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

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
import com.dji.sample.common.model.Pagination;
import com.dji.sample.common.model.PaginationData;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
import com.dji.sample.control.model.dto.PointDTO;
import com.dji.sample.control.model.enums.CameraModeEnum;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.control.model.enums.PayloadCommandsEnum;
import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.geo.entity.GeoJson;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.media.model.MediaFileCountDTO;
import com.dji.sample.media.model.MediaMethodEnum;
import com.dji.sample.media.service.IFileService;
import com.dji.sample.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.*;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Isolation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.io.File;
import java.net.URL;
import java.sql.SQLException;
import java.time.*;
import java.util.*;
import java.util.stream.Collectors;

/**
 * @author sean
 * @version 1.1
 * @date 2022/6/1
 */
@Service
@Transactional
@Slf4j
public class WaylineJobServiceImpl implements IWaylineJobService {

    @Autowired
    private IWaylineJobMapper mapper;

    @Autowired
    private IWaylineFileService waylineFileService;

    @Autowired
    private IDeviceService deviceService;

    @Autowired
    private IMessageSenderService messageSender;

    @Autowired
    private ObjectMapper objectMapper;

    @Autowired
    private IFileService fileService;

    @Autowired
    private IDrcService drcService;

    @Autowired
    private IDeviceRedisService deviceRedisService;

    @Autowired
    private IWaylineRedisService waylineRedisService;

    @Autowired
    private IControlService controlService;

    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
        int id = mapper.insert(jobEntity);
        if (id <= 0) {
            return Optional.empty();
        }
        return Optional.ofNullable(this.entity2Dto(jobEntity));
    }

    @Override
    public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
        if (Objects.isNull(param)) {
            return Optional.empty();
        }
        // Immediate tasks, allocating time on the backend.
        WaylineJobEntity jobEntity = WaylineJobEntity.builder()
                .name(param.getName())
                .dockSn(param.getDockSn())
                .fileId(param.getFileId())
                .username(username)
                .workspaceId(workspaceId)
                .jobId(UUID.randomUUID().toString())
                .beginTime(beginTime)
                .endTime(endTime)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(param.getTaskType().getVal())
                .waylineType(param.getWaylineType().getVal())
                .outOfControlAction(param.getOutOfControlAction())
                .rthAltitude(param.getRthAltitude())
                .mediaCount(0)
                .build();

        return insertWaylineJob(jobEntity);
    }

    @Override
    public Optional<WaylineJobDTO> createWaylineJobByParent(String workspaceId, String parentId) {
        Optional<WaylineJobDTO> parentJobOpt = this.getJobByJobId(workspaceId, parentId);
        if (parentJobOpt.isEmpty()) {
            return Optional.empty();
        }
        WaylineJobEntity jobEntity = this.dto2Entity(parentJobOpt.get());
        jobEntity.setJobId(UUID.randomUUID().toString());
        jobEntity.setErrorCode(null);
        jobEntity.setCompletedTime(null);
        jobEntity.setExecuteTime(null);
        jobEntity.setStatus(WaylineJobStatusEnum.PENDING.getVal());
        jobEntity.setParentId(parentId);

        return this.insertWaylineJob(jobEntity);
    }

    /**
     * 对于即时任务，以服务器时间为准。
     *
     * @param param
     */
    private void fillImmediateTime(CreateJobParam param) {
        if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
            return;
        }
        long now = System.currentTimeMillis() / 1000 - 10;
//        param.setTaskDays(Collections.singletonList(now));
//        param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
        param.setTaskDays(List.of(now));
        param.setTaskPeriods(List.of(List.of(now)));
    }

    @Override
    public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
        fillImmediateTime(param);

//        param.getTaskDays().sort((a, b) -> (int) (a - b));
//        param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
        for (Long taskDay : param.getTaskDays()) {
            LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
            for (List<Long> taskPeriod : param.getTaskPeriods()) {
                long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
                        .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
                long endTime = taskPeriod.size() > 1 && Objects.nonNull(taskPeriod.get(1)) ?
                        LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
                                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
                if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
                    return ResponseResult.error("任务已过期");
                }
                Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
                if (waylineJobOpt.isEmpty()) {
                    throw new SQLException("任务创建失败");
                }
                WaylineJobDTO waylineJob = waylineJobOpt.get();
                // If it is a conditional task type, add conditions to the job parameters.
                //如果是条件任务类型，需要在任务参数中添加条件。
                addPreparedJob(waylineJob, param, beginTime, endTime);

                ResponseResult response = this.publishOneFlightTask(waylineJob);
                if (ResponseResult.CODE_SUCCESS != response.getCode()) {
                    return response;
                }
            }
        }
        return ResponseResult.success();
    }

    @Override
    public ResponseResult publishFlightTaskCondition(CreateJobParam param, CustomClaim customClaim) throws SQLException {
        //开始日期
        LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
        long start = LocalDateTime.of(startDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(0).get(0)), ZoneId.systemDefault()))
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();

        //结束日期
        LocalDate endDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(1)), ZoneId.systemDefault());
        long end = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();

        //保存数据
        WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                .jobId(UUID.randomUUID().toString())
                .name(param.getName())
                .dockSn(param.getDockSn())
                .fileId(param.getFileId())
                .username(customClaim.getUsername())
                .workspaceId(customClaim.getWorkspaceId())

                .beginTime(start)
                .endTime(end)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(param.getTaskType().getVal())
                .waylineType(param.getWaylineType().getVal())
                .outOfControlAction(param.getOutOfControlAction())
                .batteryCapacity(param.getMinBatteryCapacity())
                .rthAltitude(param.getRthAltitude())
                .mediaCount(0)
                .repFreVal(param.getRepFreVal())
                .repFreType(param.getRepFreType())
                .repRuleType(param.getRepRuleType())
                .repRuleVal(param.getRepRuleVal())
                .executeTimeArr(param.getTaskPeriods())
                .executeStartTimeArr(param.getExecuteStartTimeArr())
                .build();

        Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);

        if (waylineJobOpt.isEmpty()) {
            throw new SQLException("任务创建失败");
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        //存一条记录,
        List<Long> timeArr = param.getExecuteStartTimeArr().get(0);

        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

        LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;

        if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
            return ResponseResult.error("任务已过期");
        }
        //条件任务
        if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginTime);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }

        return ResponseResult.success();
    }

    private void addPreparedJob(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
        if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(param.getMinBatteryCapacity())
                                    .beginTime(beginTime)
                                    .endTime(endTime)
                                    .build())
                            .build());

            waylineRedisService.setConditionalWaylineJob(waylineJob);
        }
        // value: {workspace_id}:{dock_sn}:{job_id}
        boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
        if (!isAdd) {
            throw new RuntimeException("创建任务失败。");
        }
    }

    public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {

        boolean isSuccess = this.prepareFlightTask(waylineJob);
        if (!isSuccess) {
            return ResponseResult.error("任务准备失败");
        }

        // Issue an immediate task execution command.
        //发出立即任务执行命令
        if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
            boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
            if (!isExecuted) {
                return ResponseResult.error("执行任务失败");
            }
        }

        return ResponseResult.success();
    }

    private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {

        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
        if (!isOnline) {
            throw new RuntimeException("设备离线。");
        }

        // get wayline file
        Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
        if (waylineFile.isEmpty()) {
            throw new SQLException("航线文件不存在。");
        }

        // get file url
        //获取航线文件地址
        URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());

        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
                .flightId(waylineJob.getJobId())
                .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                .taskType(waylineJob.getTaskType())
                .waylineType(waylineJob.getWaylineType())
                .rthAltitude(waylineJob.getRthAltitude())
                .outOfControlAction(waylineJob.getOutOfControlAction())
                .file(WaylineTaskFileDTO.builder()
                        .url(url.toString())
                        .fingerprint(waylineFile.get().getSign())
                        .build())
                .build();

        //当任务类型为条件时
        if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
            if (Objects.isNull(waylineJob.getConditions())) {
                throw new IllegalArgumentException();
            }
            flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
            flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
        }

        //发布飞行指令
        ServiceReply serviceReply = messageSender.publishServicesTopic(
                waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
            //飞行失败，更新数据库信息
            this.updateJob(WaylineJobDTO.builder()
                    .workspaceId(waylineJob.getWorkspaceId())
                    .jobId(waylineJob.getJobId())
                    .executeTime(LocalDateTime.now())
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getResult()).build());
            return false;
        }
        return true;
    }

    @Override
    public Boolean executeFlightTask(String workspaceId, String jobId) {
        // get job
        Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
        if (waylineJob.isEmpty()) {
            throw new IllegalArgumentException("任务不存在");
        }

        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
        if (!isOnline) {
            throw new RuntimeException("设备离线");
        }

        WaylineJobDTO job = waylineJob.get();
        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();

        ServiceReply serviceReply = messageSender.publishServicesTopic(
                job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Execute job ====> Error code: {}", serviceReply.getResult());
            this.updateJob(WaylineJobDTO.builder()
                    .jobId(jobId)
                    .executeTime(LocalDateTime.now())
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getResult()).build());
            // The conditional task fails and enters the blocking status.
            if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
                    && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
                waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
            }
            return false;
        }

        this.updateJob(WaylineJobDTO.builder()
                .jobId(jobId)
                .executeTime(LocalDateTime.now())
                .status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
                .build());
        waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
        return true;
    }

    @Override
    public void cancelFlightTask(String workspaceId, Collection<String> jobIds) {
        List<WaylineJobDTO> waylineJobs = getJobsByConditions(workspaceId, jobIds, WaylineJobStatusEnum.PENDING);

        Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet());
        // Check if the task status is correct.
        boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty();
        if (isErr) {
            throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
        }

        // Group job id by dock sn.
        Map<String, List<String>> dockJobs = waylineJobs.stream()
                .collect(Collectors.groupingBy(WaylineJobDTO::getDockSn,
                        Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList())));
        dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(workspaceId, dockSn, idList));

    }

    public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
        boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
        if (!isOnline) {
            throw new RuntimeException("设备离线");
        }

        ServiceReply serviceReply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
        if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
            log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
            throw new RuntimeException("航路作业取消失败 " + dockSn);
        }

        for (String jobId : jobIds) {
            this.updateJob(WaylineJobDTO.builder()
                    .workspaceId(workspaceId)
                    .jobId(jobId)
                    .status(WaylineJobStatusEnum.CANCEL.getVal())
                    .completedTime(LocalDateTime.now())
                    .build());
        }

    }

    public List<WaylineJobDTO> getJobsByConditions(String workspaceId, Collection<String> jobIds, WaylineJobStatusEnum status) {
        return mapper.selectList(
                        new LambdaQueryWrapper<WaylineJobEntity>()
                                .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
                                .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
                                .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
                .stream()
                .map(this::entity2Dto)
                .collect(Collectors.toList());
    }

    @Override
    public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId) {
        WaylineJobEntity jobEntity = mapper.selectOne(
                new LambdaQueryWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
                        .eq(WaylineJobEntity::getJobId, jobId));
        return Optional.ofNullable(entity2Dto(jobEntity));
    }

    @Override
    public Boolean updateJob(WaylineJobDTO dto) {

        try {
            if (dto.getStatus() == 3) {
                this.checkNextJob(dto);
            }
        } catch (SQLException e) {
            throw new RuntimeException(e);
        }


        return mapper.update(this.dto2Entity(dto),
                new LambdaUpdateWrapper<WaylineJobEntity>()
                        .eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
    }

    @Override
    public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
        Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);

        List<WaylineJobDTO> records = pageData.getRecords()
                .stream()
                .map(this::entity2Dto)
                .collect(Collectors.toList());

        return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
    }

    @Override
    public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {

        List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
        List<WaylineJobDTO> records = list
                .stream()
                .map(this::entity2Dto)
                .collect(Collectors.toList());

        return records;
    }


    @Override
    @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
    @Transactional(isolation = Isolation.READ_UNCOMMITTED)
    public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
        Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {
        });
        String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);

        CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
                .tid(receiver.getTid())
                .bid(receiver.getBid())
                .method(RequestsMethodEnum.FLIGHT_TASK_RESOURCE_GET.getMethod())
                .timestamp(System.currentTimeMillis());

        String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
        if (deviceOpt.isEmpty()) {
            return;
        }
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), jobId);
        if (waylineJobOpt.isEmpty()) {
            builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
            messageSender.publish(topic, builder.build());
            return;
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        // get wayline file
        Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
        if (waylineFile.isEmpty()) {
            builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
            messageSender.publish(topic, builder.build());
            return;
        }

        // get file url
        URL url = null;
        try {
            url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
            builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
                    .file(WaylineTaskFileDTO.builder()
                            .url(url.toString())
                            .fingerprint(waylineFile.get().getSign())
                            .build())
                    .build()));

        } catch (SQLException | NullPointerException e) {
            e.printStackTrace();
            builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
            messageSender.publish(topic, builder.build());
            return;
        }

        messageSender.publish(topic, builder.build());

    }

    @Override
    public void uploadMediaHighestPriority(String workspaceId, String jobId) {
        Optional<WaylineJobDTO> jobOpt = getJobByJobId(workspaceId, jobId);
        if (jobOpt.isEmpty()) {
            throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
        }

        String dockSn = jobOpt.get().getDockSn();
        String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
        if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
            return;
        }

        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("设置媒体作业上传优先级失败. 错误码: " + reply.getResult());
        }
    }

    private WaylineJobEntity dto2Entity(WaylineJobDTO dto) {
        WaylineJobEntity.WaylineJobEntityBuilder builder = WaylineJobEntity.builder();
        if (dto == null) {
            return builder.build();
        }
        if (Objects.nonNull(dto.getBeginTime())) {
            builder.beginTime(dto.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
        }
        if (Objects.nonNull(dto.getEndTime())) {
            builder.endTime(dto.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
        }
        if (Objects.nonNull(dto.getExecuteTime())) {
            builder.executeTime(dto.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
        }
        if (Objects.nonNull(dto.getCompletedTime())) {
            builder.completedTime(dto.getCompletedTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
        }
        return builder.status(dto.getStatus())
                .mediaCount(dto.getMediaCount())
                .name(dto.getJobName())
                .errorCode(dto.getCode())
                .jobId(dto.getJobId())
                .fileId(dto.getFileId())
                .dockSn(dto.getDockSn())
                .workspaceId(dto.getWorkspaceId())
                .taskType(Optional.ofNullable(dto.getTaskType()).map(WaylineTaskTypeEnum::getVal).orElse(null))
                .waylineType(Optional.ofNullable(dto.getWaylineType()).map(WaylineTemplateTypeEnum::getVal).orElse(null))
                .username(dto.getUsername())
                .rthAltitude(dto.getRthAltitude())
                .outOfControlAction(dto.getOutOfControlAction())
                .parentId(dto.getParentId())
                .build();
    }

    @Override
    public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
        Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
        if (waylineJobOpt.isEmpty()) {
            throw new RuntimeException("任务不存在");
        }
        WaylineJobDTO waylineJob = waylineJobOpt.get();
        WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
        if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
            throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
        }

        switch (param.getStatus()) {
            case PAUSE:
                pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
                break;
            case RESUME:
                resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
                break;
        }

    }

    public WaylineJobStatusEnum getWaylineState(String dockSn) {
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
            return WaylineJobStatusEnum.UNKNOWN;
        }
        Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
        Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
        if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
            return WaylineJobStatusEnum.UNKNOWN;
        }

        OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
        if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
                || DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
                || DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
            if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
                return WaylineJobStatusEnum.PAUSED;
            }
            if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
                return WaylineJobStatusEnum.IN_PROGRESS;
            }
        }
        return WaylineJobStatusEnum.UNKNOWN;
    }

    @Override
    public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
        WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
        return waylineJobEntity;
    }

    @Override
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {

        //获取所有中心点
//        List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
        List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());

        //一键起飞
        TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);

        ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);

        //设置飞向第一个点
        while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {
            //获取无人机状态
            DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);

            //当无人机状态为手动飞行
            if (deviceMode == DeviceModeCodeEnum.MANUAL) {
                //飞向目标点
                FlyToPointParam flyToPointParam = new FlyToPointParam();
                flyToPointParam.setMaxSpeed(14);
                List<PointDTO> pointDTOS = new ArrayList<>();

                PointDTO pointDTO = new PointDTO();
                pointDTO.setHeight(150.0);
                pointDTO.setLongitude(targetList.get(0).getLon());
                pointDTO.setLatitude(targetList.get(0).getLat());
                pointDTOS.add(pointDTO);
                flyToPointParam.setPoints(pointDTOS);


                ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);

                if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
                    //第一个点指令飞行成功后，把数组存到redis中
                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("targetList",targetList);
                    jsonObject.put("payloadIndex",flyAreaParam.getPayloadIndex());
                    jsonObject.put("curIndex",0);
                    RedisOpsUtils.set("tuban:"+sn,jsonObject);
                }
                break;
            }
        }

        return ResponseResult.success(targetList);
    }

    public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
        TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();

        takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
        takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
        //设置飞行高度
        takeoffToPointParam.setTargetHeight(120.0);
        //设置安全起飞高度
        takeoffToPointParam.setSecurityTakeoffHeight(100.0);
        //设置返航高度
        takeoffToPointParam.setRthAltitude(100.0);
        //设置失控操作
        takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
        //设置起飞速度
        takeoffToPointParam.setMaxSpeed(10.0);
        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);

        return takeoffToPointParam;
    }


    @Override
    public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {

        WaylineJobEntity params = new WaylineJobEntity();
        params.setJobId(job.getJobId());


        WaylineJobEntity job1 = mapper.selectOne(Wrappers.query(params));

        WaylineJobEntity currentJob = JSON.parseObject(JSON.toJSONString(job1), WaylineJobEntity.class);

        if (currentJob == null) {
            return ResponseResult.error("该任务不存在");
        }

        //该任务没有多次时间
        if (currentJob.getExecuteStartTimeArr() == null) {
            return ResponseResult.success();
        }

        List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
        int indexTime = -1;

        long currentTime = System.currentTimeMillis();
        for (int i = 0; i < executeStartTimeArr.size(); i++) {
            Long startTime = executeStartTimeArr.get(i).get(0) * 1000;
            //如果当前时间小于开始时间
            if (currentTime < startTime) {
                //当前索引就是下一次要执行的时间
                indexTime = i;
                break;
            }
        }

        if (indexTime == -1) {
            return ResponseResult.success();
        }


        List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
        LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
        LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
        LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
                : beginDate;

        long beginTime = beginDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
        long endTime = endDate
                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();


        //添加一条新数据
        WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
                .jobId(UUID.randomUUID().toString())
                //大于1则拿前面的parentId,为1则拿第0个的id
                .parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
                .name(currentJob.getName())
                .dockSn(currentJob.getDockSn())
                .fileId(currentJob.getFileId())
                .username(currentJob.getUsername())
                .workspaceId(currentJob.getWorkspaceId())

                .beginTime(beginTime)
                .endTime(endTime)
                .status(WaylineJobStatusEnum.PENDING.getVal())
                .taskType(currentJob.getTaskType())
                .waylineType(currentJob.getWaylineType())
                .outOfControlAction(currentJob.getOutOfControlAction())
                .batteryCapacity(currentJob.getBatteryCapacity())
                .rthAltitude(currentJob.getRthAltitude())
                .mediaCount(0)
                .repFreVal(currentJob.getRepFreVal())
                .repFreType(currentJob.getRepFreType())
                .repRuleType(currentJob.getRepRuleType())
                .repRuleVal(currentJob.getRepRuleVal())
                .executeTimeArr(currentJob.getExecuteTimeArr())
                .executeStartTimeArr(currentJob.getExecuteStartTimeArr())
                .build();

        Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);

        if (waylineJobOpt.isEmpty()) {
            return ResponseResult.error("任务创建失败");
        }

        WaylineJobDTO waylineJob = waylineJobOpt.get();

        LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));

        LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
                LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;


        //条件任务
        if (currentJob.getTaskType() == 2) {
            //如果是条件任务类型，需要在任务参数中添加条件。
            waylineJob.setConditions(
                    WaylineTaskConditionDTO.builder()
                            .executableConditions(null)
                            .readyConditions(WaylineTaskReadyConditionDTO.builder()
                                    .batteryCapacity(currentJob.getBatteryCapacity())
                                    .beginTime(beginTime)
                                    .endTime(endTime)
                                    .build())
                            .build());
        } else {
            waylineJob.setBeginTime(beginDate);
        }

        ResponseResult response = this.publishOneFlightTask(waylineJob);
        if (ResponseResult.CODE_SUCCESS != response.getCode()) {
            return response;
        }

        return ResponseResult.success();
    }


    @Override
    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {
        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
        List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId, queryTime);
        if (!CollectionUtils.isEmpty(list)) {
            waylineJobCountDTO.setTotalNumber(list.size());
            long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000;
            StringBuffer buffer = new StringBuffer();
            long h = totalTime / 3600;
            long m = (totalTime % 3600) / 60;
            buffer.append(h).append(" h ");
            buffer.append(m).append(" min");
            waylineJobCountDTO.setTotalDuration(buffer.toString());
        }
        return waylineJobCountDTO;
    }

    @Override
    public void updateJobCollect(WaylineJobEntity waylineJob) {
        new LambdaUpdateChainWrapper<>(mapper)
                .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
                .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
                .set(WaylineJobEntity::getUserId, waylineJob.getUserId())
                .update();
    }

    private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
            waylineRedisService.setPausedWaylineJob(dockSn, jobId);
            return;
        }

        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("未能恢复航路作业。错误码： " + reply.getResult());
        }
        waylineRedisService.delRunningWaylineJob(dockSn);
        waylineRedisService.setPausedWaylineJob(dockSn, jobId);
    }

    private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
        Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
        if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
            waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
            return;
        }
        ServiceReply reply = messageSender.publishServicesTopic(
                dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
            throw new RuntimeException("未能恢复航路作业。错误码：: " + reply.getResult());
        }

        runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
        waylineRedisService.delPausedWaylineJob(dockSn);

        if (deviceService.checkDockDrcMode(dockSn)) {
            drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
                    .clientId(drcService.getDrcModeInRedis(dockSn)).build());
        }

    }

    private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
        if (entity == null) {
            return null;
        }

        WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
                .jobId(entity.getJobId())
                .jobName(entity.getName())
                .fileId(entity.getFileId())
                .fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())
                        .orElse(WaylineFileDTO.builder().build()).getName())
                .dockSn(entity.getDockSn())
                .dockName(deviceService.getDeviceBySn(entity.getDockSn())
                        .orElse(DeviceDTO.builder().build()).getNickname())
                .username(entity.getUsername())
                .workspaceId(entity.getWorkspaceId())
                .status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
                        entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
                        WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
                .code(entity.getErrorCode())
                .beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
                .endTime(Objects.nonNull(entity.getEndTime()) ?
                        LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()) : null)
                .executeTime(Objects.nonNull(entity.getExecuteTime()) ?
                        LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()) : null)
                .completedTime(WaylineJobStatusEnum.find(entity.getStatus()).getEnd() ?
                        LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getUpdateTime()), ZoneId.systemDefault()) : null)
                .taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
                .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
                .rthAltitude(entity.getRthAltitude())
                .outOfControlAction(entity.getOutOfControlAction())
                .mediaCount(entity.getMediaCount())
                .hasChildren(entity.getHasChildren());

        if (Objects.nonNull(entity.getEndTime())) {
            builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
        }
        if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
            builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
                    .map(EventsReceiver::getOutput)
                    .map(WaylineTaskProgressReceiver::getProgress)
                    .map(WaylineTaskProgress::getPercent)
                    .orElse(null));
        }

        if (entity.getMediaCount() == 0) {
            return builder.build();
        }

        // sync the number of media files
        String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + entity.getDockSn();
        String countKey = RedisConst.MEDIA_FILE_PREFIX + entity.getDockSn();
        Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
        if (Objects.nonNull(mediaFileCount)) {
            builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
                    .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
            return builder.build();
        }

        int uploadedSize = fileService.getFilesByWorkspaceAndJobId(entity.getWorkspaceId(), entity.getJobId()).size();
        // All media for this job have been uploaded.
        if (uploadedSize >= entity.getMediaCount()) {
            return builder.uploadedCount(uploadedSize).build();
        }
        RedisOpsUtils.hashSet(countKey, entity.getJobId(),
                MediaFileCountDTO.builder()
                        .jobId(entity.getJobId())
                        .mediaCount(entity.getMediaCount())
                        .uploadedCount(uploadedSize).build());
        return builder.build();
    }
}