MainWindow.xaml.cs

using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Text.Json;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Threading;

namespace dji_cloud_tool
{
    public partial class MainWindow : Window
    {
        private readonly MqttManager _mqttManager = new();
        private readonly DispatcherTimer _uiTimer = new();
        private readonly ConcurrentQueue<(string Topic, string Payload)> _incomingMessages = new();
        
        // Settings file path
        private readonly string _settingsPath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "dji_cloud_tool_config.json");

        // UI bound collections
        private readonly ObservableCollection<DeviceItem> _devices = new();
        private readonly ObservableCollection<MqttTopicItem> _topics = new();
        private readonly ObservableCollection<OsdTelemetryItem> _translations = new();
        private readonly ObservableCollection<OsdTelemetryItem> _filteredTranslations = new();
        private readonly ObservableCollection<MqttMessageItem> _logs = new();
        private readonly ObservableCollection<MqttMessageItem> _filteredLogs = new();
        private readonly ObservableCollection<DockDebugLogItem> _dockDebugLogs = new();
        
        // Active device states
        private readonly TelemetryDashboardViewModel _telemetryVm = new();
        private readonly Dictionary<string, Dictionary<string, string>> _deviceTelemetryStore = new();
        private readonly Dictionary<string, DateTime> _deviceHeartbeats = new();

        private DeviceItem? _selectedDevice;
        private MqttTopicItem? _selectedTopicFilter;
        private bool _isPaused = false;
        private MqttMessageItem? _lastDisplayedLog;

        public MainWindow()
        {
            InitializeComponent();
            
            // Set bindings
            TreeDevices.ItemsSource = _devices;
            ListTopics.ItemsSource = _topics;
            GridTranslations.ItemsSource = _filteredTranslations;
            GridLogs.ItemsSource = _filteredLogs;
            GridDockDebugLogs.ItemsSource = _dockDebugLogs;
            
            // Bind Telemetry Dashboard panel
            GridDockTelemetry.DataContext = _telemetryVm;
            GridDroneTelemetry.DataContext = _telemetryVm;

            // Initialize Event Subscriptions
            _mqttManager.ConnectionStatusChanged += MqttManager_ConnectionStatusChanged;
            _mqttManager.MessageReceived += MqttManager_MessageReceived;

            // Load Config
            LoadConfig();
            UpdateLogSnFilterCombo();
            UpdateDockSnCombo();

            // Set up UI Timer
            _uiTimer.Interval = TimeSpan.FromMilliseconds(500);
            _uiTimer.Tick += UiTimer_Tick;
            _uiTimer.Start();

            // Setup default publisher templates
            ComboPayloadTemplates.SelectedIndex = 0;
        }

        #region CONFIGURATION AND PERSISTENCE

        private void LoadConfig()
        {
            try
            {
                if (File.Exists(_settingsPath))
                {
                    string json = File.ReadAllText(_settingsPath);
                    var config = JsonSerializer.Deserialize<AppConfig>(json);
                    if (config != null)
                    {
                        TxtBroker.Text = config.Broker;
                        TxtPort.Text = config.Port.ToString();
                        TxtUsername.Text = config.Username;
                        TxtPassword.Password = config.Password;
                        TxtClientId.Text = config.ClientId;
                        ChkUseTls.IsChecked = config.UseTls;
                        ChkIgnoreCert.IsChecked = config.IgnoreCertErrors;

                        _devices.Clear();
                        foreach (var dev in config.Devices)
                        {
                            var deviceItem = new DeviceItem
                            {
                                Sn = dev.Sn,
                                Name = dev.Name,
                                Type = dev.Type,
                                IsOnline = false
                            };
                            foreach (var sub in dev.SubDevices)
                            {
                                deviceItem.SubDevices.Add(new DeviceItem
                                {
                                    Sn = sub.Sn,
                                    Name = sub.Name,
                                    Type = sub.Type,
                                    IsOnline = false
                                });
                            }
                            _devices.Add(deviceItem);
                        }

                        _topics.Clear();
                        // Populate default standard topics first
                        RebuildDefaultTopics();

                        // Add custom topics
                        foreach (var customTopic in config.CustomTopics)
                        {
                            if (!_topics.Any(t => t.Topic == customTopic))
                            {
                                _topics.Add(new MqttTopicItem { Topic = customTopic, IsEnabled = true, IsSystem = false });
                            }
                        }
                        return;
                    }
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show($"加载配置文件失败: {ex.Message}", "配置错误", MessageBoxButton.OK, MessageBoxImage.Warning);
            }

            // Fallback default topics if config not found
            RebuildDefaultTopics();
        }

        private void SaveConfig()
        {
            try
            {
                var config = new AppConfig
                {
                    Broker = TxtBroker.Text,
                    Port = int.TryParse(TxtPort.Text, out int port) ? port : 1883,
                    Username = TxtUsername.Text,
                    Password = TxtPassword.Password,
                    ClientId = TxtClientId.Text,
                    UseTls = ChkUseTls.IsChecked ?? false,
                    IgnoreCertErrors = ChkIgnoreCert.IsChecked ?? true,
                    Devices = _devices.Select(d => new DeviceConfigItem
                    {
                        Sn = d.Sn,
                        Name = d.Name,
                        Type = d.Type,
                        SubDevices = d.SubDevices.Select(s => new DeviceConfigItem
                        {
                            Sn = s.Sn,
                            Name = s.Name,
                            Type = s.Type
                        }).ToList()
                    }).ToList(),
                    CustomTopics = _topics.Where(t => !t.IsSystem).Select(t => t.Topic).ToList()
                };

                string json = JsonSerializer.Serialize(config, new JsonSerializerOptions { WriteIndented = true });
                File.WriteAllText(_settingsPath, json);

                // Re-populate SN filter combobox
                UpdateLogSnFilterCombo();
            }
            catch (Exception ex)
            {
                // Background save failure is logged to system
                System.Diagnostics.Debug.WriteLine($"Failed to save config: {ex.Message}");
            }
        }

        private void RebuildDefaultTopics()
        {
            // Remove existing system topics
            var customOnes = _topics.Where(t => !t.IsSystem).ToList();
            _topics.Clear();

            // Add global wildcard auto-discovery topic
            _topics.Add(new MqttTopicItem { Topic = "thing/product/+/events", IsEnabled = true, IsSystem = true });

            // Generate system topics for each device
            foreach (var dev in _devices)
            {
                AddSystemTopicsForDevice(dev);
                foreach (var sub in dev.SubDevices)
                {
                    AddSystemTopicsForDevice(sub);
                }
            }

            // Put custom ones back
            foreach (var t in customOnes)
            {
                _topics.Add(t);
            }

            // Refresh Downlink ComboBox
            UpdateDownlinkTopics();
        }

        private void AddSystemTopicsForDevice(DeviceItem dev)
        {
            string osdTopic = $"thing/product/{dev.Sn}/osd";
            string stateTopic = $"thing/product/{dev.Sn}/state";
            string statusTopic = $"sys/product/{dev.Sn}/status";

            if (!_topics.Any(t => t.Topic == osdTopic))
                _topics.Add(new MqttTopicItem { Topic = osdTopic, IsEnabled = true, IsSystem = true });
            
            if (!_topics.Any(t => t.Topic == stateTopic))
                _topics.Add(new MqttTopicItem { Topic = stateTopic, IsEnabled = true, IsSystem = true });

            if (!_topics.Any(t => t.Topic == statusTopic))
                _topics.Add(new MqttTopicItem { Topic = statusTopic, IsEnabled = true, IsSystem = true });

            if (dev.Type == "设备" || dev.Type == "网关")
            {
                string eventsTopic = $"thing/product/{dev.Sn}/events";
                string requestsTopic = $"thing/product/{dev.Sn}/requests";
                string servicesReplyTopic = $"thing/product/{dev.Sn}/services_reply";

                if (!_topics.Any(t => t.Topic == eventsTopic))
                    _topics.Add(new MqttTopicItem { Topic = eventsTopic, IsEnabled = true, IsSystem = true });

                if (!_topics.Any(t => t.Topic == requestsTopic))
                    _topics.Add(new MqttTopicItem { Topic = requestsTopic, IsEnabled = true, IsSystem = true });

                if (!_topics.Any(t => t.Topic == servicesReplyTopic))
                    _topics.Add(new MqttTopicItem { Topic = servicesReplyTopic, IsEnabled = true, IsSystem = true });
            }
        }

        private void UpdateDownlinkTopics()
        {
            if (ComboDownlinkTopic == null) return;

            string currentText = ComboDownlinkTopic.Text;
            ComboDownlinkTopic.Items.Clear();

            foreach (var dev in _devices)
            {
                if (dev.Type == "设备" || dev.Type == "网关")
                {
                    ComboDownlinkTopic.Items.Add($"thing/product/{dev.Sn}/services");
                    ComboDownlinkTopic.Items.Add($"thing/product/{dev.Sn}/property/set");
                }
                else
                {
                    ComboDownlinkTopic.Items.Add($"thing/product/{dev.Sn}/services");
                }

                foreach (var sub in dev.SubDevices)
                {
                    ComboDownlinkTopic.Items.Add($"thing/product/{sub.Sn}/services");
                }
            }

            if (!string.IsNullOrEmpty(currentText))
            {
                ComboDownlinkTopic.Text = currentText;
            }
            else if (ComboDownlinkTopic.Items.Count > 0)
            {
                ComboDownlinkTopic.SelectedIndex = 0;
            }

            UpdateDockSnCombo();
        }

        #endregion

        #region MQTT CONNECTION MANAGEMENT

        private async void BtnMqttConnect_Click(object sender, RoutedEventArgs e)
        {
            if (_mqttManager.IsConnected)
            {
                BtnMqttConnect.IsEnabled = false;
                await _mqttManager.DisconnectAsync();
                BtnMqttConnect.IsEnabled = true;
                return;
            }

            string broker = TxtBroker.Text.Trim();
            if (!int.TryParse(TxtPort.Text, out int port))
            {
                MessageBox.Show("端口必须是数字！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }
            string username = TxtUsername.Text.Trim();
            string password = TxtPassword.Password;
            string clientId = TxtClientId.Text.Trim();
            bool useTls = ChkUseTls.IsChecked ?? false;
            bool ignoreCert = ChkIgnoreCert.IsChecked ?? true;

            if (string.IsNullOrEmpty(broker))
            {
                MessageBox.Show("Broker 地址不能为空！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            BtnMqttConnect.IsEnabled = false;
            BtnMqttConnect.Content = "正在连接...";

            try
            {
                await _mqttManager.ConnectAsync(broker, port, username, password, clientId, useTls, ignoreCert);
                SaveConfig();
                
                // Connect successful, subscribe to enabled topics
                var activeTopics = _topics.Where(t => t.IsEnabled).Select(t => t.Topic).ToList();
                if (activeTopics.Count > 0)
                {
                    await _mqttManager.SubscribeAsync(activeTopics);
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show($"连接失败: {ex.Message}", "连接错误", MessageBoxButton.OK, MessageBoxImage.Error);
                MqttStatusIndicator.Fill = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Red);
                BtnMqttConnect.Content = "连 接 Broker";
            }
            finally
            {
                BtnMqttConnect.IsEnabled = true;
            }
        }

        private void MqttManager_ConnectionStatusChanged(bool connected)
        {
            Dispatcher.Invoke(() =>
            {
                if (connected)
                {
                    MqttStatusIndicator.Fill = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(16, 185, 129)); // Green
                    MqttStatusIndicator.ToolTip = "已连接";
                    BtnMqttConnect.Content = "断开连接";
                }
                else
                {
                    MqttStatusIndicator.Fill = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(239, 68, 68)); // Red
                    MqttStatusIndicator.ToolTip = "已断开";
                    BtnMqttConnect.Content = "连 接 Broker";
                }
            });
        }

        private void MqttManager_MessageReceived(string topic, string payload)
        {
            // Queue messages for thread-safe UI batch processing
            _incomingMessages.Enqueue((topic, payload));
        }

        #endregion

        #region BACKGROUND WORKER / UI TIMER TICK

        private void UiTimer_Tick(object? sender, EventArgs e)
        {
            // Process queued MQTT messages
            int processCount = 0;
            bool stateChanged = false;

            while (_incomingMessages.TryDequeue(out var msg) && processCount < 150)
            {
                processCount++;
                stateChanged = true;

                // Log entry
                if (!_isPaused)
                {
                    var logItem = new MqttMessageItem
                    {
                        Timestamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
                        Topic = msg.Topic,
                        Payload = msg.Payload
                    };
                    _logs.Add(logItem);
                    if (_logs.Count > 500)
                    {
                        _logs.RemoveAt(0);
                    }
                }

                // Check and parse dock debug responses / events
                ParseDockDebugResponse(msg.Topic, msg.Payload);
                CheckAndAutoReplyDockRequest(msg.Topic, msg.Payload);

                // Analyze payload and extract target device
                // DJI Cloud Topics:
                // thing/product/{sn}/osd
                // thing/product/{sn}/state
                // sys/product/{sn}/status
                string[] parts = msg.Topic.Split('/');
                if (parts.Length >= 3)
                {
                    string sn = parts[2];
                    
                    // Update device active state
                    _deviceHeartbeats[sn] = DateTime.Now;
                    SetDeviceOnlineStatus(sn, true);

                    string? gatewaySn = null;
                    bool isEvents = parts.Contains("events");

                    try
                    {
                        using var doc = JsonDocument.Parse(msg.Payload);
                        if (doc.RootElement.TryGetProperty("gateway", out var gatewayProp))
                        {
                            gatewaySn = gatewayProp.GetString();
                        }
                    }
                    catch { }

                    // Perform automatic classification and registry mapping
                    AutoRegisterDevice(sn, gatewaySn, isEvents);

                    // Parse telemetry
                    if (parts.Contains("osd") || parts.Contains("state"))
                    {
                        try
                        {
                            using var doc = JsonDocument.Parse(msg.Payload);
                            if (doc.RootElement.TryGetProperty("data", out var dataProp) && dataProp.ValueKind == JsonValueKind.Object)
                            {
                                if (!_deviceTelemetryStore.ContainsKey(sn))
                                {
                                    _deviceTelemetryStore[sn] = new Dictionary<string, string>();
                                }

                                var telemetryMap = _deviceTelemetryStore[sn];
                                FlattenJson("data", dataProp, telemetryMap);

                                // Auto-discover subdevice (drone inside dock)
                                if (telemetryMap.TryGetValue("data.sub_device.device_sn", out string? droneSn) && !string.IsNullOrEmpty(droneSn))
                                {
                                    bool online = false;
                                    if (telemetryMap.TryGetValue("data.sub_device.device_online_status", out string? onlineVal))
                                    {
                                        online = (onlineVal == "1");
                                    }
                                    LinkSubDevice(sn, droneSn, online);
                                }
                            }
                        }
                        catch
                        {
                            // Skip invalid JSON formats
                        }
                    }
                    else if (parts.Contains("status"))
                    {
                        // Parse status message: sys/product/{sn}/status
                        try
                        {
                            using var doc = JsonDocument.Parse(msg.Payload);
                            if (doc.RootElement.TryGetProperty("status", out var statusProp))
                            {
                                string statusStr = statusProp.GetString() ?? "";
                                bool online = statusStr.Equals("online", StringComparison.OrdinalIgnoreCase);
                                SetDeviceOnlineStatus(sn, online);
                            }
                        }
                        catch { }
                    }
                }
            }

            // Scan for device timeouts (Offline detection)
            var now = DateTime.Now;
            foreach (var sn in _deviceHeartbeats.Keys.ToList())
            {
                if ((now - _deviceHeartbeats[sn]).TotalSeconds > 15)
                {
                    SetDeviceOnlineStatus(sn, false);
                }
            }

            // Update UI telemetry panel if device selected
            if (_selectedDevice != null)
            {
                string activeSn = _selectedDevice.Sn;
                if (_deviceTelemetryStore.TryGetValue(activeSn, out var telemetry))
                {
                    UpdateOsdDashboard(activeSn, telemetry);
                    
                    if (stateChanged)
                    {
                        RefreshTranslationTable(telemetry);
                    }
                }
                else
                {
                    _telemetryVm.Reset();
                    _filteredTranslations.Clear();
                    _translations.Clear();
                }
            }

            // Refresh raw logs table (append to bottom, and only auto-scroll if nothing is selected)
            if (stateChanged && !_isPaused)
            {
                ApplyLogFilter();
                if (GridLogs != null && GridLogs.SelectedItem == null && _filteredLogs.Count > 0)
                {
                    GridLogs.ScrollIntoView(_filteredLogs[_filteredLogs.Count - 1]);
                }
            }
        }

        private void FlattenJson(string prefix, JsonElement element, Dictionary<string, string> target)
        {
            switch (element.ValueKind)
            {
                case JsonValueKind.Object:
                    foreach (var property in element.EnumerateObject())
                    {
                        string nextPrefix = string.IsNullOrEmpty(prefix) ? property.Name : $"{prefix}.{property.Name}";
                        FlattenJson(nextPrefix, property.Value, target);
                    }
                    break;
                case JsonValueKind.Array:
                    int idx = 0;
                    foreach (var item in element.EnumerateArray())
                    {
                        string nextPrefix = $"{prefix}.{idx}";
                        FlattenJson(nextPrefix, item, target);
                        idx++;
                    }
                    break;
                case JsonValueKind.String:
                    target[prefix] = element.GetString() ?? "";
                    break;
                case JsonValueKind.Number:
                    target[prefix] = element.GetRawText();
                    break;
                case JsonValueKind.True:
                    target[prefix] = "true";
                    break;
                case JsonValueKind.False:
                    target[prefix] = "false";
                    break;
                case JsonValueKind.Null:
                    target[prefix] = "null";
                    break;
            }
        }

        #endregion

        #region TELEMETRY RENDERING AND TRANSLATION

        private void UpdateOsdDashboard(string sn, Dictionary<string, string> flatData)
        {
            bool isDock = _selectedDevice?.Type == "设备" || _selectedDevice?.Type == "网关";

            if (isDock)
            {
                GridDockTelemetry.Visibility = Visibility.Visible;
                GridDroneTelemetry.Visibility = Visibility.Collapsed;

                _telemetryVm.CoverState = GetTranslatedVal(flatData, "cover_state", isDock);
                _telemetryVm.AirConditionerState = GetTranslatedVal(flatData, "air_conditioner.air_conditioner_state", isDock);
                _telemetryVm.DroneInDock = GetTranslatedVal(flatData, "drone_in_dock", isDock);
                _telemetryVm.ChargingState = GetTranslatedVal(flatData, "drone_charge_state.state", isDock);
                
                string cap = GetRawVal(flatData, "drone_charge_state.capacity_percent");
                _telemetryVm.DroneBatteryPercent = string.IsNullOrEmpty(cap) ? "未知" : cap + " %";

                _telemetryVm.EnvironmentTemp = GetRawVal(flatData, "environment_temperature") + " °C";
                _telemetryVm.CabinTemp = GetRawVal(flatData, "temperature") + " °C";
                _telemetryVm.Humidity = GetRawVal(flatData, "humidity") + " %";
                _telemetryVm.WindSpeed = GetRawVal(flatData, "wind_speed") + " m/s";
                _telemetryVm.Rainfall = GetTranslatedVal(flatData, "rainfall", isDock);

                string gps = GetRawVal(flatData, "position_state.gps_number");
                _telemetryVm.GpsCount = string.IsNullOrEmpty(gps) ? "未知" : gps + " 颗";
                _telemetryVm.RtkStatus = GetTranslatedVal(flatData, "position_state.quality", isDock);
                
                string volt = GetRawVal(flatData, "working_voltage");
                _telemetryVm.WorkingVoltage = string.IsNullOrEmpty(volt) ? "未知" : volt + " mV";
                
                string cur = GetRawVal(flatData, "working_current");
                _telemetryVm.WorkingCurrent = string.IsNullOrEmpty(cur) ? "未知" : cur + " mA";
                
                _telemetryVm.EmergencyStop = GetTranslatedVal(flatData, "emergency_stop_state", isDock);
                _telemetryVm.DockState = GetTranslatedVal(flatData, "mode_code", isDock);
            }
            else
            {
                GridDockTelemetry.Visibility = Visibility.Collapsed;
                GridDroneTelemetry.Visibility = Visibility.Visible;

                string lat = GetRawVal(flatData, "latitude");
                string lng = GetRawVal(flatData, "longitude");
                string alt = GetRawVal(flatData, "height");
                string relAlt = GetRawVal(flatData, "elevation");
                if (!string.IsNullOrEmpty(lat))
                {
                    _telemetryVm.DronePosition = $"{lat}, {lng}\n高度: {alt} m | 相对高: {relAlt} m";
                }
                else
                {
                    _telemetryVm.DronePosition = "未知";
                }

                string pitch = GetRawVal(flatData, "attitude_pitch");
                string roll = GetRawVal(flatData, "attitude_roll");
                string yaw = GetRawVal(flatData, "attitude_head");
                if (!string.IsNullOrEmpty(pitch))
                {
                    _telemetryVm.DroneAttitude = $"俯仰: {pitch}° | 横滚: {roll}° | 偏航: {yaw}°";
                }
                else
                {
                    _telemetryVm.DroneAttitude = "未知";
                }

                string hSpeed = GetRawVal(flatData, "horizontal_speed");
                string vSpeed = GetRawVal(flatData, "vertical_speed");
                if (!string.IsNullOrEmpty(hSpeed))
                {
                    _telemetryVm.DroneSpeeds = $"水平: {hSpeed} m/s | 垂直: {vSpeed} m/s";
                }
                else
                {
                    _telemetryVm.DroneSpeeds = "未知";
                }

                string cap = GetRawVal(flatData, "battery.capacity_percent");
                string battVolt = GetRawVal(flatData, "battery.voltage");
                string battTemp = GetRawVal(flatData, "battery.temperature");
                if (!string.IsNullOrEmpty(cap))
                {
                    _telemetryVm.DroneBattery = $"{cap}% ({battVolt} mV | {battTemp} °C)";
                }
                else
                {
                    _telemetryVm.DroneBattery = "未知";
                }

                string gps = GetRawVal(flatData, "position_state.gps_number");
                string rtk = GetRawVal(flatData, "position_state.rtk_number");
                string rtkFixed = GetTranslatedVal(flatData, "position_state.is_fixed", isDock);
                if (!string.IsNullOrEmpty(gps))
                {
                    _telemetryVm.DroneSats = $"GPS: {gps} 颗 | RTK: {rtk} 颗 ({rtkFixed})";
                }
                else
                {
                    _telemetryVm.DroneSats = "未知";
                }

                _telemetryVm.DroneState = GetTranslatedVal(flatData, "mode_code", isDock);
                _telemetryVm.DroneStateReason = GetTranslatedVal(flatData, "mode_code_reason", isDock);

                string wSpeed = GetRawVal(flatData, "wind_speed");
                string wDir = GetTranslatedVal(flatData, "wind_direction", isDock);
                if (!string.IsNullOrEmpty(wSpeed))
                {
                    _telemetryVm.WindSpeed = $"{wSpeed} m/s ({wDir})";
                }
                else
                {
                    _telemetryVm.WindSpeed = "未知";
                }
            }
        }

        private string GetRawVal(Dictionary<string, string> flatData, string key)
        {
            // 1. Direct lookup
            string fullKey = key.StartsWith("data.") ? key : "data." + key;
            if (flatData.TryGetValue(fullKey, out var val))
            {
                return val;
            }

            // 2. Fuzzy lookup (ends with "." + key, handling component subkeys like data.52-0-0.latitude)
            string suffix = "." + key;
            var match = flatData.Keys.FirstOrDefault(k => k.EndsWith(suffix, StringComparison.OrdinalIgnoreCase));
            if (match != null)
            {
                return flatData[match];
            }

            return "";
        }

        private string GetTranslatedVal(Dictionary<string, string> flatData, string key, bool isDock)
        {
            // 1. Direct lookup
            string fullKey = key.StartsWith("data.") ? key : "data." + key;
            if (flatData.TryGetValue(fullKey, out var val))
            {
                var result = TranslationDictionary.Translate(fullKey, val, isDock);
                return result.TranslatedValue;
            }

            // 2. Fuzzy lookup (ends with "." + key, handling component subkeys like data.52-0-0.latitude)
            string suffix = "." + key;
            var match = flatData.Keys.FirstOrDefault(k => k.EndsWith(suffix, StringComparison.OrdinalIgnoreCase));
            if (match != null)
            {
                var result = TranslationDictionary.Translate(match, flatData[match], isDock);
                return result.TranslatedValue;
            }

            return "未知";
        }

        private void RefreshTranslationTable(Dictionary<string, string> flatData)
        {
            bool isDock = _selectedDevice?.Type == "设备" || _selectedDevice?.Type == "网关";

            // Update translations collection
            _translations.Clear();
            foreach (var kvp in flatData)
            {
                var details = TranslationDictionary.Translate(kvp.Key, kvp.Value, isDock);
                _translations.Add(new OsdTelemetryItem
                {
                    Key = kvp.Key,
                    Label = details.Label,
                    Category = details.Category,
                    Value = details.TranslatedValue
                });
            }

            ApplyTranslationFilter();
        }

        private void ApplyTranslationFilter()
        {
            string filterText = TxtSearchTranslation.Text.Trim();
            _filteredTranslations.Clear();

            var query = _translations.AsEnumerable();
            if (!string.IsNullOrEmpty(filterText))
            {
                query = query.Where(t => 
                    t.Key.Contains(filterText, StringComparison.OrdinalIgnoreCase) ||
                    t.Label.Contains(filterText, StringComparison.OrdinalIgnoreCase) ||
                    t.Category.Contains(filterText, StringComparison.OrdinalIgnoreCase) ||
                    t.Value.Contains(filterText, StringComparison.OrdinalIgnoreCase)
                );
            }

            // Order by Category then Key
            var sorted = query.OrderBy(t => t.Category).ThenBy(t => t.Key);
            foreach (var item in sorted)
            {
                _filteredTranslations.Add(item);
            }
        }

        #endregion

        #region DEVICE MANAGEMENT

        private void BtnAddDevice_Click(object sender, RoutedEventArgs e)
        {
            string sn = TxtAddDeviceSn.Text.Trim();
            string name = TxtAddDeviceName.Text.Trim();
            string type = (ComboDeviceType.SelectedItem as ComboBoxItem)?.Content?.ToString() == "无人机" ? "无人机" : "网关";

            if (string.IsNullOrEmpty(sn))
            {
                MessageBox.Show("设备 SN 不能为空！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            if (string.IsNullOrEmpty(name))
            {
                name = $"设备 {sn.Substring(Math.Max(0, sn.Length - 4))}";
            }

            if (_devices.Any(d => d.Sn == sn) || _devices.Any(d => d.SubDevices.Any(s => s.Sn == sn)))
            {
                MessageBox.Show("此设备 SN 已存在！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            var newDevice = new DeviceItem
            {
                Sn = sn,
                Name = name,
                Type = type,
                IsOnline = false
            };

            _devices.Add(newDevice);
            
            // Generate standard topics for it
            RebuildDefaultTopics();

            // Re-subscribe if connected
            TriggerAutoResubscribe();

            SaveConfig();

            TxtAddDeviceSn.Clear();
            TxtAddDeviceName.Clear();
        }

        private void BtnDeleteDevice_Click(object sender, RoutedEventArgs e)
        {
            if (_selectedDevice == null)
            {
                MessageBox.Show("请先在设备树中选择一个要删除的设备！", "删除设备", MessageBoxButton.OK, MessageBoxImage.Information);
                return;
            }

            var result = MessageBox.Show($"确定要删除设备 {_selectedDevice.Name} ({_selectedDevice.Sn}) 吗？", "确认删除", MessageBoxButton.YesNo, MessageBoxImage.Question);
            if (result == MessageBoxResult.Yes)
            {
                // Remove root device
                if (_devices.Contains(_selectedDevice))
                {
                    _devices.Remove(_selectedDevice);
                }
                else
                {
                    // Check if it is a subdevice
                    foreach (var root in _devices)
                    {
                        if (root.SubDevices.Contains(_selectedDevice))
                        {
                            root.SubDevices.Remove(_selectedDevice);
                            break;
                        }
                    }
                }

                _selectedDevice = null;
                TxtSelectedDeviceName.Text = "[无]";
                TxtSelectedDeviceSn.Text = "-";
                TxtSelectedDeviceType.Text = "-";
                _telemetryVm.Reset();
                _translations.Clear();
                _filteredTranslations.Clear();

                RebuildDefaultTopics();
                TriggerAutoResubscribe();
                SaveConfig();
            }
        }

        private void SetDeviceOnlineStatus(string sn, bool isOnline)
        {
            // Traverse devices list
            foreach (var dev in _devices)
            {
                if (dev.Sn == sn)
                {
                    if (dev.IsOnline != isOnline)
                    {
                        dev.IsOnline = isOnline;
                    }
                    return;
                }
                foreach (var sub in dev.SubDevices)
                {
                    if (sub.Sn == sn)
                    {
                        if (sub.IsOnline != isOnline)
                        {
                            sub.IsOnline = isOnline;
                        }
                        return;
                    }
                }
            }
        }

        private void LinkSubDevice(string parentSn, string subSn, bool subOnline)
        {
            // Find parent
            var parent = _devices.FirstOrDefault(d => d.Sn == parentSn);
            if (parent != null)
            {
                // Check if already contains sub SN
                var sub = parent.SubDevices.FirstOrDefault(s => s.Sn == subSn);
                if (sub == null)
                {
                    // Link new drone sub-device
                    var subDev = new DeviceItem
                    {
                        Sn = subSn,
                        Name = $"停机坪飞机 ({subSn.Substring(Math.Max(0, subSn.Length - 4))})",
                        Type = "无人机",
                        IsOnline = subOnline
                    };
                    parent.SubDevices.Add(subDev);

                    RebuildDefaultTopics();
                    TriggerAutoResubscribe();
                    SaveConfig();
                }
                else
                {
                    // Update state if changed
                    if (sub.IsOnline != subOnline)
                    {
                        sub.IsOnline = subOnline;
                    }
                }
            }
        }

        private void AutoRegisterDevice(string deviceSn, string? gatewaySn, bool isEventsTopic)
        {
            if (!string.IsNullOrEmpty(gatewaySn))
            {
                if (deviceSn == gatewaySn)
                {
                    // Topic SN matches gateway SN: this is a Gateway (网关) or Device (设备)
                    string targetType = isEventsTopic ? "设备" : "网关";
                    
                    var existingRoot = _devices.FirstOrDefault(d => d.Sn == deviceSn);
                    if (existingRoot != null)
                    {
                        // Upgrade to "设备" if we receive events
                        if (existingRoot.Type != "设备" && targetType == "设备")
                        {
                            existingRoot.Type = "设备";
                            if (existingRoot.Name.StartsWith("网关"))
                            {
                                existingRoot.Name = existingRoot.Name.Replace("网关", "机场设备");
                            }
                            SaveConfig();
                        }
                    }
                    else
                    {
                        // Look up if registered elsewhere
                        DeviceItem? foundAsSub = null;
                        foreach (var r in _devices)
                        {
                            foundAsSub = r.SubDevices.FirstOrDefault(s => s.Sn == deviceSn);
                            if (foundAsSub != null) break;
                        }

                        if (foundAsSub != null)
                        {
                            // Move from subdevices to root (since it is a gateway)
                            foreach (var r in _devices)
                            {
                                if (r.SubDevices.Contains(foundAsSub))
                                {
                                    r.SubDevices.Remove(foundAsSub);
                                    break;
                                }
                            }
                            foundAsSub.Type = targetType;
                            _devices.Add(foundAsSub);
                            SaveConfig();
                        }
                        else
                        {
                            // Add new root gateway
                            var newDev = new DeviceItem
                            {
                                Sn = deviceSn,
                                Name = targetType == "设备" ? $"机场设备 {deviceSn.Substring(Math.Max(0, deviceSn.Length - 4))}" : $"网关 {deviceSn.Substring(Math.Max(0, deviceSn.Length - 4))}",
                                Type = targetType,
                                IsOnline = true
                            };
                            _devices.Add(newDev);

                            RebuildDefaultTopics();
                            TriggerAutoResubscribe();
                            SaveConfig();
                        }
                    }
                }
                else
                {
                    // Topic SN != gateway SN: this is a Drone (无人机)
                    // Check if parent gateway exists
                    var parentGateway = _devices.FirstOrDefault(d => d.Sn == gatewaySn);
                    if (parentGateway == null)
                    {
                        // Auto-create parent gateway
                        parentGateway = new DeviceItem
                        {
                            Sn = gatewaySn,
                            Name = $"网关 {gatewaySn.Substring(Math.Max(0, gatewaySn.Length - 4))}",
                            Type = "网关",
                            IsOnline = true
                        };
                        _devices.Add(parentGateway);
                        RebuildDefaultTopics();
                        TriggerAutoResubscribe();
                        SaveConfig();
                    }

                    // Check if drone is in root
                    var existingInRoot = _devices.FirstOrDefault(d => d.Sn == deviceSn);
                    if (existingInRoot != null)
                    {
                        _devices.Remove(existingInRoot);
                        existingInRoot.Type = "无人机";
                        parentGateway.SubDevices.Add(existingInRoot);
                        SaveConfig();
                    }
                    else
                    {
                        // Check if already in parent sub devices
                        var existingInSub = parentGateway.SubDevices.FirstOrDefault(s => s.Sn == deviceSn);
                        if (existingInSub == null)
                        {
                            var droneDev = new DeviceItem
                            {
                                Sn = deviceSn,
                                Name = $"无人机 {deviceSn.Substring(Math.Max(0, deviceSn.Length - 4))}",
                                Type = "无人机",
                                IsOnline = true
                            };
                            parentGateway.SubDevices.Add(droneDev);
                            
                            RebuildDefaultTopics();
                            TriggerAutoResubscribe();
                            SaveConfig();
                        }
                        else
                        {
                            if (existingInSub.Type != "无人机")
                            {
                                existingInSub.Type = "无人机";
                                SaveConfig();
                            }
                        }
                    }
                }
            }
            else if (isEventsTopic)
            {
                // If it is an events topic but payload lacks gateway field (rare),
                // we check if we have a matching root device and upgrade to "设备"
                var dev = _devices.FirstOrDefault(d => d.Sn == deviceSn);
                if (dev != null && dev.Type != "设备")
                {
                    dev.Type = "设备";
                    if (dev.Name.StartsWith("网关"))
                    {
                        dev.Name = dev.Name.Replace("网关", "机场设备");
                    }
                    SaveConfig();
                }
            }
        }

        private void TreeDevices_SelectedItemChanged(object sender, RoutedPropertyChangedEventArgs<object> e)
        {
            _selectedDevice = e.NewValue as DeviceItem;
            if (_selectedDevice != null)
            {
                TxtSelectedDeviceName.Text = _selectedDevice.Name;
                TxtSelectedDeviceSn.Text = _selectedDevice.Sn;
                TxtSelectedDeviceType.Text = _selectedDevice.Type;

                if (_selectedDevice.Type == "设备" || _selectedDevice.Type == "网关")
                {
                    if (ComboDockDebugSn != null)
                    {
                        ComboDockDebugSn.Text = _selectedDevice.Sn;
                    }
                }

                // Setup visual telemetry tab view context
                if (_deviceTelemetryStore.TryGetValue(_selectedDevice.Sn, out var telemetry))
                {
                    UpdateOsdDashboard(_selectedDevice.Sn, telemetry);
                    RefreshTranslationTable(telemetry);
                }
                else
                {
                    _telemetryVm.Reset();
                    _translations.Clear();
                    _filteredTranslations.Clear();
                }
            }
            else
            {
                TxtSelectedDeviceName.Text = "[无]";
                TxtSelectedDeviceSn.Text = "-";
                TxtSelectedDeviceType.Text = "-";
                _telemetryVm.Reset();
            }
        }

        #endregion

        #region TOPIC SUBSCRIPTIONS

        private void ListTopics_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            _selectedTopicFilter = ListTopics.SelectedItem as MqttTopicItem;
            if (_selectedTopicFilter != null)
            {
                TxtLogFilter.Text = _selectedTopicFilter.Topic;
            }
        }

        private async void TopicCheckbox_Changed(object sender, RoutedEventArgs e)
        {
            var checkBox = sender as CheckBox;
            var topicItem = checkBox?.DataContext as MqttTopicItem;
            if (topicItem != null && _mqttManager.IsConnected)
            {
                try
                {
                    if (topicItem.IsEnabled)
                    {
                        await _mqttManager.SubscribeAsync(new List<string> { topicItem.Topic });
                    }
                    else
                    {
                        await _mqttManager.UnsubscribeAsync(new List<string> { topicItem.Topic });
                    }
                    SaveConfig();
                }
                catch (Exception ex)
                {
                    MessageBox.Show($"变更订阅失败: {ex.Message}", "订阅错误", MessageBoxButton.OK, MessageBoxImage.Warning);
                }
            }
        }

        private async void TriggerAutoResubscribe()
        {
            if (_mqttManager.IsConnected)
            {
                try
                {
                    var enabledTopics = _topics.Where(t => t.IsEnabled).Select(t => t.Topic).ToList();
                    if (enabledTopics.Count > 0)
                    {
                        await _mqttManager.SubscribeAsync(enabledTopics);
                    }
                }
                catch { }
            }
        }

        private async void BtnAddTopic_Click(object sender, RoutedEventArgs e)
        {
            string topic = TxtAddTopic.Text.Trim();
            if (string.IsNullOrEmpty(topic))
            {
                MessageBox.Show("Topic 不能为空！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            if (_topics.Any(t => t.Topic == topic))
            {
                MessageBox.Show("该 Topic 已存在订阅列表中！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            var newItem = new MqttTopicItem
            {
                Topic = topic,
                IsEnabled = true,
                IsSystem = false
            };

            _topics.Add(newItem);

            if (_mqttManager.IsConnected)
            {
                try
                {
                    await _mqttManager.SubscribeAsync(new List<string> { topic });
                }
                catch { }
            }

            SaveConfig();
            TxtAddTopic.Clear();
        }

        private async void BtnDeleteTopic_Click(object sender, RoutedEventArgs e)
        {
            var selected = ListTopics.SelectedItem as MqttTopicItem;
            if (selected == null)
            {
                MessageBox.Show("请在订阅列表中选择要删除的 Topic！", "删除 Topic", MessageBoxButton.OK, MessageBoxImage.Information);
                return;
            }

            if (selected.IsSystem)
            {
                MessageBox.Show("系统默认 Topic 无法删除，它与当前设备 SN 关联。您可以关闭前面的复选框禁用订阅！", "删除 Topic", MessageBoxButton.OK, MessageBoxImage.Warning);
                return;
            }

            if (_mqttManager.IsConnected && selected.IsEnabled)
            {
                try
                {
                    await _mqttManager.UnsubscribeAsync(new List<string> { selected.Topic });
                }
                catch { }
            }

            _topics.Remove(selected);
            SaveConfig();
        }

        #endregion

        #region REFRESH RATE CONTROLS

        private void SliderRefreshRate_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
        {
            if (TxtRefreshInterval == null) return;
            
            int ms = (int)e.NewValue;
            TxtRefreshInterval.Text = $"{ms} ms";
            _uiTimer.Interval = TimeSpan.FromMilliseconds(ms);
        }

        #endregion

        #region TRANSLATION GRID KEY COPY

        private void GridTranslations_MouseDoubleClick(object sender, MouseButtonEventArgs e)
        {
            var selectedItem = GridTranslations.SelectedItem as OsdTelemetryItem;
            if (selectedItem != null)
            {
                try
                {
                    Clipboard.SetText(selectedItem.Key);
                    MessageBox.Show($"已将 Key \"{selectedItem.Key}\" 复制到剪贴板！", "复制成功", MessageBoxButton.OK, MessageBoxImage.Information);
                }
                catch (Exception ex)
                {
                    MessageBox.Show($"复制失败: {ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
                }
            }
        }

        private void TxtSearchTranslation_TextChanged(object sender, TextChangedEventArgs e)
        {
            ApplyTranslationFilter();
        }

        private void BtnClearSearchTrans_Click(object sender, RoutedEventArgs e)
        {
            TxtSearchTranslation.Clear();
        }

        #endregion

        #region LOGS CONSOLE ACTIONS

        private void GridLogs_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            var selected = GridLogs.SelectedItem as MqttMessageItem;
            
            // Check if the selected log item is identical to the one currently displayed.
            // If so, return immediately to preserve scrollbar position and cursor state inside the TextBox.
            if (selected != null && _lastDisplayedLog != null && 
                selected.Timestamp == _lastDisplayedLog.Timestamp && 
                selected.Topic == _lastDisplayedLog.Topic)
            {
                return;
            }

            _lastDisplayedLog = selected;

            if (selected != null)
            {
                try
                {
                    using var doc = JsonDocument.Parse(selected.Payload);
                    string pretty = JsonSerializer.Serialize(doc, new JsonSerializerOptions { WriteIndented = true });
                    TxtSelectedLogJson.Text = pretty;
                }
                catch
                {
                    TxtSelectedLogJson.Text = selected.Payload;
                }
            }
            else
            {
                TxtSelectedLogJson.Text = "";
            }
        }

        private void TxtLogFilter_TextChanged(object sender, TextChangedEventArgs e)
        {
            ApplyLogFilter();
        }

        private void BtnClearLogFilter_Click(object sender, RoutedEventArgs e)
        {
            TxtLogFilter.Clear();
            ListTopics.SelectedItem = null;
            _selectedTopicFilter = null;
            if (ComboLogSnFilter != null && ComboLogSnFilter.Items.Count > 0)
            {
                ComboLogSnFilter.SelectedIndex = 0;
            }
        }

        private void ApplyLogFilter()
        {
            string filter = TxtLogFilter.Text.Trim();
            string? snFilter = null;
            if (ComboLogSnFilter != null && ComboLogSnFilter.SelectedIndex > 0)
            {
                snFilter = (ComboLogSnFilter.SelectedItem as ComboBoxItem)?.Content?.ToString();
            }

            // Save current selection to restore after list updates
            var selected = GridLogs?.SelectedItem as MqttMessageItem;

            _filteredLogs.Clear();

            var query = _logs.AsEnumerable();
            if (!string.IsNullOrEmpty(snFilter))
            {
                query = query.Where(l => l.Topic.Contains(snFilter));
            }
            if (!string.IsNullOrEmpty(filter))
            {
                query = query.Where(l => 
                    l.Topic.Contains(filter, StringComparison.OrdinalIgnoreCase) ||
                    l.Payload.Contains(filter, StringComparison.OrdinalIgnoreCase)
                );
            }

            foreach (var item in query)
            {
                _filteredLogs.Add(item);
            }

            // Restore selection if the selected item matches an item in the updated list
            if (selected != null && GridLogs != null)
            {
                var match = _filteredLogs.FirstOrDefault(l => l.Timestamp == selected.Timestamp && l.Topic == selected.Topic);
                if (match != null)
                {
                    GridLogs.SelectedItem = match;
                }
            }
        }

        private void ComboLogSnFilter_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            ApplyLogFilter();
        }

        private void UpdateLogSnFilterCombo()
        {
            if (ComboLogSnFilter == null) return;

            string? previouslySelectedSn = (ComboLogSnFilter.SelectedItem as ComboBoxItem)?.Content?.ToString();
            if (previouslySelectedSn == "所有设备") previouslySelectedSn = null;

            ComboLogSnFilter.Items.Clear();

            var allItem = new ComboBoxItem { Content = "所有设备" };
            ComboLogSnFilter.Items.Add(allItem);
            ComboLogSnFilter.SelectedIndex = 0;

            HashSet<string> snList = new HashSet<string>();
            foreach (var dev in _devices)
            {
                if (!string.IsNullOrEmpty(dev.Sn)) snList.Add(dev.Sn);
                foreach (var sub in dev.SubDevices)
                {
                    if (!string.IsNullOrEmpty(sub.Sn)) snList.Add(sub.Sn);
                }
            }

            ComboBoxItem? itemToSelect = null;
            foreach (var sn in snList)
            {
                var item = new ComboBoxItem { Content = sn };
                ComboLogSnFilter.Items.Add(item);
                if (sn == previouslySelectedSn)
                {
                    itemToSelect = item;
                }
            }

            if (itemToSelect != null)
            {
                ComboLogSnFilter.SelectedItem = itemToSelect;
            }
        }

        private void BtnCopyJson_Click(object sender, RoutedEventArgs e)
        {
            var selected = GridLogs.SelectedItem as MqttMessageItem;
            if (selected != null)
            {
                try
                {
                    // Attempt to format JSON for nice formatting on clipboard
                    using var doc = JsonDocument.Parse(selected.Payload);
                    string pretty = JsonSerializer.Serialize(doc, new JsonSerializerOptions { WriteIndented = true });
                    Clipboard.SetText(pretty);
                    MessageBox.Show("已成功格式化并复制 JSON 载荷！", "复制成功", MessageBoxButton.OK, MessageBoxImage.Information);
                }
                catch
                {
                    Clipboard.SetText(selected.Payload);
                    MessageBox.Show("已将原始 Payload 复制到剪贴板！", "复制成功", MessageBoxButton.OK, MessageBoxImage.Information);
                }
            }
            else
            {
                MessageBox.Show("请选择要复制的一行日志！", "复制", MessageBoxButton.OK, MessageBoxImage.Information);
            }
        }

        private void BtnClearLogs_Click(object sender, RoutedEventArgs e)
        {
            _logs.Clear();
            _filteredLogs.Clear();
        }

        private void ChkPauseScroll_Changed(object sender, RoutedEventArgs e)
        {
            _isPaused = ChkPauseScroll.IsChecked ?? false;
        }

        #endregion

        #region TOPIC PUBLISHING (DOWNLINK COMMANDS)

        private void ComboPayloadTemplates_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            if (TxtDownlinkPayload == null) return;

            int index = ComboPayloadTemplates.SelectedIndex;
            long timestamp = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
            string tid = Guid.NewGuid().ToString();
            string bid = Guid.NewGuid().ToString();

            switch (index)
            {
                case 1: // Property Set - AC cooling
                    TxtDownlinkPayload.Text = $"{{\n  \"tid\": \"{tid}\",\n  \"bid\": \"{bid}\",\n  \"timestamp\": {timestamp},\n  \"method\": \"property_set\",\n  \"data\": {{\n    \"air_conditioner_mode\": 1\n  }}\n}}";
                    break;
                case 2: // Property Set - Silent Mode
                    TxtDownlinkPayload.Text = $"{{\n  \"tid\": \"{tid}\",\n  \"bid\": \"{bid}\",\n  \"timestamp\": {timestamp},\n  \"method\": \"property_set\",\n  \"data\": {{\n    \"silent_mode\": 1\n  }}\n}}";
                    break;
                case 3: // Service Call - Open cover
                    TxtDownlinkPayload.Text = $"{{\n  \"tid\": \"{tid}\",\n  \"bid\": \"{bid}\",\n  \"timestamp\": {timestamp},\n  \"method\": \"cover_open\",\n  \"data\": {{}}\n}}";
                    break;
                case 4: // Service Call - Close cover
                    TxtDownlinkPayload.Text = $"{{\n  \"tid\": \"{tid}\",\n  \"bid\": \"{bid}\",\n  \"timestamp\": {timestamp},\n  \"method\": \"cover_close\",\n  \"data\": {{}}\n}}";
                    break;
                default:
                    TxtDownlinkPayload.Text = "{\n  \n}";
                    break;
            }
        }

        private async void BtnPublish_Click(object sender, RoutedEventArgs e)
        {
            if (!_mqttManager.IsConnected)
            {
                MessageBox.Show("MQTT 未连接，无法下发指令！", "下发错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            string topic = ComboDownlinkTopic.Text.Trim();
            string payload = TxtDownlinkPayload.Text.Trim();

            if (string.IsNullOrEmpty(topic))
            {
                MessageBox.Show("下发 Topic 不能为空！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            try
            {
                // Dynamic timestamp/UUID generator for downlink payload if templates match
                if (payload.Contains("\"timestamp\"") || payload.Contains("\"tid\""))
                {
                    try
                    {
                        var json = JsonSerializer.Deserialize<Dictionary<string, object>>(payload);
                        if (json != null)
                        {
                            if (json.ContainsKey("timestamp"))
                            {
                                json["timestamp"] = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
                            }
                            if (json.ContainsKey("tid"))
                            {
                                json["tid"] = Guid.NewGuid().ToString();
                            }
                            // Save format back
                            payload = JsonSerializer.Serialize(json, new JsonSerializerOptions { WriteIndented = true });
                            TxtDownlinkPayload.Text = payload; // Update textbox for visual verification
                        }
                    }
                    catch { }
                }

                await _mqttManager.PublishAsync(topic, payload);
                MessageBox.Show("指令下发成功！", "发布成功", MessageBoxButton.OK, MessageBoxImage.Information);
            }
            catch (Exception ex)
            {
                MessageBox.Show($"指令下发失败: {ex.Message}", "下发错误", MessageBoxButton.OK, MessageBoxImage.Error);
            }
        }

        #endregion

        #region DOCK REMOTE DEBUGGING LOGIC

        private readonly Dictionary<string, string> _methodCnMap = new()
        {
            { "debug_mode_open", "开启调试模式" },
            { "debug_mode_close", "关闭调试模式" },
            { "cover_open", "打开舱盖" },
            { "cover_close", "关闭舱盖" },
            { "cover_force_close", "强制关舱盖" },
            { "putter_open", "推杆展开" },
            { "putter_close", "推杆闭合" },
            { "drone_open", "飞行器开机" },
            { "drone_close", "飞行器关机" },
            { "drone_format", "飞行器格式化" },
            { "charge_open", "开启充电" },
            { "charge_close", "关闭充电" },
            { "supplement_light_open", "开启补光灯" },
            { "supplement_light_close", "关闭补光灯" },
            { "alarm_state_switch", "切换警报状态" },
            { "air_conditioner_set", "下发空调设置" },
            { "one_key_takeoff_check", "一键起飞自检" },
            { "remote_log_upload", "远程日志上报" },
            { "device_reboot", "机场重启" },
            { "device_format", "机场数据格式化" },
            { "flight_areas_update", "清空/更新飞行区" },
            { "flight_areas_get", "获取自定义飞行区" },
            { "flight_areas_sync_progress", "飞行区同步进度" }
        };

        public void UpdateDockSnCombo()
        {
            if (ComboDockDebugSn == null) return;

            string current = ComboDockDebugSn.Text;
            ComboDockDebugSn.Items.Clear();

            foreach (var dev in _devices)
            {
                if (dev.Type == "设备" || dev.Type == "网关")
                {
                    if (!ComboDockDebugSn.Items.Contains(dev.Sn))
                    {
                        ComboDockDebugSn.Items.Add(dev.Sn);
                    }
                }
            }

            if (!string.IsNullOrEmpty(current))
            {
                ComboDockDebugSn.Text = current;
            }
            else if (_selectedDevice != null && (_selectedDevice.Type == "设备" || _selectedDevice.Type == "网关"))
            {
                ComboDockDebugSn.Text = _selectedDevice.Sn;
            }
            else if (ComboDockDebugSn.Items.Count > 0)
            {
                ComboDockDebugSn.SelectedIndex = 0;
            }
        }

        private void BtnRefreshDockSn_Click(object sender, RoutedEventArgs e)
        {
            UpdateDockSnCombo();
            MessageBox.Show("已刷新目标机场 SN 列表！", "刷新提示", MessageBoxButton.OK, MessageBoxImage.Information);
        }

        private void ComboDockDebugSn_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            if (ComboDockDebugSn.SelectedItem != null)
            {
                ComboDockDebugSn.Text = ComboDockDebugSn.SelectedItem.ToString();
            }
        }

        private async Task SendDockDebugCommandAsync(string method, object? dataObj = null)
        {
            if (!_mqttManager.IsConnected)
            {
                MessageBox.Show("MQTT 未连接，无法发送调试指令！", "调试错误", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }

            string sn = ComboDockDebugSn.Text.Trim();
            if (string.IsNullOrEmpty(sn))
            {
                sn = _selectedDevice?.Sn ?? "";
            }

            if (string.IsNullOrEmpty(sn))
            {
                MessageBox.Show("请先选择或输入目标机场 SN！", "输入错误", MessageBoxButton.OK, MessageBoxImage.Warning);
                return;
            }

            string topic = $"thing/product/{sn}/services";
            string tid = Guid.NewGuid().ToString();
            string bid = Guid.NewGuid().ToString();
            long timestamp = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();

            var payloadDict = new Dictionary<string, object>
            {
                { "tid", tid },
                { "bid", bid },
                { "timestamp", timestamp },
                { "method", method },
                { "data", dataObj ?? new { } }
            };

            string payloadJson = JsonSerializer.Serialize(payloadDict, new JsonSerializerOptions { WriteIndented = true });
            TxtDockDebugPayloadPreview.Text = payloadJson;

            string cnName = _methodCnMap.TryGetValue(method, out var cn) ? cn : method;

            var logItem = new DockDebugLogItem
            {
                Timestamp = DateTime.Now.ToString("HH:mm:ss"),
                Method = method,
                MethodNameCn = cnName,
                Topic = topic,
                Status = "已下发",
                StatusColor = "#0284C7",
                ProgressPercent = "-",
                Payload = payloadJson
            };

            _dockDebugLogs.Insert(0, logItem);
            if (_dockDebugLogs.Count > 200)
            {
                _dockDebugLogs.RemoveAt(_dockDebugLogs.Count - 1);
            }

            try
            {
                await _mqttManager.PublishAsync(topic, payloadJson);

                if (method == "debug_mode_open")
                {
                    TxtDebugModeBadge.Text = "开启请求已下发";
                    BadgeDebugModeState.Background = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(245, 158, 11));
                }
                else if (method == "debug_mode_close")
                {
                    TxtDebugModeBadge.Text = "关闭请求已下发";
                    BadgeDebugModeState.Background = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(100, 116, 139));
                }
            }
            catch (Exception ex)
            {
                logItem.Status = "发送失败";
                logItem.StatusColor = "#EF4444";
                MessageBox.Show($"指令下发失败: {ex.Message}", "发送错误", MessageBoxButton.OK, MessageBoxImage.Error);
            }
        }

        private async void BtnDockCmd_Click(object sender, RoutedEventArgs e)
        {
            var btn = sender as Button;
            string? method = btn?.Tag?.ToString();
            if (string.IsNullOrEmpty(method)) return;

            if (method == "device_format" || method == "drone_format" || method == "cover_force_close" || method == "device_reboot" || method == "flight_areas_update")
            {
                string methodCn = _methodCnMap.TryGetValue(method, out var cn) ? cn : method;
                var res = MessageBox.Show($"警告：即将对机场设备下发高风险控制指令 【{methodCn}】！确定要继续执行吗？", "高风险指令确认", MessageBoxButton.YesNo, MessageBoxImage.Warning);
                if (res != MessageBoxResult.Yes) return;
            }

            await SendDockDebugCommandAsync(method);
        }

        private async void BtnSetAirConditioner_Click(object sender, RoutedEventArgs e)
        {
            int mode = ComboAcMode.SelectedIndex;
            if (mode < 0) mode = 1;

            if (!int.TryParse(TxtAcTargetTemp.Text.Trim(), out int targetTemp))
            {
                targetTemp = 25;
            }

            var data = new
            {
                air_conditioner_mode = mode,
                target_temperature = targetTemp
            };

            await SendDockDebugCommandAsync("air_conditioner_set", data);
        }

        private void GridDockDebugLogs_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            var selected = GridDockDebugLogs.SelectedItem as DockDebugLogItem;
            if (selected != null)
            {
                TxtDockDebugPayloadPreview.Text = selected.Payload;
            }
        }

        private void BtnCopyDockDebugLog_Click(object sender, RoutedEventArgs e)
        {
            var selected = GridDockDebugLogs.SelectedItem as DockDebugLogItem;
            if (selected != null)
            {
                Clipboard.SetText(selected.Payload);
                MessageBox.Show("已成功复制选中日志的 JSON 载荷到剪贴板！", "复制成功", MessageBoxButton.OK, MessageBoxImage.Information);
            }
            else
            {
                MessageBox.Show("请先选择要复制的一行调试日志！", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
            }
        }

        private void BtnClearDockDebugLogs_Click(object sender, RoutedEventArgs e)
        {
            _dockDebugLogs.Clear();
            TxtDockDebugPayloadPreview.Text = "";
        }

        private void ParseDockDebugResponse(string topic, string payload)
        {
            if (!topic.Contains("services_reply") && !topic.Contains("events")) return;

            try
            {
                using var doc = JsonDocument.Parse(payload);
                var root = doc.RootElement;

                string method = root.TryGetProperty("method", out var mProp) ? mProp.GetString() ?? "" : "";
                if (string.IsNullOrEmpty(method)) return;

                int result = root.TryGetProperty("result", out var rProp) ? rProp.GetInt32() : 0;
                
                string status = "";
                int percent = -1;

                if (root.TryGetProperty("data", out var dataProp))
                {
                    if (dataProp.TryGetProperty("result", out var subResProp))
                    {
                        result = subResProp.GetInt32();
                    }

                    if (dataProp.TryGetProperty("status", out var eventStatusProp))
                    {
                        status = eventStatusProp.GetString() ?? "";
                    }

                    if (dataProp.TryGetProperty("output", out var outputProp))
                    {
                        if (outputProp.TryGetProperty("status", out var statusProp))
                        {
                            status = statusProp.GetString() ?? "";
                        }

                        if (outputProp.TryGetProperty("progress", out var progressProp))
                        {
                            if (progressProp.TryGetProperty("percent", out var percentProp))
                            {
                                percent = percentProp.GetInt32();
                            }
                        }
                    }
                }

                var match = _dockDebugLogs.FirstOrDefault(l => l.Method == method || (method == "flight_areas_sync_progress" && l.Method == "flight_areas_update"));
                if (match != null)
                {
                    if (status == "synchronized" || status == "ok" || (result == 0 && string.IsNullOrEmpty(status)))
                    {
                        match.Status = status == "synchronized" ? "已同步清空" : "执行成功";
                        match.StatusColor = "#10B981"; // Green
                        match.ProgressPercent = percent >= 0 ? $"{percent}%" : "100%";
                    }
                    else if (status == "synchronizing" || status == "in_progress" || status == "wait_sync")
                    {
                        match.Status = status == "synchronizing" ? "数据同步中" : (status == "wait_sync" ? "等待同步" : "执行中");
                        match.StatusColor = "#F59E0B"; // Amber
                        match.ProgressPercent = percent >= 0 ? $"{percent}%" : "-";
                    }
                    else if (status == "rejected" || status == "fail" || status == "switch_fail")
                    {
                        match.Status = status == "fail" ? "同步失败" : (status == "rejected" ? "被拒绝" : "开关失败");
                        match.StatusColor = "#EF4444"; // Red
                    }
                    else if (result != 0 || status == "failed")
                    {
                        match.Status = $"失败 ({result})";
                        match.StatusColor = "#EF4444"; // Red
                    }
                }
                else if (method == "flight_areas_sync_progress")
                {
                    string cnName = _methodCnMap.TryGetValue(method, out var cn) ? cn : method;
                    string statusText = status == "synchronized" ? "已同步清空" : (status == "synchronizing" ? "数据同步中" : status);
                    var logItem = new DockDebugLogItem
                    {
                        Timestamp = DateTime.Now.ToString("HH:mm:ss"),
                        Method = method,
                        MethodNameCn = cnName,
                        Topic = topic,
                        Status = statusText,
                        StatusColor = status == "synchronized" ? "#10B981" : "#F59E0B",
                        ProgressPercent = status == "synchronized" ? "100%" : "-",
                        Payload = payload
                    };
                    _dockDebugLogs.Insert(0, logItem);
                    if (_dockDebugLogs.Count > 200) _dockDebugLogs.RemoveAt(_dockDebugLogs.Count - 1);
                }

                if (method == "debug_mode_open")
                {
                    if (result == 0)
                    {
                        TxtDebugModeBadge.Text = "调试模式已开启";
                        BadgeDebugModeState.Background = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(16, 185, 129));
                    }
                    else
                    {
                        TxtDebugModeBadge.Text = "开启失败";
                        BadgeDebugModeState.Background = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(239, 68, 68));
                    }
                }
                else if (method == "debug_mode_close")
                {
                    if (result == 0)
                    {
                        TxtDebugModeBadge.Text = "调试模式已关闭";
                        BadgeDebugModeState.Background = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Color.FromRgb(100, 116, 139));
                    }
                }
            }
            catch
            {
            }
        }

        private async void CheckAndAutoReplyDockRequest(string topic, string payload)
        {
            if (!topic.Contains("/requests")) return;

            try
            {
                using var doc = JsonDocument.Parse(payload);
                var root = doc.RootElement;
                string method = root.TryGetProperty("method", out var mProp) ? mProp.GetString() ?? "" : "";

                if (method == "flight_areas_get")
                {
                    string tid = root.TryGetProperty("tid", out var tProp) ? tProp.GetString() ?? "" : Guid.NewGuid().ToString();
                    string bid = root.TryGetProperty("bid", out var bProp) ? bProp.GetString() ?? "" : Guid.NewGuid().ToString();

                    // thing/product/{sn}/requests -> thing/product/{sn}/requests_reply
                    string replyTopic = topic + "_reply";

                    var replyPayloadObj = new
                    {
                        tid = tid,
                        bid = bid,
                        timestamp = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(),
                        method = "flight_areas_get",
                        data = new
                        {
                            result = 0,
                            output = new
                            {
                                files = new object[] { }
                            }
                        }
                    };

                    string replyJson = JsonSerializer.Serialize(replyPayloadObj, new JsonSerializerOptions { WriteIndented = true });

                    await _mqttManager.PublishAsync(replyTopic, replyJson);

                    var logItem = new DockDebugLogItem
                    {
                        Timestamp = DateTime.Now.ToString("HH:mm:ss"),
                        Method = "flight_areas_get",
                        MethodNameCn = "自动回复飞行区(空列表)",
                        Topic = replyTopic,
                        Status = "已回应",
                        StatusColor = "#10B981",
                        ProgressPercent = "100%",
                        Payload = replyJson
                    };
                    _dockDebugLogs.Insert(0, logItem);
                    if (_dockDebugLogs.Count > 200) _dockDebugLogs.RemoveAt(_dockDebugLogs.Count - 1);
                }
            }
            catch
            {
            }
        }

        #endregion
    }

    #region UTILITY APP CONFIG CLASS

    public class AppConfig
    {
        public string Broker { get; set; } = "broker.emqx.io";
        public int Port { get; set; } = 1883;
        public string Username { get; set; } = "";
        public string Password { get; set; } = "";
        public string ClientId { get; set; } = "dji_debug_tool_antigravity";
        public bool UseTls { get; set; } = false;
        public bool IgnoreCertErrors { get; set; } = true;
        public List<DeviceConfigItem> Devices { get; set; } = new();
        public List<string> CustomTopics { get; set; } = new();
    }

    public class DeviceConfigItem
    {
        public string Sn { get; set; } = "";
        public string Name { get; set; } = "";
        public string Type { get; set; } = "";
        public List<DeviceConfigItem> SubDevices { get; set; } = new();
    }

    #endregion
}