java/Robotaxi.git

			@@ -2,19 +2,18 @@

			import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
			import org.springframework.data.domain.Sort;
			import org.springframework.data.geo.GeoResults;
			import org.springframework.data.geo.Point;
			import org.springframework.data.geo.Circle;
			import org.springframework.data.geo.Distance;
			import org.springframework.data.geo.Metrics;
			import org.springframework.data.mongodb.core.MongoTemplate;
			import org.springframework.data.mongodb.core.geo.GeoJsonPoint;
			import org.springframework.data.mongodb.core.query.Criteria;
			import org.springframework.data.mongodb.core.query.NearQuery;
			import org.springframework.data.mongodb.core.query.Query;
			import org.springframework.stereotype.Service;

			import javax.annotation.Resource;
			import java.util.ArrayList;
			import java.util.List;
			import java.util.stream.Collectors;

			@Service
			public class VehiclePositionService {
			@@ -26,34 +25,26 @@
			* 查询附近指定距离内且状态正常的车辆
			* @param longitude 经度
			* @param latitude 纬度
			* @param distanceInMeters 距离（米）
			* @param distanceInMeters 距离（KM）
			* @return 符合条件的车辆列表
			*/
			public List<VehiclePosition> findAvailableVehiclesNearby(double longitude,
			double latitude,
			double distanceInMeters,int num) {
			try {
			// 1. 创建查询点
			Point referencePoint = new Point(longitude, latitude);

			// 2. 构建 NearQuery - 完全使用 NearQuery 的 API
			NearQuery nearQuery = NearQuery.near(referencePoint, Metrics.KILOMETERS)
			.maxDistance(distanceInMeters / 1000) // 转成公里
			.spherical(true);


			// 4. 执行查询 - 明确指定集合名
			GeoResults<VehiclePosition> geoResults = mongoTemplate.geoNear(
			nearQuery,
			VehiclePosition.class,
			"vehicle_position" // 明确指定集合名，避免映射错误
			);

			// 5. 提取结果
			return geoResults.getContent().stream()
			.map(geoResult -> geoResult.getContent())
			.collect(Collectors.toList());

			// 找到中心点
			GeoJsonPoint geoJsonPoint = new GeoJsonPoint(longitude, latitude);
			// 构造半径
			Distance distanceR = new Distance(distanceInMeters, Metrics.KILOMETERS);
			// 画圆
			Circle circle = new Circle(geoJsonPoint, distanceR);
			long latestAllowedAddTime = System.currentTimeMillis() - 60 * 1000;
			Query query = Query.query(new Criteria().andOperator(
			Criteria.where("point").withinSphere(circle),
			Criteria.where("addTime").gte(latestAllowedAddTime)
			));
			List<VehiclePosition> vehiclePositions = mongoTemplate.find(query, VehiclePosition.class);
			return vehiclePositions;
			} catch (Exception e) {
			e.printStackTrace();
			return new ArrayList<>();
			@@ -61,6 +52,7 @@
			}



			/**
			* 根据车辆ID查询车辆信息
			* @param vehicleId 车辆ID