a-tuoheng-device/src/main/java/com/ruoyi/device/service/impl/SynService.java

package com.ruoyi.device.service.impl;

import com.ruoyi.device.domain.api.*;
import com.ruoyi.device.domain.model.*;
import com.ruoyi.device.domain.model.thingsboard.AttributeMap;
import com.ruoyi.device.domain.model.thingsboard.DeviceInfo;
import com.ruoyi.device.domain.model.thingsboard.TelemetryMap;
import com.ruoyi.device.domain.model.thingsboard.TelemetryValue;
import com.ruoyi.device.domain.model.thingsboard.attributes.psdk.PsdkDevice;
import com.ruoyi.device.domain.model.thingsboard.constants.DeviceAttributes;
import com.ruoyi.device.domain.model.thingsboard.constants.DeviceTelemetry;
import com.ruoyi.device.domain.model.thingsboard.tuoheng.constants.TuohengDeviceAttributes;
import com.ruoyi.device.api.enums.PayloadTypeEnum;
import com.ruoyi.device.service.enums.DeviceType;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.data.redis.core.StringRedisTemplate;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.regex.Pattern;

@Service
public class SynService {

    private static final Logger log = LoggerFactory.getLogger(SynService.class);

    private final IThingsBoardDomain iThingsBoardDomain;

    /**
     * 设备名称过滤正则表达式列表（从配置文件读取）
     * 匹配这些正则表达式的设备将被跳过，不进行同步
     */
    @Value("${device.sync.exclude-patterns:}")
    private String excludePatterns;

    /**
     * 编译后的正则表达式模式列表（延迟初始化）
     */
    private List<Pattern> excludePatternList;

    @Autowired
    private IDeviceDomain deviceDomain;

    @Autowired
    private IDockDomain dockDomain;

    @Autowired
    private IAircraftDomain aircraftDomain;

    @Autowired
    private IDockAircraftDomain dockAircraftDomain;

    @Autowired
    private IPayloadDomain payloadDomain;

    @Autowired
    private IAircraftPayloadDomain aircraftPayloadDomain;

    @Autowired
    private IGroupDomain groupDomain;

    @Autowired
    private IDockGroupDomain dockGroupDomain;

    @Autowired(required = false)
    private StringRedisTemplate redisTemplate;

    public SynService(IThingsBoardDomain iThingsBoardDomain) {
        this.iThingsBoardDomain = iThingsBoardDomain;
    }

    /**
     * 初始化设备名称过滤正则表达式列表
     * 延迟初始化，在第一次使用时编译正则表达式
     * 改动点: 首先不要用这个过滤了，TH开头的就是拓恒无人机
     */
    private void initExcludePatterns() {
        if (excludePatternList == null) {
            excludePatternList = new ArrayList<>();

            if (StringUtils.hasText(excludePatterns)) {
                String[] patterns = excludePatterns.split(",");
                for (String pattern : patterns) {
                    String trimmedPattern = pattern.trim();
                    if (StringUtils.hasText(trimmedPattern)) {
                        try {
                            excludePatternList.add(Pattern.compile(trimmedPattern));
//                            log.info("加载设备名称过滤规则: {}", trimmedPattern);
                        } catch (Exception e) {
                            log.error("无效的正则表达式: {}, error={}", trimmedPattern, e.getMessage());
                        }
                    }
                }
            }

            if (excludePatternList.isEmpty()) {
                log.error("未配置设备名称过滤规则");
            }
        }
    }

    /**
     * 判断设备名称是否应该被过滤（跳过同步）
     *
     * @param deviceName 设备名称
     * @return true 表示应该被过滤，false 表示不过滤
     */
    private boolean shouldExcludeDevice(String deviceName) {
        // 延迟初始化
        initExcludePatterns();

        // 如果没有配置过滤规则，不过滤任何设备
        if (excludePatternList.isEmpty()) {
            return false;
        }

        // 检查设备名称是否匹配任何过滤规则
        for (Pattern pattern : excludePatternList) {
            if (pattern.matcher(deviceName).matches()) {
                log.debug("设备 {} 匹配过滤规则 {}，跳过同步", deviceName, pattern.pattern());
                return true;
            }
        }

        return false;
    }

    /**
     * 获取分布式锁
     *
     * @param lockKey 锁的key
     * @param lockValue 锁的value（用于释放锁时验证）
     * @param expireTime 锁的过期时间（秒）
     * @return true表示获取锁成功，false表示获取锁失败
     */
    private boolean tryLock(String lockKey, String lockValue, long expireTime) {
        if (redisTemplate == null) {
            log.warn("Redis未配置，跳过分布式锁，使用本地同步");
            return true;
        }

        try {
            Boolean result = redisTemplate.opsForValue().setIfAbsent(lockKey, lockValue, expireTime, TimeUnit.SECONDS);
            return Boolean.TRUE.equals(result);
        } catch (Exception e) {
            log.error("获取分布式锁失败: lockKey={}, error={}", lockKey, e.getMessage(), e);
            return false;
        }
    }

    /**
     * 释放分布式锁
     *
     * @param lockKey 锁的key
     * @param lockValue 锁的value（用于验证是否是自己持有的锁）
     */
    private void releaseLock(String lockKey, String lockValue) {
        if (redisTemplate == null) {
            return;
        }

        try {
            String currentValue = redisTemplate.opsForValue().get(lockKey);
            if (lockValue.equals(currentValue)) {
                redisTemplate.delete(lockKey);
            }
        } catch (Exception e) {
            log.error("释放分布式锁失败: lockKey={}, error={}", lockKey, e.getMessage(), e);
        }
    }

    /**
     * 定时任务：同步基础表数据
     * 执行时间：启动后1分钟开始，每10分钟执行一次（可通过配置文件修改）
     * 配置项：device.schedule.print-devices.initial-delay 初始延迟时间（毫秒）
     *        device.schedule.print-devices.fixed-delay 执行间隔时间（毫秒）
     *
     * 优化策略：
     * 1. 先识别所有网关设备
     * 2. 遍历每个网关，同步网关及其子设备
     * 3. 同步非网关的独立设备（机场和无人机）
     */
    @Scheduled(initialDelayString = "${device.schedule.update-devices.initial-delay:60000}",
            fixedDelayString = "${device.schedule.update-devices.fixed-delay:120000}")
    public void updateDevicesScheduled() {
        try {
            log.info("========== 开始执行定时任务：同步基础表数据 ==========");

            int totalCount = 0;
            int skippedCount = 0;

            // 第一步：直接获取所有网关设备（服务端过滤）
            Iterable<List<DeviceInfo>> gatewayDevices = iThingsBoardDomain.getAllGatewayDevices();

            // 第二步：遍历每个网关，同步网关及其子设备
            for (List<DeviceInfo> gatewayBatch : gatewayDevices) {
                for (DeviceInfo gatewayInfo : gatewayBatch) {
                    try {
                        // 按照名字过滤网关设备（已禁用，不再过滤 TH 开头的设备）
//                        if (shouldExcludeDevice(gatewayInfo.getName())) {
//                            skippedCount++;
//                            continue;
//                        }


                        log.info("开始同步网关: {}", gatewayInfo.getName());
                        syncDevice(gatewayInfo, DeviceType.GATEWAY, null);
                        totalCount++;

                        // 获取该网关的所有子设备ID
                        List<String> childDeviceIds = iThingsBoardDomain.getGatewayChildDevices(gatewayInfo.getId());
                        log.info("网关 {} 有 {} 个子设备", gatewayInfo.getName(), childDeviceIds.size());

                        // 遍历该网关的子设备
                        for (String childDeviceId : childDeviceIds) {
                            // 通过API获取子设备信息
                            DeviceInfo childDeviceInfo = iThingsBoardDomain.getDeviceInfo(childDeviceId);
                            if (childDeviceInfo == null) {
//                                log.warn("子设备 {} 不存在，跳过", childDeviceId);
                                skippedCount++;
                                continue;
                            }

                            // 按照名字过滤子设备（已禁用，不再过滤 TH 开头的设备）
//                            if (shouldExcludeDevice(childDeviceInfo.getName())) {
//                                skippedCount++;
//                                continue;
//                            }

                            try {
                                String deviceName = childDeviceInfo.getName();

                                // 判断是大疆还是拓恒设备（通过设备名称是否以 TH 开头）
                                if (deviceName.startsWith("TH")) {
                                    // 拓恒设备处理逻辑
//                                    log.info("检测到拓恒设备: {}", deviceName);
                                    syncTuohengDevice(childDeviceInfo, gatewayInfo.getId());
                                } else {
                                    // 大疆设备处理逻辑（原有逻辑）
//                                    log.info("检测到大疆设备: {}", deviceName);
                                    AttributeMap attributes = iThingsBoardDomain.getPredefinedDeviceAttributes(childDeviceId);
//                                    log.info("大疆设备 {} 的属性: {}", deviceName, attributes);
                                    DeviceType deviceType = determineDeviceType(childDeviceInfo, attributes);
//                                    log.info("大疆设备 {} 的类型: {}", deviceName, deviceType);
                                    Long deviceId = syncDevice(childDeviceInfo, deviceType, gatewayInfo.getId());
//                                    log.info("大疆设备 {} 同步到device表，deviceId={}", deviceName, deviceId);
                                    syncDeviceByType(deviceId, childDeviceInfo.getName(), deviceType, attributes);
//                                    log.info("大疆设备 {} 同步完成", deviceName);
                                }

                                totalCount++;

                            } catch (Exception e) {
                                log.error("同步网关子设备失败: gatewayName={}, childDeviceId={}, error={}",
                                        gatewayInfo.getName(), childDeviceId, e.getMessage(), e);
                            }
                        }

                    } catch (Exception e) {
                        log.error("同步网关失败: gatewayName={}, error={}",
                                gatewayInfo.getName(), e.getMessage(), e);
                    }
                }
            }

            log.info("========== 数据同步任务完成，共同步 {} 个设备，跳过 {} 个设备 ==========", totalCount, skippedCount);

            // 处理没有分组的机场，将其添加到默认分组
            assignDocksToDefaultGroup();

        } catch (Exception e) {
            log.error("数据同步任务执行失败: {}", e.getMessage(), e);
        }
    }

    /**
     * 将没有分组的机场添加到默认分组
     * 默认分组名称为 "默认分组"
     */
    private void assignDocksToDefaultGroup() {
        try {
//            log.info("========== 开始检查并分配未分组的机场到默认分组 ==========");

            // 1. 查询或创建默认分组
            String defaultGroupName = "默认分组";
            Group defaultGroup = groupDomain.selectGroupByGroupName(defaultGroupName);

            if (defaultGroup == null) {
                // 默认分组不存在，创建它
//                log.info("默认分组不存在，开始创建: {}", defaultGroupName);
                defaultGroup = new Group();
                defaultGroup.setGroupName(defaultGroupName);
                defaultGroup.setCreateBy("system");
                groupDomain.insertGroup(defaultGroup);
//                log.info("默认分组创建成功: groupId={}, groupName={}", defaultGroup.getGroupId(), defaultGroupName);
            } else {
//                log.info("默认分组已存在: groupId={}, groupName={}", defaultGroup.getGroupId(), defaultGroupName);
            }

            Long defaultGroupId = defaultGroup.getGroupId();

            // 2. 查询所有机场
            Dock queryDock = new Dock();
            List<Dock> allDocks = dockDomain.selectDockList(queryDock);
//            log.info("查询到机场总数: {}", allDocks != null ? allDocks.size() : 0);

            if (allDocks == null || allDocks.isEmpty()) {
//                log.info("没有机场需要处理");
                return;
            }

            int assignedCount = 0;
            int alreadyInGroupCount = 0;

            // 3. 遍历所有机场，检查是否在分组中
            for (Dock dock : allDocks) {
                try {
                    Long dockId = dock.getDockId();

                    // 查询该机场是否已经在任何分组中
                    List<DockGroup> existingGroups = dockGroupDomain.selectDockGroupByDockId(dockId);

                    if (existingGroups == null || existingGroups.isEmpty()) {
                        // 机场没有分组，添加到默认分组
                        DockGroup dockGroup = new DockGroup();
                        dockGroup.setDockId(dockId);
                        dockGroup.setGroupId(defaultGroupId);
                        dockGroup.setCreateBy("system");

                        dockGroupDomain.insertDockGroup(dockGroup);
                        assignedCount++;
//                        log.info("机场 [ID:{}, Name:{}] 已添加到默认分组", dockId, dock.getDockName());
                    } else {
                        alreadyInGroupCount++;
                        log.debug("机场 [ID:{}, Name:{}] 已在分组中，跳过", dockId, dock.getDockName());
                    }
                } catch (Exception e) {
                    log.error("处理机场分组失败: dockId={}, error={}", dock.getDockId(), e.getMessage(), e);
                }
            }

//            log.info("========== 机场分组检查完成：新分配 {} 个机场到默认分组，{} 个机场已有分组 ==========",
//                    assignedCount, alreadyInGroupCount);

        } catch (Exception e) {
            log.error("分配机场到默认分组失败: {}", e.getMessage(), e);
        }
    }

    /**
     * 根据设备类型进行不同的同步处理
     *
     * @param deviceId 设备主键ID
     * @param deviceName 设备名称
     * @param deviceType 设备类型
     * @param attributes 设备属性
     */
    private void syncDeviceByType(Long deviceId, String deviceName, DeviceType deviceType, AttributeMap attributes) {
        if (deviceType == DeviceType.DOCK) {
            // 机场：同步机场表
            syncDock(deviceId, deviceName);

            // 获取机场挂载的无人机SN号
            Optional<String> subDeviceSnOpt = attributes.get(DeviceAttributes.SUB_DEVICE_SN);
//            log.info("机场 {} 的 sub_device.device_sn 属性: {}", deviceName,
//                    subDeviceSnOpt.isPresent() ? subDeviceSnOpt.get() : "不存在或为空");

            if (subDeviceSnOpt.isPresent() && StringUtils.hasText(subDeviceSnOpt.get())) {
                String aircraftSn = subDeviceSnOpt.get();
//                log.info("机场 {} 尝试查找无人机: aircraftSn={}", deviceName, aircraftSn);

                Device aircraftDevice = findDeviceBySn(aircraftSn);
                if (aircraftDevice != null) {
//                    log.info("找到无人机设备: aircraftSn={}, deviceId={}", aircraftSn, aircraftDevice.getDeviceId());
                    syncDockAircraft(deviceId, aircraftDevice.getDeviceId());
                } else {
                    log.warn("未找到无人机设备: aircraftSn={}, 可能无人机尚未同步", aircraftSn);
                }
            } else {
                log.warn("机场 {} 没有 sub_device.device_sn 属性，无法建立机场-无人机关联", deviceName);
            }
        } else if (deviceType == DeviceType.AIRCRAFT) {
            // 无人机：先检查是否有 dock_sn 属性
            Optional<String> dockSnOpt = attributes.get(DeviceAttributes.DOCK_SN);
            if (dockSnOpt.isPresent() && StringUtils.hasText(dockSnOpt.get())) {
                String dockSn = dockSnOpt.get();
//                log.info("无人机 {} 尝试查找所属机场: dockSn={}", deviceName, dockSn);

                // 通过机场SN号查找机场设备
                Device dockDevice = findDeviceBySn(dockSn);
                if (dockDevice != null) {
//                    log.info("找到机场设备: dockSn={}, deviceId={}", dockSn, dockDevice.getDeviceId());

                    // 只有在找到机场的情况下，才同步无人机表
                    syncAircraft(deviceId, deviceName);

                    // 建立机场-无人机关联
                    syncDockAircraft(dockDevice.getDeviceId(), deviceId);
                } else {
                    log.warn("未找到机场设备: dockSn={}, 跳过无人机同步，避免产生脏数据", dockSn);
                }
            } else {
                log.warn("无人机 {} 没有 dock_sn 属性，跳过同步，避免产生脏数据", deviceName);
            }
        }
        // 网关类型不需要额外处理
    }

    /**
     * 判断设备类型
     * 优化后的判断逻辑：
     * 1. 优先使用 ThingsBoard 标准的 additionalInfo.gateway 字段判断网关
     * 2. 对于非网关设备，通过 dock_sn 属性区分机场和无人机
     *
     * @param deviceInfo ThingsBoard设备信息
     * @param attributes 设备属性
     * @return 设备类型
     */
    private DeviceType determineDeviceType(DeviceInfo deviceInfo, AttributeMap attributes) {
        String deviceName = deviceInfo.getName();

        // 1. 使用 ThingsBoard 标准方式判断网关：检查 additionalInfo 中的 gateway 字段
        if (deviceInfo.isGateway()) {
            return DeviceType.GATEWAY;
        }

        // 2. 非网关设备：通过 dock_sn 属性区分机场和无人机
        Optional<String> dockSnOpt = attributes.get(DeviceAttributes.DOCK_SN);

        if (dockSnOpt.isPresent() && StringUtils.hasText(dockSnOpt.get())) {
            String dockSn = dockSnOpt.get();
            // dock_sn 等于设备名称 -> 机场
            // dock_sn 不等于设备名称 -> 无人机（挂载在该机场下）
            return deviceName.equals(dockSn) ? DeviceType.DOCK : DeviceType.AIRCRAFT;
        }

        // dock_sn 属性不存在或为空，无法判断设备类型
        throw new IllegalStateException("无法确定设备类型：设备 " + deviceName + " 缺少 dock_sn 属性");
    }

    /**
     * 同步设备数据
     *
     * @param deviceInfo ThingsBoard设备信息
     * @param deviceType 设备类型
     * @param gatewayId 网关设备ID（从映射中获取，避免重复API调用）
     * @return 设备主键ID
     */
    private Long syncDevice(DeviceInfo deviceInfo, DeviceType deviceType, String gatewayId) {
        String iotDeviceId = deviceInfo.getId();
        String deviceName = deviceInfo.getName();
        String deviceSn = deviceName; // 使用设备名称作为SN号,网关其实是没有SN号的
//
        log.info("开始同步设备: iotDeviceId={}, deviceName={}, deviceType={}, gatewayId={}",
                iotDeviceId, deviceName, deviceType, gatewayId);

        // 查询设备是否已存在（通过 iotDeviceId）
        Device existingDevice = deviceDomain.selectDeviceByIotDeviceId(iotDeviceId);

        // 如果通过 iotDeviceId 未找到，再检查 device_sn 是否已存在
        if (existingDevice == null) {
            Device existingDeviceBySn = deviceDomain.selectDeviceByDeviceSn(deviceSn);
            if (existingDeviceBySn != null) {
                log.warn("设备SN已存在但iotDeviceId不同: deviceSn={}, existingIotDeviceId={}, newIotDeviceId={}",
                        deviceSn, existingDeviceBySn.getIotDeviceId(), iotDeviceId);
                // 返回已存在的设备ID，避免重复插入
                return existingDeviceBySn.getDeviceId();
            }
        }

        if (existingDevice == null) {
            // 设备不存在，使用分布式锁防止并发插入
            String lockKey = "device:sync:lock:" + deviceSn;
            String lockValue = UUID.randomUUID().toString();

            // 尝试获取锁，最多等待3秒
            boolean locked = tryLock(lockKey, lockValue, 10);
            if (!locked) {
//                log.warn("获取设备同步锁失败，可能有其他线程正在同步该设备: deviceSn={}", deviceSn);
                // 等待一小段时间后重新查询，可能已经被其他线程插入
                try {
                    Thread.sleep(100);
                } catch (InterruptedException e) {
                    Thread.currentThread().interrupt();
                }
                Device retryDevice = deviceDomain.selectDeviceByDeviceSn(deviceSn);
                if (retryDevice != null) {
//                    log.info("重新查询到设备: deviceSn={}, deviceId={}", deviceSn, retryDevice.getDeviceId());
                    return retryDevice.getDeviceId();
                }
                log.error("获取锁失败且重新查询也未找到设备: deviceSn={}", deviceSn);
                return null;
            }

            try {
                // 双重检查：获取锁后再次查询，防止重复插入
                Device doubleCheckDevice = deviceDomain.selectDeviceByDeviceSn(deviceSn);
                if (doubleCheckDevice != null) {
//                    log.info("双重检查发现设备已存在: deviceSn={}, deviceId={}", deviceSn, doubleCheckDevice.getDeviceId());
                    return doubleCheckDevice.getDeviceId();
                }

                // 插入新设备
                Device newDevice = new Device();
                newDevice.setDeviceName(deviceName);
                newDevice.setIotDeviceId(iotDeviceId);
                newDevice.setDeviceType(deviceType.getCode());
                newDevice.setDeviceSn(deviceSn);
                newDevice.setGateway(gatewayId);
                newDevice.setCreateBy("system");

                // 根据设备名称判断厂商
                String manufacturer = deviceName.startsWith("TH") ? "tuoheng" : "dajiang";
                newDevice.setDeviceManufacturer(manufacturer);

//                log.info("准备插入新设备: deviceName={}, deviceType={}, deviceSn={}, manufacturer={}",
//                        deviceName, deviceType, deviceSn, manufacturer);
                deviceDomain.insertDevice(newDevice);

                Long deviceId = newDevice.getDeviceId();
//                log.info("插入新设备成功: iotDeviceId={}, deviceName={}, deviceType={}, 返回deviceId={}",
//                        iotDeviceId, deviceName, deviceType, deviceId);
                return deviceId;
            } finally {
                // 释放锁
                releaseLock(lockKey, lockValue);
            }
        } else {
            // 设备已存在，检查是否需要更新
            boolean needUpdate = false;

            if (!Objects.equals(existingDevice.getDeviceName(), deviceName)) {
                existingDevice.setDeviceName(deviceName);
                needUpdate = true;
            }
            if (!Objects.equals(existingDevice.getDeviceType(), deviceType.getCode())) {
                existingDevice.setDeviceType(deviceType.getCode());
                needUpdate = true;
            }
            if (!Objects.equals(existingDevice.getDeviceSn(), deviceSn)) {
                existingDevice.setDeviceSn(deviceSn);
                needUpdate = true;
            }
            if (!Objects.equals(existingDevice.getGateway(), gatewayId)) {
                existingDevice.setGateway(gatewayId);
                needUpdate = true;
            }

            // 检查并更新厂商字段
            String manufacturer = deviceName.startsWith("TH") ? "tuoheng" : "dajiang";
            if (!Objects.equals(existingDevice.getDeviceManufacturer(), manufacturer)) {
                existingDevice.setDeviceManufacturer(manufacturer);
                needUpdate = true;
            }

            if (needUpdate) {
                existingDevice.setUpdateBy("system");
                deviceDomain.updateDevice(existingDevice);
//                log.info("更新设备: iotDeviceId={}, deviceName={}, deviceType={}, manufacturer={}",
//                        iotDeviceId, deviceName, deviceType, manufacturer);
            }

            return existingDevice.getDeviceId();
        }
    }

    /**
     * 同步机场数据
     * 逻辑：
     * 1. 如果是新插入的机场，需要将其插入到默认分组（ID=0）
     * 2. 如果默认分组不存在，需要先创建默认分组
     * 3. 如果是已存在的机场，检查机场是否在任何分组中，如果不在，将其插入默认分组
     *
     * @param deviceId 设备主键ID
     * @param deviceName 设备名称
     */
    private void syncDock(Long deviceId, String deviceName) {
//        log.info("开始同步机场: deviceId={}, deviceName={}", deviceId, deviceName);

        // 查询机场是否已存在
        Dock existingDock = dockDomain.selectDockByDeviceId(deviceId);
        boolean isNewDock = (existingDock == null);
        Long dockId;

        if (isNewDock) {
            // 机场不存在，插入新机场
            Dock newDock = new Dock();
            newDock.setDockName(deviceName);
            newDock.setDeviceId(deviceId);
            newDock.setCreateBy("system");

//            log.info("准备插入新机场: deviceId={}, dockName={}", deviceId, deviceName);
            dockDomain.insertDock(newDock);
            dockId = newDock.getDockId();
//            log.info("插入新机场成功: deviceId={}, dockName={}, dockId={}",
//                    deviceId, deviceName, dockId);
        } else {
            dockId = existingDock.getDockId();
//            log.info("机场已存在: deviceId={}, dockName={}, dockId={}", deviceId, deviceName, dockId);
        }

        // 确保默认分组存在
        ensureDefaultGroupExists();

        // 检查机场是否在任何分组中
        List<DockGroup> dockGroups = dockGroupDomain.selectDockGroupByDockId(dockId);

        if (dockGroups == null || dockGroups.isEmpty()) {
            // 机场不在任何分组中，将其插入默认分组
            insertDockToDefaultGroup(dockId, deviceName);
        } else {
//            log.info("机场已在分组中: dockId={}, 分组数量={}", dockId, dockGroups.size());
        }
    }

    /**
     * 同步无人机数据
     *
     * @param deviceId 设备主键ID
     * @param deviceName 设备名称
     * @return 无人机主键ID
     */
    private Long syncAircraft(Long deviceId, String deviceName) {
//        log.info("开始同步无人机: deviceId={}, deviceName={}", deviceId, deviceName);

        // 查询无人机是否已存在
        Aircraft existingAircraft = aircraftDomain.selectAircraftByDeviceId(deviceId);

        if (existingAircraft == null) {
            // 无人机不存在，插入新无人机
            Aircraft newAircraft = new Aircraft();
            newAircraft.setAircraftName(deviceName);
            newAircraft.setDeviceId(deviceId);
            newAircraft.setCreateBy("system");

//            log.info("准备插入新无人机: deviceId={}, aircraftName={}", deviceId, deviceName);
            aircraftDomain.insertAircraft(newAircraft);

            Long aircraftId = newAircraft.getAircraftId();
//            log.info("插入新无人机成功: deviceId={}, aircraftName={}, aircraftId={}",
//                    deviceId, deviceName, aircraftId);

            // 新插入的无人机，直接返回 aircraftId，不需要处理 PSDK 设备
            return aircraftId;
        }

        // 无人机已存在，记录日志
//        log.info("无人机已存在: deviceId={}, aircraftName={}, aircraftId={}",
//                deviceId, deviceName, existingAircraft.getAircraftId());

        Device device = deviceDomain.selectDeviceByDeviceId(deviceId);
        TelemetryMap telemetryMap = iThingsBoardDomain.getPredefinedDeviceTelemetry(device.getIotDeviceId());

        Optional<TelemetryValue<List<PsdkDevice>>>
                psdkDevicesOption = telemetryMap.get(DeviceTelemetry.PSDK_WIDGET_VALUES);

        if(psdkDevicesOption.isPresent()) {
            List<PsdkDevice>  psdkDevices = psdkDevicesOption.get().getValue();
            if(!CollectionUtils.isEmpty(psdkDevices)) {
                for (PsdkDevice psdkDevice : psdkDevices) {
                    if(Objects.nonNull(psdkDevice.getSpeaker()) &&
                    Objects.nonNull(psdkDevice.getPsdk_sn()) && !psdkDevice.getPsdk_sn().isEmpty()) {
//                        log.info("开始同步PSDK喊话器设备: psdkSn={}, psdkName={}",
//                                psdkDevice.getPsdk_sn(), psdkDevice.getPsdk_name());

                        // 第一步：同步挂载设备（喊话器）
                        Payload payload = new Payload();
                        payload.setPayloadSn(psdkDevice.getPsdk_sn());
                        List<Payload> payloads = payloadDomain.selectPayloadList(payload);

                        if(CollectionUtils.isEmpty(payloads)) {
                            // 挂载不存在，插入新挂载
                            payload.setPayloadName(psdkDevice.getPsdk_name());
                            payload.setPayloadDisplayName("喊话器");
                            payload.setPayloadType(PayloadTypeEnum.SPEAKER.getCode());
                            payload.setCreateBy("system");
                            payloadDomain.insertPayload(payload);
//                            log.info("插入新挂载设备: payloadSn={}, payloadName={}, payloadId={}",
//                                    psdkDevice.getPsdk_sn(), psdkDevice.getPsdk_name(), payload.getPayloadId());
                        } else {
                            // 挂载已存在，使用已有的挂载
                            payload = payloads.get(0);
//                            log.info("挂载设备已存在: payloadSn={}, payloadId={}",
//                                    psdkDevice.getPsdk_sn(), payload.getPayloadId());
                        }

                        // 第二步：同步无人机挂载关联表
                        Long payloadId = payload.getPayloadId();
                        Long aircraftId = existingAircraft.getAircraftId();

                        // 获取无人机关联的机场ID
                        Long dockId = getDockIdByAircraftId(aircraftId);

                        List<AircraftPayload> aircraftPayloads =
                                aircraftPayloadDomain.selectAircraftPayloadByPayloadId(payloadId);

                        if(!CollectionUtils.isEmpty(aircraftPayloads)) {
                            // 关联已存在，检查是否需要更新
                            AircraftPayload existingRelation = aircraftPayloads.get(0);
                            boolean needUpdate = false;

                            if(!Objects.equals(existingRelation.getAircraftId(), aircraftId)) {
                                existingRelation.setAircraftId(aircraftId);
                                needUpdate = true;
                            }

                            if(!Objects.equals(existingRelation.getDockId(), dockId)) {
                                existingRelation.setDockId(dockId);
                                needUpdate = true;
                            }

                            if(needUpdate) {
                                existingRelation.setUpdateBy("system");
                                aircraftPayloadDomain.updateAircraftPayload(existingRelation);
//                                log.info("更新无人机挂载关联: aircraftId={}, payloadId={}, dockId={}",
//                                        aircraftId, payloadId, dockId);
                            } else {
//                                log.info("无人机挂载关联无需更新: aircraftId={}, payloadId={}",
//                                        aircraftId, payloadId);
                            }
                        } else {
                            // 关联不存在，插入新关联
                            AircraftPayload newRelation = new AircraftPayload();
                            newRelation.setAircraftId(aircraftId);
                            newRelation.setPayloadId(payloadId);
                            newRelation.setDockId(dockId);
                            newRelation.setCreateBy("system");
                            aircraftPayloadDomain.insertAircraftPayload(newRelation);
//                            log.info("插入无人机挂载关联: aircraftId={}, payloadId={}, dockId={}",
//                                    aircraftId, payloadId, dockId);
                        }
                    }
                }
            }
        }


        // 无人机已存在，无需更新
        return existingAircraft.getAircraftId();
    }

    /**
     * 根据设备SN号查找设备
     *
     * @param deviceSn 设备SN号
     * @return 设备信息
     */
    private Device findDeviceBySn(String deviceSn) {
        Device queryDevice = new Device();
        queryDevice.setDeviceSn(deviceSn);
        List<Device> devices = deviceDomain.selectDeviceList(queryDevice);
        return (devices != null && !devices.isEmpty()) ? devices.get(0) : null;
    }

    /**
     * 根据无人机ID获取关联的机场ID
     *
     * @param aircraftId 无人机主键ID
     * @return 机场主键ID，如果没有关联则返回null
     */
    private Long getDockIdByAircraftId(Long aircraftId) {
        List<DockAircraft> dockAircrafts = dockAircraftDomain.selectDockAircraftByAircraftId(aircraftId);
        if (dockAircrafts != null && !dockAircrafts.isEmpty()) {
            Long dockId = dockAircrafts.get(0).getDockId();
            log.debug("无人机 {} 关联的机场ID: {}", aircraftId, dockId);
            return dockId;
        }
        log.debug("无人机 {} 没有关联的机场", aircraftId);
        return null;
    }

    /**
     * 同步机场无人机关联数据
     * 按照一个机场只会挂载一台无人机的逻辑进行处理
     *
     * @param dockDeviceId 机场设备主键ID
     * @param aircraftDeviceId 无人机设备主键ID
     */
    private void syncDockAircraft(Long dockDeviceId, Long aircraftDeviceId) {
//        log.info("开始同步机场无人机关联: dockDeviceId={}, aircraftDeviceId={}", dockDeviceId, aircraftDeviceId);

        // 获取机场主键
        Dock dock = dockDomain.selectDockByDeviceId(dockDeviceId);
        if (dock == null) {
            log.warn("机场不存在，无法同步机场无人机关联: dockDeviceId={}", dockDeviceId);
            return;
        }
//        log.info("找到机场: dockId={}, dockName={}", dock.getDockId(), dock.getDockName());

        // 获取无人机主键
        Aircraft aircraft = aircraftDomain.selectAircraftByDeviceId(aircraftDeviceId);
        if (aircraft == null) {
            log.warn("无人机不存在，无法同步机场无人机关联: aircraftDeviceId={}", aircraftDeviceId);
            return;
        }

        Long dockId = dock.getDockId();
        Long aircraftId = aircraft.getAircraftId();

        // 查询该机场是否已有关联
        List<DockAircraft> existingRelations = dockAircraftDomain.selectDockAircraftByDockId(dockId);

        if (existingRelations == null || existingRelations.isEmpty()) {
            // 机场没有关联，插入新关联
            DockAircraft newRelation = new DockAircraft();
            newRelation.setDockId(dockId);
            newRelation.setAircraftId(aircraftId);
            newRelation.setCreateBy("system");

            dockAircraftDomain.insertDockAircraft(newRelation);
//            log.info("插入机场无人机关联: dockId={}, aircraftId={}", dockId, aircraftId);
        } else {
            // 机场已有关联，检查是否需要更新
            DockAircraft existingRelation = existingRelations.get(0);
            if (!Objects.equals(existingRelation.getAircraftId(), aircraftId)) {
                // 无人机发生变化，更新关联
                existingRelation.setAircraftId(aircraftId);
                existingRelation.setUpdateBy("system");
                dockAircraftDomain.updateDockAircraft(existingRelation);
//                log.info("更新机场无人机关联: dockId=, aircraftId={}", dockId, aircraftId);
            }
        }
    }

    /**
     * 确保默认分组存在
     * 默认分组ID为0，名称为"默认分组"
     * 如果不存在则创建
     */
    private void ensureDefaultGroupExists() {
        Long defaultGroupId = 0L;
        Group defaultGroup = groupDomain.selectGroupByGroupId(defaultGroupId);

        if (defaultGroup == null) {
            // 默认分组不存在，创建默认分组
            Group newGroup = new Group();

            newGroup.setGroupName("默认分组");
            newGroup.setCreateBy("system");
            newGroup.setRemark("系统自动创建的默认分组，用于存放未分组的机场");

            groupDomain.insertGroup(newGroup);
//            log.info("创建默认分组成功: groupId={}, groupName={}", defaultGroupId, "默认分组");
        } else {
            log.debug("默认分组已存在: groupId={}, groupName={}", defaultGroupId, defaultGroup.getGroupName());
        }
    }

    /**
     * 将机场插入到默认分组
     *
     * @param dockId 机场主键ID
     * @param dockName 机场名称（用于日志）
     */
    private void insertDockToDefaultGroup(Long dockId, String dockName) {
        Long defaultGroupId = 0L;

        DockGroup newDockGroup = new DockGroup();
        newDockGroup.setDockId(dockId);
        newDockGroup.setGroupId(defaultGroupId);
        newDockGroup.setCreateBy("system");
        newDockGroup.setRemark("系统自动添加到默认分组");

        dockGroupDomain.insertDockGroup(newDockGroup);
//        log.info("将机场添加到默认分组: dockId={}, dockName={}, groupId={}",
//                dockId, dockName, defaultGroupId);
    }

    /**
     * 同步拓恒设备（机场和无人机不区分类型，同时落三个表）
     *
     * @param deviceInfo 设备信息
     * @param gatewayId 网关ID
     */
    private void syncTuohengDevice(DeviceInfo deviceInfo, String gatewayId) {
        String deviceId = deviceInfo.getId();
        String deviceName = deviceInfo.getName(); // 这是SN号，如 THJSQ03B2410TGJ3MCJY

//        log.info("开始同步拓恒设备: deviceName(SN)={}", deviceName);

        try {
            // 获取拓恒设备属性
            AttributeMap attributes = iThingsBoardDomain.getPredefinedTuohengDeviceAttributes(deviceId);

            // 获取 airportID（机场和无人机的名称）
            Optional<String> airportIdOpt = attributes.get(TuohengDeviceAttributes.AIRPORT_ID);
            String airportId = airportIdOpt.orElse(deviceName); // 如果没有 airportID，使用设备名称

            // 获取固件版本
            Optional<String> firmwareVersionOpt = attributes.get(TuohengDeviceAttributes.HARDWARE_VERSION);
            String firmwareVersion = firmwareVersionOpt.orElse("");

//            log.info("拓恒设备属性: SN={}, airportID={}, firmwareVersion={}",
//                    deviceName, airportId, firmwareVersion);

            // 1. 同步到 device 表（作为机场）- 使用原始 SN
            Long dockDeviceId = syncTuohengDeviceAsType(deviceInfo, DeviceType.DOCK, gatewayId, deviceName);

            // 2. 同步到 device_dock 表
            syncTuohengDock(dockDeviceId, deviceName, airportId, firmwareVersion);

            // 3. 同步到 device 表（作为无人机）- 使用带后缀的 SN
            String aircraftSn = deviceName + "-AIRCRAFT";
            Long aircraftDeviceId = syncTuohengDeviceAsType(deviceInfo, DeviceType.AIRCRAFT, gatewayId, aircraftSn);

            // 4. 同步到 device_aircraft 表
            syncTuohengAircraft(aircraftDeviceId, deviceName, airportId, firmwareVersion);

            // 5. 同步到 device_dock_aircraft 表（建立机场-无人机关联）
            syncDockAircraft(dockDeviceId, aircraftDeviceId);

//            log.info("拓恒设备同步完成: SN={}, dockDeviceId={}, aircraftDeviceId={}",
//                    deviceName, dockDeviceId, aircraftDeviceId);

        } catch (Exception e) {
            log.error("同步拓恒设备失败: deviceName={}, error={}", deviceName, e.getMessage(), e);
            throw e;
        }
    }

    /**
     * 同步拓恒设备到 device 表（指定设备类型和 SN）
     *
     * @param deviceInfo ThingsBoard设备信息
     * @param deviceType 设备类型
     * @param gatewayId 网关设备ID
     * @param deviceSn 设备SN号（可自定义）
     * @return 设备主键ID
     */
    private Long syncTuohengDeviceAsType(DeviceInfo deviceInfo, DeviceType deviceType, String gatewayId, String deviceSn) {
        String iotDeviceId = deviceInfo.getId();
        String deviceName = deviceInfo.getName();

//        log.info("开始同步拓恒设备到device表: iotDeviceId={}, deviceName={}, deviceType={}, deviceSn={}, gatewayId={}",
//                iotDeviceId, deviceName, deviceType, deviceSn, gatewayId);

        // 查询设备是否已存在（通过 iotDeviceId + deviceType 组合查询）
        Device queryDevice = new Device();
        queryDevice.setIotDeviceId(iotDeviceId);
        queryDevice.setDeviceType(deviceType.getCode());
        List<Device> existingDevices = deviceDomain.selectDeviceList(queryDevice);
        Device existingDevice = (existingDevices != null && !existingDevices.isEmpty()) ? existingDevices.get(0) : null;

        // 如果通过 iotDeviceId + deviceType 未找到，再检查 device_sn 是否已存在
        if (existingDevice == null) {
            Device existingDeviceBySn = deviceDomain.selectDeviceByDeviceSn(deviceSn);
            if (existingDeviceBySn != null) {
                log.warn("拓恒设备SN已存在但iotDeviceId或deviceType不同: deviceSn={}, existingIotDeviceId={}, existingDeviceType={}, newIotDeviceId={}, newDeviceType={}",
                        deviceSn, existingDeviceBySn.getIotDeviceId(), existingDeviceBySn.getDeviceType(), iotDeviceId, deviceType.getCode());
                // 返回已存在的设备ID，避免重复插入
                return existingDeviceBySn.getDeviceId();
            }
        }

        if (existingDevice == null) {
            // 设备不存在，使用分布式锁防止并发插入
            String lockKey = "device:sync:lock:" + deviceSn;
            String lockValue = UUID.randomUUID().toString();

            // 尝试获取锁
            boolean locked = tryLock(lockKey, lockValue, 10);
            if (!locked) {
                log.warn("获取拓恒设备同步锁失败，可能有其他线程正在同步该设备: deviceSn={}", deviceSn);
                // 等待后重新查询
                try {
                    Thread.sleep(100);
                } catch (InterruptedException e) {
                    Thread.currentThread().interrupt();
                }
                Device retryDevice = deviceDomain.selectDeviceByDeviceSn(deviceSn);
                if (retryDevice != null) {
//                    log.info("重新查询到拓恒设备: deviceSn={}, deviceId={}", deviceSn, retryDevice.getDeviceId());
                    return retryDevice.getDeviceId();
                }
                log.error("获取锁失败且重新查询也未找到拓恒设备: deviceSn={}", deviceSn);
                return null;
            }

            try {
                // 双重检查
                Device doubleCheckDevice = deviceDomain.selectDeviceByDeviceSn(deviceSn);
                if (doubleCheckDevice != null) {
//                    log.info("双重检查发现拓恒设备已存在: deviceSn={}, deviceId={}", deviceSn, doubleCheckDevice.getDeviceId());
                    return doubleCheckDevice.getDeviceId();
                }

                // 插入新设备
                Device newDevice = new Device();
                newDevice.setDeviceName(deviceName);
                newDevice.setIotDeviceId(iotDeviceId);
                newDevice.setDeviceType(deviceType.getCode());
                newDevice.setDeviceSn(deviceSn);
                newDevice.setGateway(gatewayId);
                newDevice.setDeviceManufacturer("tuoheng");
                newDevice.setCreateBy("system");

//                log.info("准备插入新拓恒设备: deviceName={}, deviceType={}, deviceSn={}, manufacturer=tuoheng",
//                        deviceName, deviceType, deviceSn);
                deviceDomain.insertDevice(newDevice);

                Long deviceId = newDevice.getDeviceId();
//                log.info("插入新拓恒设备成功: iotDeviceId={}, deviceName={}, deviceType={}, deviceSn={}, 返回deviceId={}",
//                        iotDeviceId, deviceName, deviceType, deviceSn, deviceId);
                return deviceId;
            } finally {
                // 释放锁
                releaseLock(lockKey, lockValue);
            }
        } else {
            // 设备已存在，检查是否需要更新
            boolean needUpdate = false;

            if (!Objects.equals(existingDevice.getDeviceName(), deviceName)) {
                existingDevice.setDeviceName(deviceName);
                needUpdate = true;
            }
            if (!Objects.equals(existingDevice.getDeviceSn(), deviceSn)) {
                existingDevice.setDeviceSn(deviceSn);
                needUpdate = true;
            }
            if (!Objects.equals(existingDevice.getGateway(), gatewayId)) {
                existingDevice.setGateway(gatewayId);
                needUpdate = true;
            }

            if (needUpdate) {
                existingDevice.setUpdateBy("system");
                deviceDomain.updateDevice(existingDevice);
//                log.info("更新拓恒设备: iotDeviceId={}, deviceName={}, deviceType={}, deviceSn={}",
//                        iotDeviceId, deviceName, deviceType, deviceSn);
            }

            return existingDevice.getDeviceId();
        }
    }

    /**
     * 同步拓恒机场数据
     *
     * @param deviceId 设备主键ID
     * @param sn 设备SN号（设备名称）
     * @param airportId 机场ID（airportID属性）
     * @param firmwareVersion 固件版本
     */
    private void syncTuohengDock(Long deviceId, String sn, String airportId, String firmwareVersion) {
//        log.info("开始同步拓恒机场: deviceId={}, SN={}, airportID={}", deviceId, sn, airportId);

        // 查询机场是否已存在
        Dock existingDock = dockDomain.selectDockByDeviceId(deviceId);
        Long dockId;

        if (existingDock == null) {
            // 机场不存在，插入新机场
            Dock newDock = new Dock();
            newDock.setDockName(airportId); // 使用 airportID 作为机场名称
            newDock.setDeviceId(deviceId);
            newDock.setCreateBy("system");

//            log.info("准备插入新拓恒机场: deviceId={}, dockName={}, SN={}", deviceId, airportId, sn);
            dockDomain.insertDock(newDock);
            dockId = newDock.getDockId();
//            log.info("插入新拓恒机场成功: dockId={}", dockId);
        } else {
            dockId = existingDock.getDockId();
//            log.info("拓恒机场已存在: deviceId={}, dockId={}", deviceId, dockId);
        }

        // 确保默认分组存在
        ensureDefaultGroupExists();

        // 检查机场是否在任何分组中（无论新旧机场都检查）
        List<DockGroup> dockGroups = dockGroupDomain.selectDockGroupByDockId(dockId);

        if (dockGroups == null || dockGroups.isEmpty()) {
            // 机场不在任何分组中，将其插入默认分组
            insertDockToDefaultGroup(dockId, airportId);
        } else {
//            log.info("拓恒机场已在分组中: dockId={}, 分组数量={}", dockId, dockGroups.size());
        }
    }

    /**
     * 同步拓恒无人机数据
     *
     * @param deviceId 设备主键ID
     * @param sn 设备SN号（设备名称）
     * @param airportId 机场ID（airportID属性）
     * @param firmwareVersion 固件版本
     * @return 无人机主键ID
     */
    private Long syncTuohengAircraft(Long deviceId, String sn, String airportId, String firmwareVersion) {
//        log.info("开始同步拓恒无人机: deviceId={}, SN={}, airportID={}", deviceId, sn, airportId);

        if (deviceId == null) {
            log.error("同步拓恒无人机失败: deviceId 为 null, SN={}", sn);
            return null;
        }

        // 查询无人机是否已存在
        Aircraft existingAircraft = aircraftDomain.selectAircraftByDeviceId(deviceId);

        if (existingAircraft == null) {
            // 无人机不存在，插入新无人机
            Aircraft newAircraft = new Aircraft();
            newAircraft.setAircraftName(airportId); // 使用 airportID 作为无人机名称
            newAircraft.setDeviceId(deviceId);
            newAircraft.setCreateBy("system");

//            log.info("准备插入新拓恒无人机: deviceId={}, aircraftName={}, SN={}", deviceId, airportId, sn);
            aircraftDomain.insertAircraft(newAircraft);

            Long aircraftId = newAircraft.getAircraftId();
//            log.info("插入新拓恒无人机成功: deviceId={}, aircraftId={}", deviceId, aircraftId);
            return aircraftId;
        } else {
//            log.info("拓恒无人机已存在: deviceId={}, aircraftId={}", deviceId, existingAircraft.getAircraftId());
            return existingAircraft.getAircraftId();
        }
    }
}