package com.ruoyi.app.application.service.impl;

import java.math.BigDecimal;
import java.util.*;
import java.util.stream.Collectors;

import com.ruoyi.app.position.appcontainer.AppContainer;
import com.ruoyi.app.position.domain.ArdAppPosition;
import com.ruoyi.app.position.mapper.ArdAppPositionMapper;
import com.ruoyi.common.core.domain.entity.SysConfig;
import com.ruoyi.common.core.domain.entity.SysRole;
import com.ruoyi.common.core.domain.entity.SysUser;
import com.ruoyi.common.utils.uuid.IdUtils;
import com.ruoyi.sy.domain.ArdSyUser;
import com.ruoyi.sy.mapper.ArdSyCarMapper;
import com.ruoyi.sy.mapper.ArdSyUserMapper;
import com.ruoyi.system.mapper.SysConfigMapper;
import com.ruoyi.system.mapper.SysDeptMapper;
import com.ruoyi.system.mapper.SysRoleMapper;
import com.ruoyi.system.mapper.SysUserMapper;
import com.ruoyi.utils.forest.SYClient;
import com.ruoyi.utils.gis.GisUtil;
import com.ruoyi.utils.websocket.util.WebSocketUtils;
import org.apache.commons.codec.digest.DigestUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;

import com.ruoyi.common.utils.StringUtils;
import com.ruoyi.common.utils.SecurityUtils;
import com.ruoyi.app.application.mapper.ArdAppApplicationMapper;
import com.ruoyi.app.application.domain.ArdAppApplication;
import com.ruoyi.app.application.service.IArdAppApplicationService;

import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import javax.websocket.Session;

import static com.ruoyi.utils.websocket.util.WebSocketUtils.ONLINE_USER_SESSIONS;

/**
 * 单兵端申请查看指挥端位置或三一车辆位置Service业务层处理
 *
 * @author ard
 * @date 2024-01-25
 */
@Service
public class ArdAppApplicationServiceImpl implements IArdAppApplicationService {
    @Resource
    private ArdAppApplicationMapper ardAppApplicationMapper;

    @Resource
    private SysRoleMapper sysRoleMapper;

    @Resource
    private SysUserMapper userMapper;

    @Resource
    private SysDeptMapper sysDeptMapper;

    @Resource
    private ArdAppPositionMapper ardAppPositionMapper;

    @Resource
    private ArdSyUserMapper ardSyUserMapper;

    @Resource
    private SysConfigMapper sysConfigMapper;

    @Resource
    private ArdSyCarMapper ardSyCarMapper;

    @Resource
    private SYClient sYClient;

    @Value("${minio.endpoint}")
    private String minioEndpoint;

    private Map<String,Thread> threadMap = new HashMap();

    @PostConstruct
    public void init(){
        ArdAppApplication para = new ArdAppApplication();
        para.setState("1");//查询同意的申请
        List<ArdAppApplication> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationList(para);
        Date date = new Date();
        Long now = date.getTime();
        for(ArdAppApplication ardAppApplication : ardAppApplicationList){
            Long begin = Long.parseLong(ardAppApplication.getBegin());
            //判断是否超时
            if(now - begin <= 24*60*60*1000){//未超时从新创建线程
                String key = ardAppApplication.getCommanderId() + "," + ardAppApplication.getSoilderId() + "," + ardAppApplication.getApplicationType();
                Thread thread = new Thread(key){//创建线程计时剩余时长
                    @Override
                    public void run() {
                        try {
                            Thread.sleep(24*60*60*1000 - (now - begin));//剩余时长
                        } catch (InterruptedException e) {
                            e.printStackTrace();
                            return;
                        }
                        Thread currentThread = Thread.currentThread();
                        String state = "000";//state为000，即超时
                        String commanderId = currentThread.getName().split(",")[0];
                        String soilderId = currentThread.getName().split(",")[1];
                        String applicationType = currentThread.getName().split(",")[2];
                        int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,"",state);
                        threadMap.remove(currentThread.getName());
                    }
                };
                thread.start();
                this.threadMap.put(key,thread);
            }else{//超时更改状态
                String state = "000";//state为000，即超时
                String commanderId = ardAppApplication.getCommanderId();
                String soilderId = ardAppApplication.getSoilderId();
                String applicationType = ardAppApplication.getApplicationType();
                int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,"",state);
            }
        }
    }

    /**
     * 查询单兵端申请查看指挥端位置或三一车辆位置
     *
     * @param soilderId 单兵端申请查看指挥端位置或三一车辆位置主键
     * @return 单兵端申请查看指挥端位置或三一车辆位置
     */
    @Override
    public ArdAppApplication selectArdAppApplicationBySoilderId(String soilderId) {
        return ardAppApplicationMapper.selectArdAppApplicationBySoilderId(soilderId);
    }

    /**
     * 查询单兵端申请查看指挥端位置或三一车辆位置列表
     *
     * @param ardAppApplication 单兵端申请查看指挥端位置或三一车辆位置
     * @return 单兵端申请查看指挥端位置或三一车辆位置
     */
    @Override
    public List<ArdAppApplication> selectArdAppApplicationList(ArdAppApplication ardAppApplication) {
        return ardAppApplicationMapper.selectArdAppApplicationList(ardAppApplication);
    }

    /**
     * 新增单兵端申请查看指挥端位置或三一车辆位置
     *
     * @param ardAppApplication 单兵端申请查看指挥端位置或三一车辆位置
     * @return 结果
     */
    @Override
    public int insertArdAppApplication(ArdAppApplication ardAppApplication) {
            return ardAppApplicationMapper.insertArdAppApplication(ardAppApplication);
    }

    /**
     * 修改单兵端申请查看指挥端位置或三一车辆位置
     *
     * @param ardAppApplication 单兵端申请查看指挥端位置或三一车辆位置
     * @return 结果
     */
    @Override
    public int updateArdAppApplication(ArdAppApplication ardAppApplication) {
        return ardAppApplicationMapper.updateArdAppApplication(ardAppApplication);
    }

    /**
     * 批量删除单兵端申请查看指挥端位置或三一车辆位置
     *
     * @param soilderIds 需要删除的单兵端申请查看指挥端位置或三一车辆位置主键
     * @return 结果
     */
    @Override
    public int deleteArdAppApplicationBySoilderIds(String[] soilderIds) {
        return ardAppApplicationMapper.deleteArdAppApplicationBySoilderIds(soilderIds);
    }

    /**
     * 删除单兵端申请查看指挥端位置或三一车辆位置信息
     *
     * @param soilderId 单兵端申请查看指挥端位置或三一车辆位置主键
     * @return 结果
     */
    @Override
    public int deleteArdAppApplicationBySoilderId(String soilderId) {
        return ardAppApplicationMapper.deleteArdAppApplicationBySoilderId(soilderId);
    }

    @Override
    public int sendCheckCommandersPosition(String usersId, Map<String, Object> para) {
        String reason = (String) para.get("reason");
        List<String> usersIdList = (List<String>) para.get("usersIdList");
        int result = 0;
        for(String commanderId : usersIdList){
            ArdAppApplication ardAppApplication = new ArdAppApplication();
            ardAppApplication.setCommanderId(commanderId);
            ardAppApplication.setSoilderId(usersId);
            ardAppApplication.setReason(reason);
            ardAppApplication.setApplicationType("Commander");
            ardAppApplication.setBegin("");
            ardAppApplication.setState("0");
            ardAppApplication.setSoilderCheck("true");//指挥端未审批也设为true,不需要单兵端查看
            int resultSingle = ardAppApplicationMapper.updateArdAppApplicationByCommanderIdAndSoilderIdAndType(ardAppApplication);
            result = result + resultSingle;
            if(resultSingle == 0){
                ardAppApplication.setApplicationId(IdUtils.simpleUUID());
                resultSingle = ardAppApplicationMapper.insertArdAppApplication(ardAppApplication);
                result = result + resultSingle;
            }
        }
        return result;
    }

    @Override
    public int sendCheckSYCarsPosition(String usersId, Map<String, Object> para) {
        String reason = (String) para.get("reason");
        List<String> usersIdList = (List<String>) para.get("usersIdList");
        int result = 0;
        for(String commanderId : usersIdList){
            ArdAppApplication ardAppApplication = new ArdAppApplication();
            ardAppApplication.setCommanderId(commanderId);
            ardAppApplication.setSoilderId(usersId);
            ardAppApplication.setReason(reason);
            ardAppApplication.setApplicationType("SYCar");
            ardAppApplication.setBegin("");
            ardAppApplication.setState("0");
            ardAppApplication.setSoilderCheck("true");//指挥端未审批也设为true,不需要单兵端查看
            int resultSingle = ardAppApplicationMapper.updateArdAppApplicationByCommanderIdAndSoilderIdAndType(ardAppApplication);
            result = result + resultSingle;
            if(resultSingle == 0){
                ardAppApplication.setApplicationId(IdUtils.simpleUUID());
                resultSingle = ardAppApplicationMapper.insertArdAppApplication(ardAppApplication);
                result = result + resultSingle;
            }
            //加入给pc端websocket转发
            List<SysRole> sysRoleList = sysRoleMapper.selectRolePermissionByUserId(commanderId);
            for(SysRole sysRole : sysRoleList){
                if(!sysRole.getRoleKey().equals("appLeader")){
                    Map<String,Object> resultMap = ardAppApplicationMapper.selectSYCarApplicationByPCIdAndSoilderId(commanderId,usersId);
                    Map<String,Map<String,Object>> msg = new HashMap();
                    msg.put("60000",resultMap);
                    for(String id : ONLINE_USER_SESSIONS.keySet()){
                        if(id.startsWith(commanderId)){
                            Session session = ONLINE_USER_SESSIONS.get(id);
                            WebSocketUtils.sendMessage(session,msg);
                            break;
                        }
                    }
                    break;//一个pc端用户可能挂接多个角色，每个pc端只转发一次
                }
            }
        }
        return result;
    }

    @Override
    public Map<String, List<Map<String, Object>>> getCheckPosition(String usersId) {
        Map<String, List<Map<String, Object>>> result = new HashMap();
        List<Map<String,Object>> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationByCommanderId(usersId);
        //查看指挥端位置申请
        List<Map<String, Object>> resultCommanderPosition = new ArrayList();
        for(Map<String, Object> map : ardAppApplicationList){
            if(((String)map.get("applicationType")).equals("Commander")){
                resultCommanderPosition.add(map);
            }
        }
        //查看车辆位置申请
        List<Map<String, Object>> resultSYCarsPosition = new ArrayList();
        for(Map<String, Object> map : ardAppApplicationList){
            if(((String)map.get("applicationType")).equals("SYCar")){
                resultSYCarsPosition.add(map);
            }
        }
        result.put("commander",resultCommanderPosition);
        result.put("SYCars",resultSYCarsPosition);
        return result;
    }

    @Override
    public int approvalCheckPosition(String commanderId, Map<String, String> para) {
        String applicationType = para.get("applicationType");
        String soilderId = para.get("soilderId");
        String state = para.get("state");
        String begin = "";
        if(state.equals("1")){//state为1，即同意
            begin = String.valueOf(new Date().getTime());//设置开始时间
            int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,begin,state);
            String key = commanderId + "," + soilderId + "," + applicationType;
            Thread thread = new Thread(key){//创建线程计时24小时
                @Override
                public void run() {
                    try {
                        Thread.sleep(24*60*60*1000);
                        //Thread.sleep(3*60*1000);
                    } catch (InterruptedException e) {
                        e.printStackTrace();
                        return;
                    }
                    Thread currentThread = Thread.currentThread();
                    String state = "000";//state为000，即超时
                    String commanderId = currentThread.getName().split(",")[0];
                    String soilderId = currentThread.getName().split(",")[1];
                    String applicationType = currentThread.getName().split(",")[2];
                    int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,"",state);
                    threadMap.remove(currentThread.getName());
                }
            };
            thread.start();
            this.threadMap.put(key,thread);
            return result;
        }else if(state.equals("-1")){//state为1，即驳回
            int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,"",state);
            return result;
        }else if(state.equals("00")){//state为00，即撤销
            String key = commanderId + "," + soilderId + "," + applicationType;
            try{
                this.threadMap.get(key).interrupt();//撤销后线程销毁
            }catch(Exception e){
                e.printStackTrace();
            }
            this.threadMap.remove(key);
            int result = ardAppApplicationMapper.updateArdAppApplicationBeginByCommanderIdAndSoilderIdAndType(commanderId,soilderId,applicationType,"",state);
            return result;
        }
        return 0;
    }

    @Override
    public Map<String, List<Map<String, Object>>> getCheckPositionTrue(String commanderId) {
        Map<String, List<Map<String, Object>>> result = new HashMap();
        List<Map<String,Object>> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationByCommanderIdTrue(commanderId);
        Date date = new Date();
        //查看指挥端位置申请
        List<Map<String, Object>> resultCommanderPosition = new ArrayList();
        //查看车辆位置申请
        List<Map<String, Object>> resultSYCarsPosition = new ArrayList();
        for(Map<String, Object> map : ardAppApplicationList){
            Long interval = date.getTime() - Long.parseLong((String)map.get("begin"));
            interval = 24 * 60 * 60 * 1000 - interval;
            Long hour = interval / (60 * 60 * 1000);
            Long min = (interval - hour * 60 * 60 * 1000) / (60 * 1000);
            Long second = (interval - hour * 60 * 60 * 1000 - min * 60 * 1000) / 1000;
            map.put("time",hour + "时" + min + "分" + second + "秒");
            if(((String)map.get("applicationType")).equals("Commander")){
                resultCommanderPosition.add(map);
            }else if(((String)map.get("applicationType")).equals("SYCar")){
                resultSYCarsPosition.add(map);
            }
        }
        result.put("commander",resultCommanderPosition);
        result.put("SYCars",resultSYCarsPosition);
        return result;
    }

    @Override
    public Map<String, List<Map<String, Object>>> getSendPositionTrue(String soilderId) {
        Map<String, List<Map<String, Object>>> result = new HashMap();
        List<Map<String,Object>> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationBySoilderIdTrue(soilderId);
        Date date = new Date();
        //查看指挥端位置申请
        List<Map<String, Object>> resultCommanderPosition = new ArrayList();
        //查看车辆位置申请
        List<Map<String, Object>> resultSYCarsPosition = new ArrayList();
        for(Map<String, Object> map : ardAppApplicationList){
            Long interval = date.getTime() - Long.parseLong((String)map.get("begin"));
            interval = 24 * 60 * 60 * 1000 - interval;
            Long hour = interval / (60 * 60 * 1000);
            Long min = (interval - hour * 60 * 60 * 1000) / (60 * 1000);
            Long second = (interval - hour * 60 * 60 * 1000 - min * 60 * 1000) / 1000;
            map.put("time",hour + "时" + min + "分" + second + "秒");
            if(((String)map.get("applicationType")).equals("Commander")){
                resultCommanderPosition.add(map);
            }else if(((String)map.get("applicationType")).equals("SYCar")){
                resultSYCarsPosition.add(map);
            }
        }
        result.put("commander",resultCommanderPosition);
        result.put("SYCars",resultSYCarsPosition);
        return result;
    }

    @Override
    public Map<String, List<Map<String, Object>>> getCheckPositionOwn(String soilderId) {
        Map<String, List<Map<String, Object>>> result = new HashMap();
        List<Map<String,Object>> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationBySoilderIdFalse(soilderId);
        Date date = new Date();
        //查看指挥端位置申请
        List<Map<String, Object>> resultCommanderPosition = new ArrayList();
        //查看车辆位置申请
        List<Map<String, Object>> resultSYCarsPosition = new ArrayList();
        for(Map<String, Object> map : ardAppApplicationList){
            /*if(((String)map.get("state")).equals("1")){
                Long interval = date.getTime() - Long.parseLong((String)map.get("begin"));
                interval = 24 * 60 * 60 * 1000 - interval;
                Long hour = interval / (60 * 60 * 1000);
                Long min = (interval - hour * 60 * 60 * 1000) / (60 * 1000);
                map.put("time",hour + "时" + min + "分");
                if(((String)map.get("applicationType")).equals("Commander")){
                    resultCommanderPosition.add(map);
                }else if(((String)map.get("applicationType")).equals("SYCar")){
                    resultSYCarsPosition.add(map);
                }
            }else{
                map.put("time","");
                if(((String)map.get("applicationType")).equals("Commander")){
                    resultCommanderPosition.add(map);
                }else if(((String)map.get("applicationType")).equals("SYCar")){
                    resultSYCarsPosition.add(map);
                }
            }*/
            if(((String)map.get("applicationType")).equals("Commander")){
                resultCommanderPosition.add(map);
            }else if(((String)map.get("applicationType")).equals("SYCar")){
                resultSYCarsPosition.add(map);
            }
        }
        result.put("commander",resultCommanderPosition);
        result.put("SYCars",resultSYCarsPosition);
        return result;
    }

    @Override
    public int approvalCheckPositionOwn(String soilderId, Map<String, String> para) {
        String applicationType = para.get("applicationType");
        String commanderId = para.get("commanderId");
        int result = ardAppApplicationMapper.updateSoilderCheckByCommanderIdAndSoilderIdAndType(soilderId,commanderId,applicationType);
        return result;
    }

    @Override
    public List<Map<String, Object>> getCheckPositionNo(String commanderId) {///
        List<Map<String,Object>> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationByCommanderIdNoCheck(commanderId);
        Date date = new Date();
        for(Map<String, Object> map : ardAppApplicationList){
            if(((String)map.get("begin")).equals("")){
                map.put("time","");
            }else{
                Long interval = date.getTime() - Long.parseLong((String)map.get("begin"));
                interval = 24 * 60 * 60 * 1000 - interval;
                Long hour = interval / (60 * 60 * 1000);
                Long min = (interval - hour * 60 * 60 * 1000) / (60 * 1000);
                Long second = (interval - hour * 60 * 60 * 1000 - min * 60 * 1000) / 1000;
                map.put("time",hour + "时" + min + "分" + second + "秒");
            }
        }
        return ardAppApplicationList;
    }

    @Override
    public Map<String,Map<String,List<Map<String,Object>>>> getSoilderAndCarPositionByCommanderId(String commanderId,Map<String, Double> para) {
        Map<String,Map<String,List<Map<String,Object>>>> mapResault = new HashMap();
        SysUser sysUser = userMapper.selectUserById(commanderId);//获取系统用户
        List<Long> deptIdList = new ArrayList();
        deptIdList.add(sysUser.getDeptId());
        deptIdList = getOwnAndChildrenDeptIdList(deptIdList,new ArrayList());//递归查询下属部门主键
        List<SysUser> sysUsersResult = userMapper.getOwnAndChildrenSoilderListAll(deptIdList);
        List<SysUser> sysUsersResultOnline = sysUsersResult.stream().filter(sysUserTest -> sysUserTest.getAppOnlineState().equals("1")).collect(Collectors.toList());//在线用户
        List<SysUser> sysUsersResultOffline = sysUsersResult.stream().filter(sysUserTest -> !sysUserTest.getAppOnlineState().equals("1")).collect(Collectors.toList());//离线用户
        List<Map<String,Object>> sysUsersOnlineList = new ArrayList();
        List<Map<String,Object>> sysUsersOfflineList = new ArrayList();
        for(SysUser sysUserIn : sysUsersResultOnline){
            Map<String,Object> map = new HashMap();
            map.put("userId",sysUserIn.getUserId());
            map.put("deptId",sysUserIn.getDeptId());
            map.put("userName",sysUserIn.getUserName());
            map.put("nickName",sysUserIn.getNickName());
            try{
                map.put("longitude", AppContainer.getArdAppPositionMap().get(sysUserIn.getUserId()).getLongitude());
                map.put("latitude",AppContainer.getArdAppPositionMap().get(sysUserIn.getUserId()).getLatitude());
                map.put("altitude",AppContainer.getArdAppPositionMap().get(sysUserIn.getUserId()).getAltitude());
            }catch(Exception e){
                ArdAppPosition ardAppPosition = ardAppPositionMapper.getLastAPPPositionByUserId(sysUserIn.getUserId());
                map.put("longitude",ardAppPosition.getLongitude());
                map.put("latitude",ardAppPosition.getLatitude());
                map.put("altitude",ardAppPosition.getAltitude());
            }
            sysUsersOnlineList.add(map);
        }
        List<Map<String,Object>> sysUsersOnlineNearList = new ArrayList();//在200米内
        for(Map<String,Object> mapOn : sysUsersOnlineList){
            Double longitude = (Double) mapOn.get("longitude");
            Double latitude = (Double) mapOn.get("latitude");
            double distance = GisUtil.getDistance(para.get("longitude"),para.get("latitude"),longitude,latitude);
            if(distance <= 200){
                sysUsersOnlineNearList.add(mapOn);
            }
        }
        Map<String,List<Map<String,Object>>> appMap = new HashMap();
        appMap.put("onlineApp",sysUsersOnlineNearList);
        for(SysUser sysUserIn : sysUsersResultOffline){
            Map<String,Object> map = new HashMap();
            map.put("userId",sysUserIn.getUserId());
            map.put("deptId",sysUserIn.getDeptId());
            map.put("userName",sysUserIn.getUserName());
            map.put("nickName",sysUserIn.getNickName());
            sysUsersOfflineList.add(map);
        }
        appMap.put("offlineApp",sysUsersOfflineList);
        mapResault.put("app",appMap);

        ArdSyUser ardSyUserPara = new ArdSyUser();
        ardSyUserPara.setSysUserId(commanderId);
        List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(ardSyUserPara);//查询挂接的三一账号

        String syURL = "";
        List<SysConfig> sysConfigResult = sysConfigMapper.selectByType("syCarPT");
        if(sysConfigResult.size() > 0){
            syURL = sysConfigResult.get(0).getConfigValue();
        }

        if(ardSyUserList.size() == 0 || syURL.equals("")){
            List<Map<String,Object>> onlineCar = new ArrayList();
            List<Map<String,Object>> offlineCar = new ArrayList();
            Map<String,List<Map<String,Object>>> carMap = new HashMap();
            carMap.put("onlineCar",onlineCar);
            carMap.put("offlineCar",offlineCar);
            mapResault.put("car",carMap);
            return mapResault;
        }

        List<String> carIdList = ardSyCarMapper.selectArdSyCarByDeptIds(deptIdList);
        String carIds = "";
        for(String carId : carIdList){
            carIds = carIds + carId + ",";
        }
        carIds = carIds.substring(0,carIds.length() - 1);
        String passwordMd5 = DigestUtils.md5Hex(ardSyUserList.get(0).getPassword());
        Map<String,Object> syLoginResult = sYClient.logIn(syURL, passwordMd5, ardSyUserList.get(0).getUserId());
        String sessionId = (String) syLoginResult.get("sessionId");
        Map<String,Object> carNearPositionResult = sYClient.getCarNearPositionByCarId(syURL, carIds, ardSyUserList.get(0).getUserId(),sessionId);
        if(((String)carNearPositionResult.get("rspCode")).equals("1")){
            List<Map<String,Object>> SYCarPositionList = (List<Map<String, Object>>) carNearPositionResult.get("list");
            //筛选在线
            List<Map<String,Object>> onlineSYCarPositionList = SYCarPositionList.stream().filter(map -> ((String)map.get("stateCn")).startsWith("在线")).collect(Collectors.toList());
            //筛选200米范围内
            List<Map<String,Object>> onlineSYCarPositionNearList = new ArrayList();//在200米内
            for(Map<String,Object> mapOn : onlineSYCarPositionList){
                Double longitude = new BigDecimal((String) mapOn.get("lng")).doubleValue();
                Double latitude = new BigDecimal((String) mapOn.get("lat")).doubleValue();
                double distance = GisUtil.getDistance(para.get("longitude"),para.get("latitude"),longitude,latitude);
                if(distance <= 200){
                    mapOn.put("longitude",longitude);
                    mapOn.put("latitude",latitude);
                    onlineSYCarPositionNearList.add(mapOn);
                }
            }

            //for(Map<String,Object> sycar : onlineSYCarPositionList){
            for(Map<String,Object> sycar : onlineSYCarPositionNearList){
                Map<String,Object> map = ardSyCarMapper.getArdSyCarAndDeptByCarId((String)sycar.get("carId"));
                String carModel = this.minioEndpoint + "/" + (String) map.get("carModel");
                map.put("carModel",carModel);
                sycar.putAll(map);
            }
            //筛选离线
            List<Map<String,Object>> offlineSYCarPositionList = SYCarPositionList.stream().filter(map -> ((String)map.get("stateCn")).startsWith("离线")).collect(Collectors.toList());
            for(Map<String,Object> sycar : offlineSYCarPositionList){
                Map<String,Object> map = ardSyCarMapper.getArdSyCarAndDeptByCarId((String)sycar.get("carId"));
                String carModel = this.minioEndpoint + "/" + (String) map.get("carModel");
                map.put("carModel",carModel);
                sycar.putAll(map);
            }
            Map<String,List<Map<String,Object>>> carMap = new HashMap();
            //carMap.put("onlineCar",onlineSYCarPositionList);
            carMap.put("onlineCar",onlineSYCarPositionNearList);
            carMap.put("offlineCar",offlineSYCarPositionList);
            mapResault.put("car",carMap);
        }else{
            List<Map<String,Object>> onlineCar = new ArrayList();
            List<Map<String,Object>> offlineCar = new ArrayList();
            Map<String,List<Map<String,Object>>> carMap = new HashMap();
            carMap.put("onlineCar",onlineCar);
            carMap.put("offlineCar",offlineCar);
            mapResault.put("car",carMap);
            return mapResault;
        }

        return mapResault;
    }

    public List<Long> getOwnAndChildrenDeptIdList(List<Long> deptIdList,List<Long> deptIdListr){
        deptIdListr.addAll(deptIdList);
        List<Long> result = sysDeptMapper.getChildrenDeptIdList(deptIdList);
        if(result.size() != 0){
            deptIdListr.addAll(result);
            result = getOwnAndChildrenDeptIdList(result,deptIdListr);
        }
        deptIdListr = deptIdListr.stream().distinct().collect(Collectors.toList());
        return deptIdListr;
    }
}