什么？

                    }
                } else {
                    // 绑定无人机
                    LambdaUpdateWrapper<DeviceEntity> updateDroneWrapper = new LambdaUpdateWrapper<>();
                    updateDroneWrapper.set(DeviceEntity::getWorkspaceId, dock.getWorkspaceId());
                    updateDroneWrapper.set(DeviceEntity::getOrgId, StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
                    updateDroneWrapper.eq(DeviceEntity::getDeviceSn, droneSn);
                    int updateDroneInt = mapper.update(new DeviceEntity(), updateDroneWrapper);

                    // 增加 无人机和团队的关联关系
                    DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
                    deviceOrgEntity.setWorkspaceId(drone.getWorkspaceId());
                    deviceOrgEntity.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
                    deviceOrgEntity.setDeviceSn(drone.getDeviceSn());
                    deviceOrgEntity.setDeviceId(drone.getId());
                    deviceOrgEntity.setIsShared(0);
                    deviceOrgEntity.setCreatorId(getUserId());
                    deviceOrgEntity.setCreatorName(getUsername());
                    deviceOrgEntity.setCreateTime(System.currentTimeMillis());
                    deviceOrgEntity.setUpdaterId(getUserId());
                    deviceOrgEntity.setUpdaterName(getUsername());
                    deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

                    boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);
                }
            }
        }

        if (isUpdateDock) {
            return true;
        }
        addDockEntity.setWorkspaceId(dock.getWorkspaceId());
        addDockEntity.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
        // 机场sn
        addDockEntity.setDeviceSn(dock.getDeviceSn());
        addDockEntity.setNickname(dock.getNickname());
        // 机场名称
        addDockEntity.setDeviceName(dock.getDeviceName());
        // device_name
        addDockEntity.setDomain(DeviceDomainEnum.DOCK.getDomain());
        // 机场型号
        addDockEntity.setDeviceType(dock.getType().getType());
        addDockEntity.setSubType(dock.getSubType().getSubType());

        // 无人机sn
        addDockEntity.setChildSn(dock.getChildDeviceSn());

//        user_id

//        firmware_version
//        compatible_status
//        version
        addDockEntity.setDeviceIndex(ControlSourceEnum.A.getControlSource()); // Control of the drone, A control or B control.

        addDockEntity.setCreateTime(System.currentTimeMillis());
        addDockEntity.setUpdateTime(System.currentTimeMillis());

//        bound_time	bigint
//        bound_status The status when the device is bound to the workspace. 1: bound; 0: not bound;
        addDockEntity.setBoundStatus(true);
        addDockEntity.setBoundTime(System.currentTimeMillis());
//        device_desc
//        url_normal		The icon displayed on the remote control.
//        url_select			The icon displayed on the remote control when it is selected.

        int insert = this.mapper.insert(addDockEntity);


        // 增加 机场和团队的关联关系
        DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
        deviceOrgEntity.setWorkspaceId(addDockEntity.getWorkspaceId());
        deviceOrgEntity.setOrgId(StringUtils.hasText(dock.getOrgId()) ? dock.getOrgId() : getOrgId());
        deviceOrgEntity.setDeviceSn(addDockEntity.getDeviceSn());
        deviceOrgEntity.setDeviceId(addDockEntity.getId());
        deviceOrgEntity.setIsShared(0);
        deviceOrgEntity.setCreatorId(getUserId());
        deviceOrgEntity.setCreatorName(getUsername());
        deviceOrgEntity.setCreateTime(System.currentTimeMillis());
        deviceOrgEntity.setUpdaterId(getUserId());
        deviceOrgEntity.setUpdaterName(getUsername());
        deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

        boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);

        return insert > 0;
    }

    @Transactional(rollbackFor = Exception.class)
    @Override
    public boolean editAirport(DeviceDTO dock) {

        // 查询数据库
        LambdaQueryWrapper<DeviceEntity> queryWrapper = new LambdaQueryWrapper<>();
        queryWrapper.eq(DeviceEntity::getId, dock.getId());
        DeviceEntity deviceEntity = this.mapper.selectOne(queryWrapper);
        if (deviceEntity == null) {
            return true;
        }

        DeviceEntity updateEntity = new DeviceEntity();
        // 是否更改sn
        if (StringUtils.hasText(dock.getDeviceSn()) && !dock.getDeviceSn().equals(deviceEntity.getDeviceSn())) {
            // 查询数据库
            LambdaQueryWrapper<DeviceEntity> deviceSnQueryWrapper = new LambdaQueryWrapper<>();
            deviceSnQueryWrapper.eq(DeviceEntity::getDeviceSn, dock.getDeviceSn());

            List<DeviceEntity> snList = this.mapper.selectList(deviceSnQueryWrapper);

            if (!CollectionUtils.isEmpty(snList)) {
                throw new RuntimeException("dockSn is already exit");
            }

            updateEntity.setDeviceSn(dock.getDeviceSn());

        }

        // 修改 无人机数据？


        LambdaUpdateWrapper<DeviceEntity> updateWrapper = new LambdaUpdateWrapper<>();

        if (StringUtils.hasText(dock.getNickname())) {
            // updateWrapper.set(DeviceEntity::getNickname, drone.getNickname());
            updateEntity.setNickname(dock.getNickname());
        }
        // updateWrapper.set(DeviceEntity::getDeviceSn, drone.getDeviceSn());
        updateEntity.setDeviceSn(dock.getDeviceSn());

        updateWrapper.eq(DeviceEntity::getId, dock.getId());

        int update = this.mapper.update(updateEntity, updateWrapper);

        return update > 0;
    }

    @Transactional(rollbackFor = Exception.class)
    @Override
    public void shareDevice(DeviceDTO device) {

        if (!StringUtils.hasText(device.getDeviceSn())) {
            throw new RuntimeException("share device sn is null");
        }
        if (!StringUtils.hasText(device.getOrgId())) {
            throw new RuntimeException("share org id is null");
        }
        // 查询设备是否存在
        LambdaQueryWrapper<DeviceEntity> deviceQueryWrapper = new LambdaQueryWrapper<>();
        deviceQueryWrapper.eq(DeviceEntity::getDeviceSn, device.getDeviceSn());
        DeviceEntity dbDevice = this.getOne(deviceQueryWrapper);
        if (dbDevice == null) {
            throw new RuntimeException("device does not exist!");
        }

        String workspaceId = StringUtils.hasText(device.getWorkspaceId())
                ? device.getWorkspaceId()
                : (StringUtils.hasText(dbDevice.getWorkspaceId()) ? dbDevice.getWorkspaceId() : getWorkspaceId());
        if (!StringUtils.hasText(workspaceId)) {
            throw new RuntimeException("workspaceId is null");
        }

        // 查询是否已经分享
        LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getDeviceSn, device.getDeviceSn());
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getOrgId, device.getOrgId());
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
        List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
        if (!CollectionUtils.isEmpty(deviceOrgEntities)) {
            throw new RuntimeException("the device has been shared with the Org");
        }

        DeviceOrgEntity deviceOrgEntity = new DeviceOrgEntity();
        deviceOrgEntity.setWorkspaceId(workspaceId);
        deviceOrgEntity.setOrgId(device.getOrgId());
        deviceOrgEntity.setDeviceSn(device.getDeviceSn());
        deviceOrgEntity.setDeviceId(dbDevice.getId());
        deviceOrgEntity.setIsShared(1);
        deviceOrgEntity.setCreatorId(getUserId());
        deviceOrgEntity.setCreatorName(getUsername());
        deviceOrgEntity.setCreateTime(System.currentTimeMillis());
        deviceOrgEntity.setUpdaterId(getUserId());
        deviceOrgEntity.setUpdaterName(getUsername());
        deviceOrgEntity.setUpdateTime(System.currentTimeMillis());

        boolean deviceOrgSaveRes = deviceOrgService.save(deviceOrgEntity);
    }

    @Transactional(rollbackFor = Exception.class)
    @Override
    public void cancelShareDevice(DeviceDTO device) {

        if (!StringUtils.hasText(device.getDeviceSn())) {
            throw new RuntimeException("share device sn is null");
        }
        if (!StringUtils.hasText(device.getOrgId())) {
            throw new RuntimeException("share org id is null");
        }
        // 查询设备是否存在
        LambdaQueryWrapper<DeviceEntity> deviceQueryWrapper = new LambdaQueryWrapper<>();
        deviceQueryWrapper.eq(DeviceEntity::getDeviceSn, device.getDeviceSn());
        DeviceEntity dbDevice = this.getOne(deviceQueryWrapper);
        if (dbDevice == null) {
            throw new RuntimeException("device does not exist!");
        }

        String workspaceId = StringUtils.hasText(device.getWorkspaceId())
                ? device.getWorkspaceId()
                : (StringUtils.hasText(dbDevice.getWorkspaceId()) ? dbDevice.getWorkspaceId() : getWorkspaceId());
        if (!StringUtils.hasText(workspaceId)) {
            throw new RuntimeException("workspaceId is null");
        }

        // 删除已经分享的
        LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getDeviceSn, device.getDeviceSn());
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getOrgId, device.getOrgId());
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
        deviceOrgQueryWrapper.eq(DeviceOrgEntity::getIsShared, 1);

        boolean deviceOrgSaveRes = deviceOrgService.remove(deviceOrgQueryWrapper);

    }

    /**
     * Get the devices list in one workspace.
     * @param workspaceId
     * @param page
     * @param pageSize
     * @return
     */
    @Override
     public PaginationData<DeviceDTO> getDockAndDrone(String workspaceId ,Long page, Long pageSize) {

        LambdaQueryWrapper<DeviceEntity> wrapper = new LambdaQueryWrapper<DeviceEntity>();
        // 假如是超级管理员 查询全部设备
        if (aboveSysAdminRole()) {

        } else {
            wrapper.eq(DeviceEntity::getWorkspaceId, workspaceId);
        }

//        if (StringUtils.hasText(deviceName)) {
//            wrapper.like(DeviceEntity::getDeviceName, deviceName);
//        }
        wrapper.in(DeviceEntity::getDomain, DeviceDomainEnum.DOCK.getDomain(), DeviceDomainEnum.DRONE.getDomain());

        // 假如不是超级管理员 只能查询自己所属团队的设备
        if (aboveSysAdminRole()) {

        } else {
            // 查询自己团队
            LambdaQueryWrapper<UserOrgEntity> userOrgQueryWrapper = new LambdaQueryWrapper<>();
            userOrgQueryWrapper.eq(UserOrgEntity::getUserId, getUserId());
            userOrgQueryWrapper.eq(UserOrgEntity::getWorkspaceId, workspaceId);

            List<UserOrgEntity> userOrgEntities = userOrgService.list(userOrgQueryWrapper);
            if (CollectionUtils.isEmpty(userOrgEntities)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            List<String> userOrgIdList = userOrgEntities.stream().map(UserOrgEntity::getOrgId).distinct().collect(Collectors.toList());
            if (CollectionUtils.isEmpty(userOrgIdList)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            // 查询 团队的设备
            LambdaQueryWrapper<DeviceOrgEntity> deviceOrgQueryWrapper = new LambdaQueryWrapper<>();
            deviceOrgQueryWrapper.eq(DeviceOrgEntity::getWorkspaceId, workspaceId);
            deviceOrgQueryWrapper.in(DeviceOrgEntity::getOrgId, userOrgIdList);

            List<DeviceOrgEntity> deviceOrgEntities = deviceOrgService.list(deviceOrgQueryWrapper);
            if (CollectionUtils.isEmpty(deviceOrgEntities)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            List<String> deviceSnList = deviceOrgEntities.stream().map(DeviceOrgEntity::getDeviceSn).distinct().collect(Collectors.toList());
            if (CollectionUtils.isEmpty(deviceSnList)) {
                return new PaginationData<>(new ArrayList<>(), new Pagination(page, pageSize, 0));
            }
            wrapper.in(DeviceEntity::getDeviceSn, deviceSnList);
        }


        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
                .peek(device -> {
                    if (StringUtils.hasText(device.getDeviceSn())) {
                        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
                    }
                    if (StringUtils.hasText(device.getChildDeviceSn())) {
                        Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
                        childOpt.ifPresent(child -> {
                            child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
                            child.setWorkspaceName(device.getWorkspaceName());
                            device.setChildren(child);
                        });
                    }
                })
                .collect(Collectors.toList());
        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
    }
    @Override
    public void recoverDeviceOnline(String deviceSn) {
        if (!StringUtils.hasText(deviceSn)) {
            return;
        }
        // 查询数据库
        Optional<DeviceDTO> dbDeviceOpt = this.getDeviceBySn(deviceSn);
        if (dbDeviceOpt.isEmpty()) {
            throw new RuntimeException("device is null， please add device!");
        }
        DeviceDTO dbDevice = dbDeviceOpt.get();

        if (DeviceDomainEnum.DOCK == dbDevice.getDomain()) {
            recoverGatewayOnline(dbDevice);
        } else if (DeviceDomainEnum.REMOTER_CONTROL == dbDevice.getDomain()) {
            recoverGatewayOnline(dbDevice);
        } else if (DeviceDomainEnum.DRONE == dbDevice.getDomain()) {
            // 通过 child_sn 反查父设备（数据库中没有 parent_sn 字段，parentSn 只存在于 Redis）
            List<DeviceDTO> parentDevices = this.getDevicesByParams(
                    DeviceQueryParam.builder().childSn(deviceSn).build());
            if (!parentDevices.isEmpty()) {
                // 子设备无人机：通过父设备（机场/遥控器）恢复整个拓扑
                DeviceDTO parentDevice = parentDevices.get(0);
                log.info("[Auto-Recovery] Drone {} is a sub-device, recovering via gateway {}",
                        deviceSn, parentDevice.getDeviceSn());
                recoverGatewayOnline(parentDevice);
            } else {
                // 独立无人机：直接恢复
                log.info("[Auto-Recovery] Drone {} is an independent device, recovering directly", deviceSn);
                recoverDroneOnline(dbDevice);
            }
        }
    }

    @Override
    public void recoverGatewayOnline(String gatewaySn) {
        // 查询数据库
        Optional<DeviceDTO> dbGatewayOpt = this.getDeviceBySn(gatewaySn);
        if (dbGatewayOpt.isEmpty()) {
            throw new RuntimeException("gateway is null， please add gateway!");
        }
        DeviceDTO dbGateway = dbGatewayOpt.get();

        if (DeviceDomainEnum.DOCK != dbGateway.getDomain() && DeviceDomainEnum.REMOTER_CONTROL != dbGateway.getDomain()) {
            return;
        }
        recoverGatewayOnline(dbGateway);
    }

    public void recoverGatewayOnline(DeviceDTO dbGateway) {
        String gatewaySn = dbGateway.getDeviceSn();
        String deviceSn = dbGateway.getChildDeviceSn();
        Optional<DeviceDTO> dbDeviceOpt = this.getDeviceBySn(deviceSn);
        if (dbDeviceOpt.isEmpty()) {
            throw new RuntimeException("device is null, please add device!");
        }
        DeviceDTO dbDevice = dbDeviceOpt.get();

        log.info("[Auto-Recovery] Recovering gateway {} and sub-device {}", gatewaySn, deviceSn);
        GatewayManager gatewayManager = SDKManager.registerDevice(gatewaySn, deviceSn,
                dbGateway.getDomain(), dbGateway.getType(),
                dbGateway.getSubType(), dbGateway.getThingVersion(), dbDevice.getThingVersion());

        deviceRedisService.setDeviceOnline(dbGateway);
        deviceRedisService.setDeviceOnline(dbDevice);

        this.gatewayOnlineSubscribeTopic(gatewayManager);
        this.subDeviceOnlineSubscribeTopic(gatewayManager);
        this.pushDeviceOnlineTopo(dbGateway.getWorkspaceId(), dbGateway.getDeviceSn(), dbDevice.getDeviceSn());

    }

    // 无人机单独上线
    @Override
    public void recoverDroneOnline(String droneSn) {
        // 查询数据库
        Optional<DeviceDTO> dbDeviceOpt = this.getDeviceBySn(droneSn);
        if (dbDeviceOpt.isEmpty()) {
            throw new RuntimeException("device is null, please add device!");
        }
        DeviceDTO dbDevice = dbDeviceOpt.get();
        if (DeviceDomainEnum.DRONE != dbDevice.getDomain()) {
            return;
        }
        recoverDroneOnline(dbDevice);
    }

    // 无人机单独上线
    public void recoverDroneOnline(DeviceDTO dbDevice) {
        if (DeviceDomainEnum.DRONE != dbDevice.getDomain()) {
            return;
        }
        log.info("[Auto-Recovery] Recovering independent drone {}", dbDevice.getDeviceSn());
        deviceRedisService.setDeviceOnline(dbDevice);
        this.subDroneOnlineSubscribeTopic(dbDevice.getDeviceSn());
        // deviceService.pushDeviceOnlineTopo(dbGateway.getWorkspaceId(), dbGateway.getDeviceSn(), dbDevice.getDeviceSn());

    }


    @Override
    public DeviceDetailCountDTO getDeviceInfoTotal(String workspaceId) {

        // 查询 当前组织的设备 查询设备数据
        List<String> deviceSnList = new ArrayList<>();

        List<DeviceDTO> deviceDTOList = this.getDeviceListByParam(new DeviceSearchParam(), workspaceId);
        deviceSnList = deviceDTOList.stream().map(DeviceDTO::getDeviceSn).distinct().collect(Collectors.toList());

        DeviceDetailCountDTO deviceDetailCountDTO = deviceDetailService.searchList(deviceSnList);

        return deviceDetailCountDTO;
    }

}